Re: what is the function of slam2d

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/what-is-the-function-of-slam2d-tp8697p8763.html

When you set slam2d:=true for this launch file, it sets "--Reg/Force3DoF" to true:

$ rtabmap --params | grep Reg/Force3DoF
Param: Reg/Force3DoF = "false"   [Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.]

On graph optimization, we only optimize x,y,yaw parameters.