matlabbe

Having the debug log leading to this error would be useful. Add `--udebug` argument to rtabmap node.

Hi @Serafadam , 1. Yes, this is something we want to add to rtabmap_ros, this could be useful to offload feature extraction computation on the cameras. 2. In general, VIO...

Thanks @borongyuan for all this information, pretty useful! I confirm RTAB-Map doesn't have a real VIO approach by default (it is more a VO approach on which I added afterwards...

To add to @borongyuan , when rtabmap node is subscribing to a [RGBDImage](http://docs.ros.org/en/api/rtabmap_msgs/html/msg/RGBDImage.html) topic, you can fill the feature fields to make rtabmap use those features (with `Mem/UseOdometryFeatures=True`) instead of...

We provide a python API to compress and uncompress rtabmap data. We are using zlib under the hood, but this function will make sure the header of the matrix is...

You may look for warnings/errors in terminal of where rtabmap is launched. At 2Hz, I suspect that input frames cannot be synchronized and rtabmap is waiting on input topics. Ideally,...

I don't know how look like your environment, but if there are only white walls, it may not be able to localize.

It should be able to localize in both directions, if you mapped in both directions. The loop closure hypothesis is rejected, but it is detected. There should be a warning...

Parameter `RGBD/OptimizeMaxError` could be increased to be less strict. However the angle error is 160 deg, which is way over that threshold. Maybe this one should be really rejected, but...

I tried similar experiment than this [one](https://github.com/introlab/rtabmap_ros/issues/1034#issue-1898406283), but could not reproduce the optimization warnings.  If you have databases/bags to share, I could try to reproduce it here.