matlabbe
matlabbe
The feature matching may be confused by the texture of the ground, the bad matches can cause some drift. For loop closure detection, if feature matching is confused by similar...
1. While RTAB-Map can merge maps of multiple robots offline, it doesn't track from which robot a node belongs. Merging multiple maps from multiple robots is then the same than...
This is stereo data, not TOF/LiDAR data, so it is expected. You may ask on realsense2 repo how to get more accurate depth.
What do you mean by "When the position/information is lost" ? Visual odometry is lost, or the drone is not localized correctly against the map? For the second one, has...
`Grid/Sensor=2` should do it. Is your lidar 2D or 3D? To debug, try generating 3D local grids first, with `Grid/3D=true`. Open `rtabmap-databaseViewer` and open 3D view, then click on "Grid"...
Could be bad stereo images. Can you show an example of left and right images that you feed to rtabmap? That warning would appear with/without optical flow stereo approach.
If you have libpointmatcher installed locally, you may not want to install the humble binaries to avoid confusion. I would just skip the rosdep install thing, and install dependencies only...
The loop closures are rejected because there is an `abs error=178.721734 deg`. That could have been caused by this issue: https://github.com/introlab/rtabmap/pull/1511 You should be able to build latest rtabmap/rtabmap_ros on...
To compare consecutive point clouds, you can open the Constraints Viewer in rtabmap-databaseViewer, then scroll the 2 main sliders (in main layout) to show the clouds relative to them. With...
Thanks for the new databases, I can reproduce it here: ``` [ INFO] (2025-10-27 19:19:16) Rtabmap.cpp:3339::rtabmap::Rtabmap::process() Max optimization linear error = 0.074587 m (link 560->184, var=0.002241, ratio error/std=1.575762, thr=3.000000) [...