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Hi,

If you set Vis/CorType=0, feature matching will be done. In the paper, we compared Odom/Strategy=0 (F2M)+Vis/CorType=0 (Feature matching) with Odom/Strategy=1 (F2F)+Vis/CorType=1 (Optical Flow). When we set Vis/FeatureType to 6, it is GFTT keypoint + BRIEF descriptor. For Vis/CorType=1, the descriptors are just not extracted on GFTT features, optical flow is done instead. All approaches in Vis/FeatureType have a detector+descriptor, the later is not used in case of optical flow.

Look at the F2M or F2F sections in the OdomInfo message: http://docs.ros.org/en/noetic/api/rtabmap_ros/html/msg/OdomInfo.html, you will see the features are published.

If you use rtabmapviz with subscribe_odom_info, you will see the features over the images in Odometry view.

Hi,

If you set Vis/CorType=0, feature matching will be done. In the paper, we compared Odom/Strategy=0 (F2M)+Vis/CorType=0 (Feature matching) with Odom/Strategy=1 (F2F)+Vis/CorType=1 (Optical Flow). When we set Vis/FeatureType to 6, it is GFTT keypoint + BRIEF descriptor. For Vis/CorType=1, the descriptors are just not extracted on GFTT features, optical flow is done instead. All approaches in Vis/FeatureType have a detector+descriptor, the later is not used in case of optical flow.

Look at the F2M or F2F sections in the OdomInfo message: http://docs.ros.org/en/noetic/api/rtabmap_ros/html/msg/OdomInfo.html, message, you will see the features are published.

If you use rtabmapviz with subscribe_odom_info, you will see the features over the images in Odometry view.