ros2 humble + D435i -- RGB-D odometry strategy

[lilweary]

hi, I am using D435i for RGB-D odometry in ros2 Humble. i would like to know how the odometry is computed. which feature extractors or methods are being used. Is there a parameter file or code where I could find the information. thank you!

[matlabbe]

For the default odometry approach, you may start there: https://github.com/introlab/rtabmap/blob/master/corelib/src/odometry/OdometryF2M.cpp

For what the code does, see this paper Section 3.1.1 (following F2M approach).