matlabbe

There is no documentation about the Swift to C++ interface. Basically, swift calls Objective C functions that calls C functions. We pass the c++ rtabmap object as a pointer to...

ios build is including `rtabmap/app/android/jni` folder. I didn't put time to move that code in a shared folder between android and ios.

RTABMap iOS app(without lidar) is using these inputs from ARKit: pose, RGB frame and 3D tracked features. Loop closure is still done by RTAB-Map library (we reproject the 3D tracked...

The iOS project contains directly references to opengl es code from [android/jni](https://github.com/introlab/rtabmap/tree/master/app/android/jni). All the opengl code is built inside the main ios c++ library of the App.

Everything that is 3D has been drawn in OpenGL ES. The buttons/menus/dialogs are native iOS or Android UI stuff (not opengl). On iOS, the OpenGL draw call comes from swift...

You are referring to this line: https://github.com/introlab/rtabmap/blob/ddaf2f52715d975ecd9da8ab197f17571f731d00/corelib/src/Rtabmap.cpp#L1754 There is an answer here about the same question: http://official-rtab-map-forum.206.s1.nabble.com/memory-increase-when-robot-is-static-tp10863p10874.html Can you add ```cpp UASSERT(_memory->isIncremental()) ``` under this if statement: https://github.com/introlab/rtabmap/blob/ddaf2f52715d975ecd9da8ab197f17571f731d00/corelib/src/Rtabmap.cpp#L1725-L1728 then launch...

For android, I don't maintain PCL compatibility with newer versions. This is how we currently build PCL 1.8 for android: https://github.com/introlab/rtabmap/blob/626bf6498345a5bc6fd27e61193fda0cfe075015/docker/bionic/android/deps.bash#L126-L141 If you are using a newer version, you may...

I don't have example of using external camera with the android app (like using any of these [camera drivers](https://github.com/introlab/rtabmap/tree/master/corelib/src/camera) in android). The easiest could be to modify the code of...

It looks like it may be already possible to do (at least on windows): https://github.com/introlab/rtabmap/issues/1242#issuecomment-2171972851

You can look at the other camera drivers here: https://github.com/introlab/rtabmap/tree/master/corelib/src/camera That would be to create a CameraOrbbec class using orbbec sdk: https://github.com/orbbec/OrbbecSDK