matlabbe
matlabbe
Currently working on a docker image to reproduce the results (working so far but minor issues to fix this week, maybe today if I have time). There is however a...
Updated README with a docker example: https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant#docker
Reproduced the problem on standalone, stuck on: ``` SuperGlue python init() ``` It seems freezing when initializing superglue: https://github.com/introlab/rtabmap/blob/adfb250d4ee33641ce7057bdb34c748127259120/corelib/src/python/rtabmap_superglue.py#L25 To reproduce: ```bash export XAUTH=/tmp/.docker.xauth touch $XAUTH xauth nlist $DISPLAY |...
Tested with 0.20.16 using the docker image (checking out 0.20.16 inside and rebuild it) and the same problem happens. Digging more into the issue, I tried to replicate a minimal...
At least on ROS it works. I tested by adding ros noetic in the [rtabmap_frontiers](https://github.com/introlab/rtabmap/blob/master/docker/frontiers2022/Dockerfile) docker image. Launch the docker image: ```bash export XAUTH=/tmp/.docker.xauth touch $XAUTH xauth nlist $DISPLAY |...
Following parameters could be used to filter noise: ``` rtabmap --params | grep Grid/ Param: Grid/NoiseFilteringMinNeighbors = "5" [Noise filtering minimum neighbors.] Param: Grid/NoiseFilteringRadius = "0.0" [Noise filtering radius (0=disabled)....
If you generate a 2d scan, you could easily filter the scan data by comparing previous and next ranges to find ranges that are noise and set them to 0.
Odom log info are fines. The `Will not update robot pose with time` log is coming from robot_pose_ekf package: https://github.com/udacity/robot_pose_ekf/blob/6bdf918f7ede7a4bf96699da9e9e5422b31fd07e/src/odom_estimation.cpp#L171
Thx for looking at this issue, I'll keep this in mind next time I compile with gtsam 4.1.1. We will see if they try it on the code reproducing the...
I have confirmation from another person having the same bug that with latest gtsam nightly build binaries from PPA (gtsam-develop), the bug didn't appear again.