matlabbe

Try to visualize the local costmap at the same time, to see if the camera is seeing some ghost obstacles (noise).

On my system with ORB_SLAM2, I **make install** Pangolin, so I don't need to modify LD_LIBRARY_PATH for it. You may look at this docker file which shows how to install...

The `-lpangolin` flag would be coming from imported dependencies of rtabmap cmake config file. You can try to remove it from the installed `RTABMapConfig.cmake`, then build rtabmap_ros again. If it...

1. For the kitti image dataset, you could process it with the command line tool `rtabmap-kitti_dataset` (type in terminal alone and you will see usage and an example at the...

The jfr2018 docker is a snapshot of the code used for the paper. To use latest rtabmap, use docker under `latest` folder: https://github.com/introlab/rtabmap/tree/master/docker/jfr2018/latest Normally, `run_kitti_dataset.sh` should use the right rtabmap...

To recover results from the paper, you should use `rtabmap-report --scale`: ``` rtabmap-report --scale --kitti results/kitti/04 Directory: results/kitti/04 f2m.db (271, s=0.987): error lin=0.214m (max=1.514m, odom=0.214m) ang=0.2deg, KITTI: t_err=0.45% r_err=0.13 deg/100m,...

Units are in meters. For example, if it is `0.1`, it will filter the point cloud to keep only 1 point for each 10 cm voxel. See https://pcl.readthedocs.io/projects/tutorials/en/latest/voxel_grid.html#voxelgrid for a...

If you are using external VINS-Fusion odometry, you don't need to start rtabmap_ros/stereo_odometry node, just remap vins-fusion output odom topic to rtabmap node. That example is using VINS-fusion internally.

could you try with `approx_sync:=false` instead (I think zed topics are using exact same time between images taken at same time)? ``` ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_args:="--delete_db_on_start" \ rgb_topic:=/zed/zed_node/rgb/image_rect_color \...

If you build rtabmap with OpenGV support, you could feed your 4 cameras to `rgbd_odometry` like you did for `rtabmap` node. This would result in more robust visual odometry. To...