matlabbe

It is difficult to say. The map is actually tilted ~30 degs, so the drift appears on all axes. F2M would probably do the same long-term. If the camera is...

I suggest to add these two lines at the beginning of your main function to get all debug logs: ```cpp #include int main(int argc, char ** argv) { ULogger::setType(ULogger::kTypeConsole); ULogger::setLevel(ULogger::kDebug);...

I think it is related to this bug (infinite recursive call): https://github.com/introlab/rtabmap/commit/332dde6d74859e6d74834bab890c347ce21a42ba Either update to latest master, or change: ```diff rtabmap::SensorData data( color.clone(), depth.clone(), - std::vector{cameraModel}, + cameraModel, frame_id, timestamp...

I think there is a bug when both gravity and prior constraints are on the same node at the same time. I'll need more time to check in depth. But...

How did you build it on mac? Following https://github.com/introlab/rtabmap/wiki/Installation#source ? If so, I may retry here again in case the dependencies changed and are now causing issues. You may also...

Note that you can recover your scan after a crash. Look under RTAB-Map folder in your File Explorer and backup rtabmap.tmp.db file somewhere. Using desktop computer, it is possible to...

you can look at `Grid/` parameters: ``` rtabmap --params | grep Grid/ [...] Param: Grid/MaxObstacleHeight = "0.0" [Maximum obstacles height (0=disabled).] ``` So to filter ceiling, you could add `--Grid/MaxObstacleHeight...

Can you share the database? If stereo data gets too noisy, you may just use a simple thresholding of the floor by turning off normals segmentation (`Grid/NormalsSegmentation=false`) and set `Grid/MaxGroundHeight`...

See "To build from source" guide here: https://github.com/introlab/rtabmap/wiki/Installation#ios

Can you find that file (`utilite_export.h`) under `rtabmap/app/ios/RTABMapApp/Libraries/include/rtabmap-0.21/rtabmap/utilite` ? Note that if `rtabmap/app/ios/RTABMapApp/Libraries/include/rtabmap-0.21` folder is missing, something went wrong when executing script [install_deps.sh](https://github.com/introlab/rtabmap/blob/master/app/ios/RTABMapApp/install_deps.sh).