Re: About Dotmask work

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-Dotmask-work-tp8102p8118.html

Hi,

Note sure which left-up screen you are referring, but RTAB-Map uses the parameter Vis/DepthAsMask=true by default, which means that when we do feature extraction (using opencv), we only extract features where there is a valid depth. Dotmask clears depth values on dynamic objects, so implicitly visual odometry won't track features on dynamic objects. On mapping side, the dense point cloud is created from the depth images, so if there is no valid depth, dynamic obstacles won't appear in the resulting point cloud of the map.