Multi-camera setting explanation (visual odometry)

Posted by ricber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multi-camera-setting-explanation-visual-odometry-tp5813.html

I would like to know how Rtabmap treats multiple cameras. In particular, I would like to understand better how visual odometry works in this setting.
Does the visual odometry node use both cameras or just one? In the case it uses both cameras does it need them to have overlapping fields of view or not? In this case the images could be stitched together and then used a single image. In the case cameras images are used independently we will result in different odometries that should be merged in some way. So, is visual odometry node working like one of these two cases or in another way?

Thank you,
Riccardo.