matlabbe

LGTM! thank you

Looks like kilted and rolling are using a 4.3 version older than this change added 2 weeks ago: https://github.com/borglab/gtsam/commits/develop/gtsam/nonlinear/NoiseModelFactorN.h They just released 3 weeks ago a new version for ros2:...

It seems happening on the ROS2 buildfarm, for kilted too. Would need a new ros2 release.

I didn't try myself running [Gaussian Splatting](https://github.com/graphdeco-inria/gaussian-splatting) on databases taken by rtabmap. Based on [this](https://github.com/graphdeco-inria/gaussian-splatting?tab=readme-ov-file#processing-your-own-scenes), it seems requiring the RGB images, the camera poses, the camera calibrations and sparse 3D...

The missing link between odom and base_link is not published by rtabmap but by probably your create3 driver. You can double check why odom->base_link is not published anymore. For rtabmap...

For `cloud_map`, the new points are appended to previous assembled point cloud, then a [voxel filter](https://pcl.readthedocs.io/projects/tutorials/en/master/voxel_grid.html#voxelgrid) is applied. The voxel filter may not keep the points ordered. On loop closure,...

This: ``` [rgbd_odometry-2] terminate called after throwing an instance of 'cv::Exception' [rgbd_odometry-2]   what():  OpenCV(4.10.0-dev) /home/orin-5/opencv/modules/core/src/alloc.cpp:73: error: (-4:Insufficient memory) Failed to allocate 55505507871600 bytes in function 'OutOfMemoryError' [rgbd_odometry-2]  ``` looks like...

Ideally no overlap. If there is an overlap, the same 3D features could appear in two cameras at the same time, but only unique matches are processed (when global matching...

How are they stitched? The problem is that a resulting single camera calibration may not be possible. It is easier to just send all three cameras separately to rtabmap similarly...

> I was able to run SLAM with the RGB camera alone by SfM parameters. With rtabmap_ros? To feed RGB and RGB-D data at the same time, you will need...