matlabbe

I'll give a try using the euclidean distance as a similarity measure and see if there is a big difference. From the [original paper](https://arxiv.org/pdf/1511.07247.pdf): > At test time, the visual...

Thanks for the equations. I compared L2 distance (rescaled between 0 and 1) versus dot product (rescaled between 0 and 1) and they are indeed proportional:  I updated the...

I was checking this other [paper](https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=ad439721b4cc898adc4f420b7cf43e59f53451e0), and we can observe the same results I saw [earlier](https://github.com/introlab/rtabmap/issues/1105#issuecomment-2031099209) (too similar to all other descriptors) and they also found that was a problem....

on step 3, after `cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON ..`, make sure you see in cmake info at the end that WITH_ORB_SLAM is YES. If so maybe the rtabmap_ros is linking on...

When I integrated the first time, I had difficulty to feed correctly the IMU messages to ORB_SLAM3, so the current integration with IMU for ORB_SLAM3 in rtabmap is not finished....

There's one with ORB_SLAM2 here: https://github.com/introlab/rtabmap/blob/61dbe51ee3cea7a661d5a7a90c20a828074bd480/docker/jfr2018/latest/Dockerfile#L156-L158

You may not have to apply the opencv3.1 patch for opencv 3.2.

Can you try setting to `map` frame before launching the bag?

You have to build rtabmap with `realsense2` option: ``` vcpkg install rtabmap[realsense2] --triplet x64-windows --clean-after-build ```

`tm2` option has been [removed](https://github.com/microsoft/vcpkg/commit/62c4a7ad6333ae50b31302c48cb3ca5712828b03) from realsense2 dependency, update rtabmap's vcpkg.conf with those changes: ```patch diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index ecbc94570..fea10af24 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -117,13 +117,7 @@...