Re: 3D-map is so bad

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-map-is-so-bad-tp8867p8965.html

Hi,

1) For visual odometry, use rgbd_odometry or stereo_odometry, Reg/Strategy will be set automatically for odometry nodes. You would have to set "--Reg/Strategy" only for rtabmap node, depending how you want to compute loop closure transformations.

2) Use Vis/FeatureType parameter to change visual features used in odometry ndoes. Set both Vis/FeatureType and Kp/DetectorStrategy to same thing for rtabmap node (so that Bag-of-words and visual transformation estimation use the same features).