What is the odometry method

[SiinaIng]

Hello @matlabbe

What odometry is this launch configuration trying to use? I know it's ICP, but is it from Lidar or depth scans?

roslaunch rtabmap_ros rtabmap.launch stereo:=false \ rgb_topic:=/zed2/zed_node/rgb/image_rect_color \ camera_info_topic:=/zed2/zed_node/rgb/camera_info use_sim_time:=true \ depth_topic:=/zed2/zed_node/depth/depth_registered \ depth_camera_info_topic:=/zed2/zed_node/depth/camera_info \ frame_id:=base_link \ subscribe_scan_cloud:=true \ rgbd_sync:=true \ scan_cloud_topic:=/os_cloud_node/points \ scan_cloud_max_points:=131072 \ approx_sync:=true \ icp_odometry:=true \ args:="-d \ --Odom/ResetCountdown 0 \ --delete_db_on_start \ --RGBD/CreateOccupancyGrid true \ --Rtabmap/DetectionRate 0.5 \ --Odom/ScanKeyFrameThr 0.8 \ --OdomF2M/ScanMaxSize 10000 \ --OdomF2M/ScanSubtractRadius 0.5 \ --Icp/PM true \ --Icp/VoxelSize 0.05 \ --Icp/MaxTranslation 0 \ --Icp/MaxCorrespondenceDistance 0.5 \ --Icp/PMOutlierRatio 0.85 \ --Icp/Iterations 10 \ --Icp/PointToPlane false \ --Icp/PMMatcherKnn 3 \ --Icp/PMMatcherEpsilon 1 \ --Icp/Epsilon 0.0001 \ --Icp/PointToPlaneK 0 \ --Icp/PointToPlaneRadius 0 \ --Icp/CorrespondenceRatio 0.01"

[matlabbe]

Duplicate of introlab/rtabmap_ros#933