Parameter Understanding

Posted by rahul_moorthy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Parameter-Understanding-tp7137.html

I am using rtabmap for my project and was going through the parameters for better tuning. In that process I came across a doubt...just wanted to clear it out. We have Vis parameters in both Rtabmap and odom..and through the paper I came to understand that rather than recomputation...to save memory...rtabmap reuses the features generated by the odometer..so I thought to get this condition..I need to keep the rgbd odometer feature extraction the same as that of rtabmap feature extraction...but even though they were the same..I got a warning that as Kp and Vis feature parameter are not the same useodom features is disabled...so my doubt here is-
1. How are the Vis parameters of the rgbd odom related to rtabmap odom as they both are loosely coupled
2. Even though I had kept the feature stratergy of rgbdodom and rtabmap same..why did that error come?

Thank You...!!!