matlabbe

Here some options: * `Kp/MaxFeatures: 1500` is high, default is 500. You can fix your current database with: ``` rtabmap-reprocess --Kp/MaxFeatures 500 input.db output.db ``` * You can try `Kp/ByteToFloat:...

@alexk1976 Agreed, it is kinda included in that other issue https://github.com/introlab/rtabmap/issues/1201 .

This object detector is agnostic of the color. You would have to check the color downstream based on the detection. You may also consider ML-based approaches such as YOLO.

Yes, you may start from an existing docker image containing pytorch already installed like we did in this one: https://github.com/introlab/rtabmap/blob/master/docker/frontiers2022/Dockerfile Similarly if you need the ros version: https://github.com/introlab/rtabmap_ros/blob/master/docker/noetic/superpoint/Dockerfile You can...

First, you should not do `sudo` when calling `make`. Second, can you do `make VERSBOSE=1` to see linker log?

You can localize with only single RGB camera in localization mode.

So you are referring to this code: https://github.com/introlab/rtabmap/blob/64f79813cd2c3a7e3f916a7ef2637e93f1f13a5f/corelib/src/util3d_motion_estimation.cpp#L345-L370 From OpenGV doc, not sure we can use other than GP3P for non-central problem: ``` TWOPT = 0, // central, with rotation...

Great! I'll take a look.

In Gazebo, you have perfect depth estimation, which is different than a real stereo camera (which is exponentially more noisier the farther from the camera). A lot of variables are...

@cdb0y511 > 2. And it works for a few frames and drafts away quickly, especially when I stop moving and the IR is on; any advice? > I will try...