matlabbe

I tried the original rosbag on ros1: ``` $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_sitting_halfsphere.bag $ rosbag decompress rgbd_dataset_freiburg3_sitting_halfsphere.bag $ wget https://gist.githubusercontent.com/matlabbe/897b775c38836ed8069a1397485ab024/raw/6287ce3def8231945326efead0c8a7730bf6a3d5/tum_rename_world_kinect_frame.py $ python3 tum_rename_world_kinect_frame.py rgbd_dataset_freiburg3_sitting_halfsphere.bag $ roslaunch rtabmap_examples rgbdslam_datasets.launch $ rosbag play --clock...

Can you give example/screenshot of what you mean by "two cameras detect the lines"? For the masked images, what are they?

Based on those pictures, it seems that the textured floor has actually good visual features to track. Removing them would make localization/visual odometry worst. To use a mask like this...

You may check this answer if it can help: https://github.com/introlab/rtabmap_ros/issues/670#issuecomment-980531111

Is VINS-fusion built in your `catkin_ws` ? If you are on ubuntu 20.04, vins fusion is not compatible with opencv4 out of the box, clone it and apply [pull request...

The patch has been updated, see https://gist.github.com/matlabbe/795ab37067367dca58bbadd8201d986c ``` cd ~/catkin_ws/src git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git cd VINS-Fusion git fetch origin pull/136/head:noetic_fix git checkout noetic_fix wget https://gist.githubusercontent.com/matlabbe/795ab37067367dca58bbadd8201d986c/raw/193453344b0e35d3b0156a763699d7976474d928/vins-fusion_pull136.patch git apply vins-fusion_pull136.patch ```

The file seems missing a `.py`: https://github.com/luxonis/depthai-ros/blob/humble/depthai_examples/launch/stereo_inertial_node.launch.py ``` ros2 launch depthai_examples stereo_inertial_node.launch.py ``` If you are interested to use rtabmap with depthai camera, I recently added and example here: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/depthai.launch.py

The map is still there, but not shown because you initiated a new mapping session. The old map would re-appear just after it re-localizes in it again. Till then, only...

If the database doesn't have an optimized map saved, it will re-optimize and re-assemble on runtime, which may create some variations. You can make sure an optimized map is saved...

It looks like rtabmap and gtsam binaries versions diverged. That can happen when one package has been upgraded with `apt` while the other didn't (but it should have). Try: ```...