Odometry with D435i (Stereo vs RGBD)

Posted by jorgemia on Feb 23, 2021; 11:52am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Odometry-with-D435i-Stereo-vs-RGBD-tp7497.html

The D435i camera can be used with both stereo_odometry or rgbd odometry right? One relies on the left and right images whilst the other one uses rgb and depth images.

I imagine the rgbd approach might be more reliable in certain situations, as the depth from the d435 when the emitter is on (indoor situations) is probably more accurate than computing depth out of the stereo images?

If we use rgbd odometry, given that the topics are already synchronised from the d435, does it make sense to set subscribe_rgbd to true (and use the rgbd_sync nodelet) or is it not necessary and rgb and depth image topics will be enough?