matlabbe

@tulingcheng86 This issue is related to D435i + open_vins and rtabmap. For general D435i usage with rtabmap see this [tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping#Bring-up_example_with_RealSense_cameras), in particular the "RealSense D435i camera (IR-Depth)" example.

In rtabmap-databaseViewer (or in standalone Tools->Edit database), you could "split" the graph around nodes that are causing those wrong points. In Constraints View, select constraints around a node or section...

To make it more convenient, I updated the menu option "File->Export poses..." with commit above to easily export tag poses with RGBDSLAM +ID format and g2o format. g2o format: ```...

Yes, you can run without docker, but you will need to install cuda + pytorch (from source), then build rtabmap library with libtorch (for superpoint) and python (for superglue) support...

You can also do: ``` cmake -DWITH_TORCH=ON -DWITH_PYTHON=ON -DTorch_DIR=/home/lun/libtorch/share/cmake/Torch .. ``` to avoid hard-coding it in the `CMakeLists.txt`. The cmake status shows that torch is detected, so if rtabmap builds...

Thanks for the suggestion, though as it is touching a core feature of RTAB-Map, I would prefer to have an parameter/option to switch on/off this new approach (with default "off")...

Thanks for the PR. Would it make more sense to save the flann index inside the database instead of creating new file(s)? I won't have much time in next 2...

For the windows build, maybe it is because the Eigen version used is not CMAKE_CXX_STANDARD 17 compatible. We may have to update windows dependencies to support it. For database usage,...

That strange, it seems the odometry topic is published before the odom TF topic. That looks more an issue on the odometry plugin used by the simulator. The only downside...

If you use that [configuration](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser), it is explained in this [paper](https://arxiv.org/abs/2403.06341): > The transformation is computed using the same Motion Estimation approach used by visual odometry (Section 3.1.1), and if...