matlabbe

I've found how to make it work with g2o, we have to increase `RGBD/LocalizationPriorError` to `0.1` (default is `0.001`). That parameter has been added for some optimization issues with tags:...

For your other [questions](https://github.com/introlab/rtabmap_ros/issues/1371#issuecomment-3423408760) above... Apologize for the Constraints Viewer, to be able to compare nodes that are not linked by a loop closure or an odometry constraint, we should...

On the latest windows release, I could reproduce the error even with `RGBD/LocalizationPriorError=0.1`. However, I just tried again with a fresh download and exact steps on Ubuntu (on which I...

I refactored two things to work with old and new g2o for your specific case. Basically with that PR https://github.com/introlab/rtabmap/pull/1610, you will be able to set `RGBD/LocalizationPriorError` to 0. That...

I [reverted](https://github.com/introlab/rtabmap/commit/e3a60c867210d1d8a7b44abe046c2f9229aafa94) the changes allowing `RGBD/LocalizationPriorError` to be zero. After thinking about it, it doesn't make sense to remove the priors. The "old behavior" was about optimizing map's nodes with...

Thanks for removing the pan tilt from the equation, that gives a better minimal example to reproduce the issue. I refactored in the commit above how the poses are provided...

Yes, and yes. g2o seems having a hard time to converge when the provided initial poses are 180 deg off their corresponding priors.

Hi, > 1. Combining Visual Odometry and LiDAR ICP I am currently working with an Intel RealSense D455 camera and a 2D LiDAR. Additionally, I have a wheel odometer and...

The gray color is created by this shader: https://github.com/introlab/rtabmap/blob/9650b71d8eb48e1bf9f96ee3e164106601754263/app/android/jni/background_renderer.cc#L70-L79

Do you have a local opencv version installed different than the system one? To debug more this kind of error, show backtrace of gdb, see Section A of this comment:...