matlabbe

To process with the standalone, all data must be already synchronized and sharing the same stamps. For example, to feed odometry file with camera data (sequence of images in a...

I suggest to add `namespace='rtabmap'` parameter to rtabmap's nodes, so that some topics don't clash with topics already published by px4/gazebo. For example, px4 and rgbd_odometry are both publishing on...

Is `odom->base_link` published by px4 already "accurate enough"? Then you may use it directly and not start `rgbd_odometry` at all (could be a good first step for integration). Other option...

I recently ported [rtabmap_drone_example](https://github.com/matlabbe/rtabmap_drone_example) to ROS2. You may give a try, ros2 instructions are [here](https://github.com/matlabbe/rtabmap_drone_example/tree/ros2?tab=readme-ov-file#rtabmap_drone_example).

In progress: https://github.com/microsoft/vcpkg/pull/46422

What kind of camera do you have? If the images are published in camera_link frame directly, you should apply the optical rotation like this: ```py # Optical rotation Node( package='tf2_ros',...

Basically, aligning similar parameters, the diff is (red=oirginal, green=rtabmap generated): ```diff > File.version: "1.0" > 5,13c7,16 < Camera.fx: 570.3422047415297 < Camera.fy: 570.3422047415297 < Camera.cx: 319.5 < Camera.cy: 239.5 < <...

If you use rviz's `rtabmap_rviz_plugins:MapCloud` plugin, you could visualize the 3D point cloud by adding corresponding topic (`/rtabmap/mapData`).

I added an example here for ros2: https://github.com/introlab/rtabmap_ros/blob/9963bc06af8ffd852f2b944ea463c59d422debc2/rtabmap_examples/launch/realsense_d435i_stereo.launch.py#L10-L19 Basically, this patch https://gist.github.com/matlabbe/ebbb343cd744da9d6d6d6ded2e1557fd will setup the vins ros2 package so that its dependencies are correctly forwarded to rtabmap library with cmake.

That is not ARKit related, all the data is there. Here is a top view of the point cloud generated: ``` rtabmap-export --cloud --voxel 0.05 251027-132152.db ``` Note that `rtabmap`...