matlabbe

It seems to have a strange case where the last localization id is in the optimized local graph but not in memory, causing the assert. Reference: https://github.com/introlab/rtabmap/blob/95e6a9f03936697a60be2c26e119c519e47c11f5/corelib/src/Rtabmap.cpp#L4055-L4080 I tried switching...

If you work with depth images, you could set 0 depth to mask the body in the image, then feed that updated depth image to rtabmap instead of the original...

> When I provide the raw stereo images + stereo odom I'm able to map relatively well, but when I generate the point cloud separately (Using the stereo image pipeline)...

After assembling a mesh or point cloud, you will be in visualization mode. To jump into localization mode, click on View menu and select First-person view. iOS tracking will be...

The localization is based on the visual loop closure detection approach described in https://arxiv.org/abs/2403.06341

I played with the same demo you linked, but with camera only ([turtlebot3_sim_rgbd_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_demo.launch.py)), and I can reproduce the same behavior than the lidar example. The only thing is that to...

You can set `Rtabmap/StartNewMapOnLoopClosure: "true"` so that a new map will be created only after the robot has re-localized on the previous map(s). The occupancy grid used during localization will...

There are different approaches to do that: * Be always in mapping mode, but would require a special planner to adjust paths when the world frame is changing over time,...

With `Rtabmap/StartNewMapOnLoopClosure: "true"`, it could do what you describe, though it won't start adding new data till the robot can re-localize on the current map. The "update" is adding new...

Here other data (that are not images) that are currently compressed in the database: https://github.com/introlab/rtabmap/blob/f8b1d5065618b481cccfd777bb086744c0440962/corelib/src/resources/DatabaseSchema.sql.in#L37 https://github.com/introlab/rtabmap/blob/f8b1d5065618b481cccfd777bb086744c0440962/corelib/src/resources/DatabaseSchema.sql.in#L40-L42 These are point cloud data, so Draco library could be indeed used for that....