Patrik Schmuck

Hello markinruc, thanks for your question. The logic behind the pose communication scheme, including the relative pose approach, is described in detail in the [paper](file:///home/pschmuck/Downloads/2018_CCM_SLAM.pdf), in section 4.5.

Hi @MF-Ahmed, unfortunately, we don't have an RGBD version of CCM-SLAM. You could try our more recent algorithm [COVINS](https://github.com/VIS4ROB-lab/covins) - it also does not support RGBD out-of-the-box, you it allows...