matlabbe

slam: added rtabmap example

13

Hi, Just came across the `turtlebot3_slam` package. There are many examples with some SLAM approaches already added. I just did one for rtabmap. With the "waffle" model, the RGB+depth images...

Update slam_rtabmap.launch

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## Fixes #165 ### Description of the changes: - Added **IMU support** (map is now aligned with gravity by default). - Updated **depth rectification interpolation method to NearestNeighbor** instead of...

Improving slam_rtabmap.launch

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**Describe the bug** The [slam_rtabmap.launch](https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/melodic/launch/slam_rtabmap.launch) file can be improved. Here are some changes I propose (I was about to open a pull request but it seems we have to open...

Mesh decimation (vtkQuadricDecimation) seems not working correctly on Windows and vcpkg packages

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Here is an example with same export configs (limiting the mesh to 50 000 polygons). On top is the expected result, on bottom is the buggy result (some surfaces are...

`std::out_of_range` with `map::at` exception with gtsam 4.1.1

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With GTSAM version built from source (revision: [4.1.1](https://github.com/borglab/gtsam/releases/tag/4.1.1)) during loop closure optimization: ```bash [DEBUG] (2022-02-03 16:13:45.949) OptimizerGTSAM.cpp:101::optimize() Optimizing graph... [DEBUG] (2022-02-03 16:13:45.949) OptimizerGTSAM.cpp:146::optimize() hasGPSPrior=false [DEBUG] (2022-02-03 16:13:45.949) OptimizerGTSAM.cpp:164::optimize() fill poses...

``` #0 (null) in pcl::TextureMapping::textureMeshwithMultipleCameras2(pcl::TextureMesh&, std::__1::vector const&... () #1 (null) in pcl::TextureMapping::textureMeshwithMultipleCameras2(pcl::TextureMesh&, std::__1::vector const&... () #2 (null) in rtabmap::util3d::createTextureMesh(std::__1::shared_ptr const&, std::__1::map

Illegal instruction when start rtabmap

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_From @GoogleCodeExporter on May 26, 2015 18:56_ ``` What steps will reproduce the problem? 1. I followed the installation instruction in the wiki page: https://code.google.com/p/rtabmap/wiki/Installation. 2. All the compilation went...

Pose covariance from mapping missing

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RTAB-Map doesn't keep track of the accumulated pose covariance over time, neither output a covariance for the latest pose (with graph optimization). Well, I think this covariance could be computed...

Add some referentials/frustums for each camera pose on the trajectory

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This can be convenient to better see the orientation of the camera along the trajectory. See also: http://official-rtab-map-forum.206.s1.nabble.com/Visualization-of-laserscan-and-trajectory-td2488.html

Depth image not shown in UI but 3D cloud seems created. See http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Outdoor-Mapping-Offline-Database-Processing-Localization-tp5258p5417.html