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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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RGB features without depth for loop closure detection and motion estimation #1066

Open alexk1976 opened 1 year ago

alexk1976 commented 1 year ago

Hi @matlabbe, Our RGBD camera has large FOV in RGB than in Depth. We'd like to utilize RGB features even where Depth is not available. If we disable Mem/DepthAsMask and Vis/DepthAsMask will be features without depth used for loop-closure and motion estimation like in ORB3? Or we need to implement triangulation for such features and calculate depth for them first like it's done in Mono mode? Any recommendation for it? thank you

matlabbe commented 1 year ago

You would also need Mem/StereoFromMotion set to true, so that loop closures can be closed on rtabmap side. For rtabmap's VO, it requires some of the features with depth.