Sumit Sarkar

May be the following points , not sure : 1.) -- Could NOT find Qt5Svg (missing: Qt5Svg_DIR)..install this library ..try sudo apt-get install libqt5svg5 2.) If you build pcl from...

How did you solve?

Loop closure does not reduce "uncertainty" (not clear about what exactly you mean by uncertainty). It just reduces the accumulated error by putting extra constraints in the pose graph.

Yes....other nodes are effected because its a joint optimisation problem over ALL posses (R,t) and the whole map I guess

in dual mode T265 provides odometry and D400 provides point cloud...based on odometry the point cloud of D400 get stitched...If you can point out what exactly you want to use...

I guess on ROS platform you can do...just view the topic published in rviz...if your are using standalone RtabMap then just check inside` CameraRealSense2.cpp ` if its possible

try to do `cv::imshow("fisheye",left)`

you can use a QUdpSocket class to achieve this...or create a class inheriting from UEventsHandler , register to UEventsHandler and listen to OdometryEvent [like here](https://github.com/introlab/rtabmap/blob/c5e4d67f8003b4a46aeac6e46c9db4000ae24c29/corelib/include/rtabmap/core/OdometryEvent.h#L71)

this is a hack https://github.com/sumitsarkar1/rtabmap check the guilib folder....better to register to events and do it for Non ROS

@matlabbe do we have ORB_SLAM3 with IMU integrated with RTABMAP now...coz I was seeing one of the updates which said RTABMAP has ORBSLAM3 but without IMU....I am sorry if I...