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                                            Boom

No semantic point cloud generated

Would it possible to share with me how you are launching the camera? if possible please show an extract of the launch file and any nodelet file you are using...

We should unwrap or expect on borsh `try_to_vec`

Hi may I check if swapping propagation of error to expect statements still a good approach for this Issue?

Update to OpenCV4 and fix some build errors

Thank you, this works awesomely!

Update to OpenCV4 and fix some build errors

@zhuangxiaopi how did you measure the performance? Was it running on your camera or another rosbag ?

Pangolin x11: unable to retrieve framebuffer options

@NickPerezCarletonUniversity Since Pangolin is a depedency of ORB-SLAM, it is safe to rebuild ORB-SLAM2 as well. Meaning you will have to build the modified Pangolin, then run the build.sh script...

Compiling finished BUT cannot excute？？？

Any error message printed out when you try executing it ?

[orb_slam3_rbgd-1] process has died

Hi, have you check the voc_file and setting_file exists under the stated path? If you haven't extract the vocabulary file, this might be an issue that can crash the node.