Re: Reg/Strategy = VisIcp meaning

Posted by matlabbe on Feb 23, 2019; 10:16pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reg-Strategy-VisIcp-meaning-tp5522p5533.html

Hi,

VisIcp approach is simply doing Visual registration, then ICP registration using the visual registration transformation result as guess for scan matching.

icp_odometry only accepts Reg/Strategy=1.
stereo_odometry and rgbd_odometry only accept Reg/Strategy=0.
rgbdicp_odometry only accepts Reg/Strategy=2.

You can however use icp_odometry with rtabmap node using any Reg/Strategy.

cheers,
Mathieu