matlabbe

There is currently two examples for feature matching using python: * https://github.com/introlab/rtabmap/blob/master/corelib/src/python/rtabmap_superglue.py * https://github.com/introlab/rtabmap/blob/master/corelib/src/python/rtabmap_oanet.py and another example for feature extraction: * https://github.com/introlab/rtabmap/blob/master/corelib/src/python/rtabmap_superpoint.py For debugging python scripts called by cpp, it...

Did you build with vcpkg?

Make sure you enabled prior optimization by setting `Optimize/PriorsIgnored` to false. See also https://github.com/introlab/rtabmap_ros/issues/867 We cannot label a landmark, as it is in fact a "Link" not a "Node" in...

- Iteration 0 is without loop closure optimization (pure odometry), this is the number of optimization iterations. - The numbers at the bottom are the number of type of links...

Each time in "Constraints view" you add a new loop closure, it will be a "U". If you do "Detect more loop closures", these loop closures will be "U" too.

Oh yeah, it is a good point if the external detector needs RGB. Ideally, we could make an abstract function (e.g., `isColorSupported()`) for `Features2D` class that would return if the...

I'll keep this open as it could be a nice enhancement.

See also https://github.com/introlab/rtabmap/issues/599#issuecomment-1676467175

Is there a specific question? The GlobalDescriptor is currently a placeholder, there is no built-in mechanism to create one or even use it to find loop closures. It was introduced...

The Bayes filter is still useful to filter spurious high likelihood (false positives), i.e., we need some consecutive high likelihood in an area to trigger a loop closures/re-localization. I saw...