Could we use optical flow instead of feature based for RGBD input

[takahiko-hasegawa-hdjp]

I have RGBD input and would like to use optical flow but changing vis/CorType does not seem to be doing its job. Could we use optical flow for RGBD and if so how?

[matlabbe]

You have to change Odometry/Strategy to 1 too. Other parameters may need to be changed too, refer to Table 2 (F2F) related parameters in this paper.

[takahiko-hasegawa-hdjp]

Ok, thats great thanks. It doesnt seem to affect the rtabmapviz tho? do I need to change any parameters?

I can see that in RegistrationVis.cpp if(_correspondencesApproach == 0 ) checks the corType and seems to be going inside the if statetment but somehow reaches "Optical Flow correspondences requires image in data!" occasionally.

[matlabbe]

Set these parameters only for rgbd_odometry node, not rtabmap node. And yes, you won't see the changes in rtabmapviz, as rtabmapviz shows parameters from rtabmap node, not rgbd_odometry.

"Optical Flow correspondences requires image in data!", would have to see more logs. You can launch rgbd_odometry with --udebug argument, or call rosservice call rgbd_odometry/log_debug (adjust namespace if necessary).

[takahiko-hasegawa-hdjp]

I suppose this video https://www.youtube.com/watch?v=xIGKaE_rZ_Q shows that result of optical flow can be visualized in the rtabmap viz?

[matlabbe]

Yes, set subscribe_odom_info to true for rtabmap_viz to have the optical flow result from odometry node.