Re: Odometry Features vs Visual Words

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Odometry-Features-vs-Visual-Words-tp706p708.html

Hi,

The "Visual word" and "Odometry" panels are independent. The max depth in "Visual word" is used only for the vocabulary and the max depth in "Odometry" is used only for odometry. There is also a max depth used when re-extracting features on loop closure (loop closure constraint panel). The specific feature parameters  (SURF, SIFT, GFTT, ORB, FAST, BRIEF...) are shared across all algorithms. If you are on ROS, they can be set differently as they are not in the same node.

The odometry is independent of the loop closure detection, so yes, the features are extracted in both even if they are the same type. The SensorData class contains setFeatures(...) method that could be used to fill extracted features from odometry before passing the data to rtabmap for loop closure detection. Then when creating a node from the SensorData coming from odometry, if there are already features in it, features are not re-extracted for loop closure detection. If you want to do that, the Odometry class should be modified so that features extracted are copied in SensorData.

cheers