matlabbe
matlabbe
It looks like you have two opencv versions installed. On runtime, the wrong library is taken in compared to one it has been built with. From the install [instructions](https://github.com/introlab/rtabmap_ros#build-from-source), if...
With `-v ~/.ros:/tmp/.ros `, the default rtabmap.db would be created on your host computer under `~/.ros/rtabmap.db`. Did you try default `Vis/FeatureType`? and if you wanted to use superpoint, you should...
The VO approach implemented in rtabmap is not a tightly VIO approach. It won't continue estimating only with IMU. You may try reducing by 2 your image resolution for odometry,...
Yes, the imu change in orientation between last frame and current timestamp is used as guess rotation for visual feature matching. If features cannot be tracked, or there is a...
For the first error, are you building a recent `rtabmap_ros` over the installed 0.21 binaries on foxy? I'll suggest to uninstall all rtabmap binaries and rebuild them from source to...
Can you share the database?
No the database that rtabmap created `~/.ros/rtabmap.db`
> The first issue is that when the robot moves directly towards the wall, the modeled wall appears curved. However, if the robot is tilted at a certain angle, the...
In the database, it seems you were using a RGB-D input for rtabmap node. I cannot see the stereo images you used for stereo_odometry. The covariance looks wrong, if odometry...
It could depend if the odometry is drifting more, or the odometry covariance is poorly balanced in comparison to ones added during loop closure detection.