Re: Mapping with multiple stereocameras, localization with multiple monochrome monocular cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6664.html

Hi Artem,

1. In the current implementation, we cannot use PnP with four monocular cameras, only one camera. If PnP cannot be used, we should do 3D->3D estimation, which requires 3D features from the map and the current frames. If we have only mono cameras, we cannot estimate 3D features in that frame. Multi-RGBD cameras works with 3D->3D estimation, but not for multi-mono cameras, which would require 3D->2D estimation (PnP) as we cannot estimate 3D features.
2. Yes, with one camera you can use PnP. For multi mono cameras, we have to implement a multi-camera PnP function.
3. I recommend to use Vis/EstimationType=1 and OdomF2M/BundleAdjustment=1 in mapping mode too, but yes it will work either the map is built with those options or not. The main problem is that we cannot use Vis/EstimationType=1 with multi-cameras setup, and as Vis/EstimationType=0 only works for multi-RGBD cameras, localization won't work with multi-monocular cameras setup.

cheers,
Mathieu