matlabbe

Hi,  The large orientation drift could be reduced by switching to IR stereo mode, because the disparity computed by realsense is missing many far visual features...

To test if RGB camera is indeed exactly sync with IR cameras, you can do fast rotations, then check how good is the depth registration. If there is a time...

Hi, using stereo mode is a lot better, we can see that features can be extracted very far:  The resulting trajectory looks more realistic, though I don't...

Some things to check for your custom setup: Are images from your custom stereo camera exactly captured at the same time? How good is the calibration? In stereo mode, rtabmap's...

Hi you need to use [rgbd_sync](http://wiki.ros.org/rtabmap_sync#rtabmap_sync.2Frgbd_sync) node to sync camera topics, then set `subscribe_rgbd=true` with `subscribe_scan_cloud=true` for rtabmap node. Remap rtabmap input `rgbd_image` topic to output of [rgbd_sync](http://wiki.ros.org/rtabmap_sync#rtabmap_sync.2Frgbd_sync) node. `approx_sync`...

Hi, you are mixing `rs_d400_and_t265.lanuch` (which would be for 2 cameras) and another `rtabmap.launch` not remapping the same arguments that you are passing in command line. If you start only...

For the basics, you can feed mono camera image + 3D lidar + odometry from `navsat_transform_node` to `rtabmap` node. You don't need ICP odometry. However, I have doubt that only...

Yeah, no problem. It is failing because a dependency (libpointmatcher) is not built on armhf. The correct fix would be to do a conditional `depends` in rtabmap's `package.xml` based on...

With `rtabmap-databaseViewer`, when doing "File->Export Poses...", you can then choose in which frame you want the poses. The `camera` frame should be there (default is base frame).

Are you using https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_examples/launch/euroc_datasets.launch ?