matlabbe
matlabbe
Try moving it to: ``` odom_args:="--Odom/ResetCountdown 20" ``` or ``` ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_args:="--Vis/CorType 0 --Mem/IncrementalMemory false \ --Kp/MaxDepth 4.0 \ --Grid/Sensor 1 \ --Grid/3D fasle \ --Grid/DepthDecimation 0...
Are you doing remote mapping just because you want to visualize remotely, not because the robot doesn't have enough power to do mapping itself? If it is the case, launch...
Fusing the IMU's acceleration directly can be tricky and would drift most of the time. The accelerometer is mostly useful to estimate absolute IMU's orientation in roll and pitch. You...
The IMU is used by `rgbd_odometry` to help feature tracking ([by setting a guess with predicted rotation](https://github.com/introlab/rtabmap/blob/d2a430ce57a39a4e10d1ffa75c7f1e860e8ad516/corelib/src/Odometry.cpp#L627-L637)) and also to [add gravity constraints in local bundle adjustment](https://github.com/introlab/rtabmap/blob/d2a430ce57a39a4e10d1ffa75c7f1e860e8ad516/corelib/src/odometry/OdometryF2M.cpp#L382-L385) (F2M). So the...
robot_localization can only fuse outputs of each odometry sub-systems in a loosely-coupled way, meaning that lidar cannot help visual odometry or vice-versa, with strong assumption that the covariance computed is...
I tried the docker instructions again and I cannot reproduce your issue. To debug the seg fault, you could install gdb and run the node with it.
Related comment https://github.com/introlab/rtabmap/issues/1538#issuecomment-2982579454
For the actual warning you have, it is because PnPRansac doesn't give deterministic results. When the number of inliers is low, it could happen that one "refine" is accepted while...
The `word_id` refers to ID used in the visual dictionary. Without re-matching features (with or without `Vis/CorGuessWinSize`), you won't get a lot of inliers. We always rematch features before estimating...
> Because the database I'm working on is so close to ground truth after a simple rtabmap-reprocess, but gets gradually very bad the more I detect more loops, I'm wondering...