Re: Parameter Understanding

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Parameter-Understanding-tp7137p7156.html

Hi,

to not have the warning, both Kp/DetectorStrategy and Vis/FeatureType in rtabmap node sohuld be set to same value.

Note that Mem/UseOdomFeatures is ignored in rtabmap_ros if we don't feed features. There is now an example here showing how to re-use odometry features in rtabmap node: https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_use_odom_features.launch

I added a new output on rgbd_odometry node called odom_rgbd_image. This RGBDimage can be used as input to rtabmap node with subscribe_rgbd=true and remaping rgbd_image to odom_rgbd_image.

cheers,
Mathieu