Re: Reg/Strategy = VisIcp meaning

Posted by ricber on Apr 07, 2019; 10:25pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reg-Strategy-VisIcp-meaning-tp5522p5725.html

About your last statement I would like to better understand the entire process a KeyFrame undergoes. Suppose we have our first KeyFrame with timestamp=0. This will make the STM to create our first node. The same KeyFrame goes into the icp_odometry node. Then a second KeyFrame with timestamp=1 arrives and its ignored by the STM because not enough time has been elapsed (<1/detetctionRate) . However, this second KeyFrame goes into the icp_odometry node where we do icp registration and we obtain a pose update. After 1/detectionRate a second node is created. Now we have to add a link between the first two nodes. How do we do this? Do we look in the tf tree for the transform from /map to /base_link and we give this position to the second node? Or we take the respective sensor data of the two nodes and we do registration calculating a transform? In this second case, it makes sense to have any registration available because we could do icp odometry and then a visual registration between the images associated with the nodes to obtain the transformation to be given to the link.

Thank you for the help,
Riccardo.