matlabbe

Can you keep the rgb data as usual? The rgb frame I think should be always available.

As explained in https://github.com/introlab/rtabmap/issues/1105, we added an interface to feed a [global descriptor](https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_msgs/msg/GlobalDescriptor.msg) (can be any format, see also [rtabmap_python](https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_python/src/rtabmap_python/compression.py) to easily compress/uncompress numpy matrices) at the same time than...

I think matching global descriptor with KNN could be a good first step. For nanoflann implementation, I left a new comment on #906 on how that could be integrated.

That looks great! Note that https://github.com/introlab/rtabmap/pull/1193 has been in Draft mode for a while, just checking if it is on purpose or it could be ready to be reviewed/merged. For...

If `RGBD/OptimizeMaxError` needs to be 0 to accept the first localization, there is already something wrong. There should be an error/warning about localization rejected because error is too high. You...

Is it during the step `vcpkg install rtabmap --clean-after-build` ? https://github.com/introlab/rtabmap/wiki/Installation#vcpkg

I compiled it last weekend on windows, though I didn't re-update all vcpkg dependencies. I'll try updating everything and see if I can reproduce your error.

The ZED errors have been fixed in this commit: https://github.com/introlab/rtabmap/commit/b2a86d640a15ebaf0b189b3721c978d8645018d7 Unless you use the opencv version included with ZED SDK, **remove or comment** the following line inside `zed-config.cmake` to avoid...

The vins estimator should use `camera_link` as camera frame instead of `camera`. Maybe there is a config in vins to change it.

That `Odom` checkbox is to see the cloud in `odom` frame (roll, pitch) instead of base frame. That cloud is only visualizing a single node in the map. Open the...