matlabbe
matlabbe
If you want to do it without ROS, you will have to implement and approach like @sumitsarkar1 . Otherwise, if you use ROS, everything is published on topics.
> So basically id need to build rtabmap with additional feature, or You are suggesting using rtabmap as a library? That feature is ROS or ROS2 :) Otherwise, you can...
If there is a 100% CPU usage issue, see [this](https://github.com/introlab/rtabmap/wiki/Installation#win64-binaries): > High CPU Usage (100% all cores/threads): Most of the cases, this is related to OpenMP, try setting environment variable...
I reproduced the same thing with your config file. Looking at the timing statistics, it was the occupancy grid creation that required a lot of time: ...
Which GTSAM version is used?
Related to https://github.com/introlab/rtabmap/issues/823 ?
Some insight here: http://official-rtab-map-forum.206.s1.nabble.com/Repeatability-over-same-data-tp9130p9201.html I tried four times the [no events example](https://github.com/introlab/rtabmap/wiki/Cplusplus-RGBD-Mapping#example-without-threads-and-events) with those changes: ```diff diff --git a/examples/NoEventsExample/main.cpp b/examples/NoEventsExample/main.cpp index 87fb8fed..04ceb97a 100644 --- a/examples/NoEventsExample/main.cpp +++ b/examples/NoEventsExample/main.cpp @@ -119,6 +120,7...
You should have an optical rotation between the base link and the lens, to transform from image frame (x->right, y->down, z->forward) to ros frame (x->forward, y->left, z->up). See for example...
Echo topic `localization_pose`, it contains a covariance, which is the marginal error after graph optimization (see g2o or GTSAM for more info about marginals). ```bash $ rostopic echo /rtabmap/localization_pose ```...
It is the marginal of the last node. GTSAM seems computing by default the marginals of all nodes. For g2o, it is computed only for last node, not sure if...