Federico bliman

follow up: I have the system up and working (almost...) I finally installed opencv 4.2 with cuda 11.4 So the intallation of ros noetic and rtabmap was simple. I am...

I fix this with this with the update weights [here](https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant#how-reproduce-results-shown-in-the-paper) and now I can get the nodes up, but I am getting a terminate called after throwing an instance of...

I am trying superpoint on an only cpu pc and though I lowered the detection rate to 0.3 (3s to process the images aprox) and because of that change I...

docker run --name rtabmap_ros -it --rm --privileged \ -e DISPLAY=$DISPLAY \ -e QT_X11_NO_MITSHM=1 \ -e NVIDIA_VISIBLE_DEVICES=all \ -e NVIDIA_DRIVER_CAPABILITIES=all \ -v $XAUTH:$XAUTH \ -v /tmp/.X11-unix:/tmp/.X11-unix \ --runtime=nvidia \ -e ROS_HOME=/tmp/.ros...

I get a some warnings like this Details [ WARN] (2023-08-18 13:01:54.152) OdometryF2M.cpp:566::computeTransform() Registration failed: "Not enough inliers 15/20 (matches=190) between -1 and 159" (guess=xyz=-0.004506,0.040616,0.017191 rpy=-0.000399,0.017786,0.042718) [ WARN] (2023-08-18 13:01:54.152)...

Thanks, i am using -v ~/.ros:/tmp/.ros and actually what it is working is that if I run in SLAM mode 5...6 times each round it advances a little bit more...

So It only uses the IMU for a first guess for the VO, but if it can not get a good estimate using VO then it will discard that link?