Re: Loop closure without depth information

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Loop-closure-without-depth-information-tp9339p9404.html

Hi Derek,

Yes it is possible but not optimal. We can set Mem/StereoFromMotion to true so that 3D features can be computed. This assumes good oodmetry to work correctly. If you have a 3D lidar, other option is to generate depth image from lidar for RGB image. See example here: http://official-rtab-map-forum.206.s1.nabble.com/Multi-monocular-cameras-tp9383p9396.html

cheers,
Mathieu