Added multi_rgbd_inertial_dataset.launch example (https://github.com/introlab/rtabmap/issues/1654). Also fixed dev container not showing GUI apps.

.devcontainer/devcontainer.json

@@ -22,6 +22,10 @@
     },
     "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/catkin_ws/src/rtabmap_ros,type=bind",
     "workspaceFolder": "/home/vscode/catkin_ws",
-    "postCreateCommand": "cd /home/vscode/catkin_ws/src && catkin_init_workspace"
+    "postCreateCommand": "cd /home/vscode/catkin_ws/src && catkin_init_workspace",
-    //"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
+    "runArgs": ["--privileged",
+                "--runtime=nvidia",
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"]
 }

rtabmap_examples/launch/config/multi_rgbd_inertial_dataset.ini

@@ -0,0 +1,453 @@
+[Core]
+Rtabmap\WorkingDirectory=/home/vscode/.ros
+
+[Gui]
+AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0\0\a\x80\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10)
+DepthCalibrationDialog\bin_depth=2
+DepthCalibrationDialog\bin_height=6
+DepthCalibrationDialog\bin_width=8
+DepthCalibrationDialog\cone_radius=0.02
+DepthCalibrationDialog\cone_stddev_thresh=0.1
+DepthCalibrationDialog\decimation=1
+DepthCalibrationDialog\laser_scan=false
+DepthCalibrationDialog\max_depth=3.5
+DepthCalibrationDialog\max_model_depth=10
+DepthCalibrationDialog\min_depth=0
+DepthCalibrationDialog\smoothing=1
+DepthCalibrationDialog\voxel=0.01
+ExportBundlerDialog\exportPoints=false
+ExportBundlerDialog\laplacianThr=0
+ExportBundlerDialog\maxAngularSpeed=0
+ExportBundlerDialog\maxLinearSpeed=0
+ExportBundlerDialog\sba_iterations=20
+ExportBundlerDialog\sba_rematch_features=true
+ExportBundlerDialog\sba_type=0
+ExportBundlerDialog\sba_variance=1
+ExportCloudsDialog\assemble=true
+ExportCloudsDialog\assemble_samples=0
+ExportCloudsDialog\assemble_voxel=0.01
+ExportCloudsDialog\bilateral=false
+ExportCloudsDialog\bilateral_sigma_r=0.1
+ExportCloudsDialog\bilateral_sigma_s=10
+ExportCloudsDialog\binary=true
+ExportCloudsDialog\cam_proj=false
+ExportCloudsDialog\cam_proj_decimation=1
+ExportCloudsDialog\cam_proj_distance_policy=true
+ExportCloudsDialog\cam_proj_export_format=0
+ExportCloudsDialog\cam_proj_keep_points=false
+ExportCloudsDialog\cam_proj_mask=
+ExportCloudsDialog\cam_proj_max_angle=0
+ExportCloudsDialog\cam_proj_max_depth_error=0
+ExportCloudsDialog\cam_proj_max_distance=0
+ExportCloudsDialog\cam_proj_recolor_points=true
+ExportCloudsDialog\cam_proj_roi_ratios=0.0 0.0 0.0 0.0
+ExportCloudsDialog\cputsdf_flattenRadius=0.005
+ExportCloudsDialog\cputsdf_minWeight=0
+ExportCloudsDialog\cputsdf_randomSplit=1
+ExportCloudsDialog\cputsdf_resolution=0.01
+ExportCloudsDialog\cputsdf_size=12
+ExportCloudsDialog\cputsdf_truncNeg=0.03
+ExportCloudsDialog\cputsdf_truncPos=0.03
+ExportCloudsDialog\filtering=false
+ExportCloudsDialog\filtering_min_neighbors=5
+ExportCloudsDialog\filtering_radius=0
+ExportCloudsDialog\frame=0
+ExportCloudsDialog\from_depth=true
+ExportCloudsDialog\gain=false
+ExportCloudsDialog\gain_beta=10
+ExportCloudsDialog\gain_full=false
+ExportCloudsDialog\gain_overlap=0
+ExportCloudsDialog\gain_radius=0.02
+ExportCloudsDialog\gain_rgb=true
+ExportCloudsDialog\intensity_colormap=0
+ExportCloudsDialog\mesh=false
+ExportCloudsDialog\mesh_angle_tolerance=15
+ExportCloudsDialog\mesh_clean=true
+ExportCloudsDialog\mesh_color_radius=0.05
+ExportCloudsDialog\mesh_decimation_factor=0
+ExportCloudsDialog\mesh_dense_strategy=1
+ExportCloudsDialog\mesh_max_polygons=0
+ExportCloudsDialog\mesh_min_cluster_size=0
+ExportCloudsDialog\mesh_mu=2.5
+ExportCloudsDialog\mesh_quad=false
+ExportCloudsDialog\mesh_radius=0.2
+ExportCloudsDialog\mesh_texture=false
+ExportCloudsDialog\mesh_textureBlending=true
+ExportCloudsDialog\mesh_textureBlendingDecimation=0
+ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=5
+ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
+ExportCloudsDialog\mesh_textureCameraFiltering=false
+ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
+ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
+ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
+ExportCloudsDialog\mesh_textureCameraFilteringVel=0
+ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
+ExportCloudsDialog\mesh_textureDistanceToCamPolicy=false
+ExportCloudsDialog\mesh_textureExposureFusion=false
+ExportCloudsDialog\mesh_textureFormat=0
+ExportCloudsDialog\mesh_textureMaxAngle=0
+ExportCloudsDialog\mesh_textureMaxCount=1
+ExportCloudsDialog\mesh_textureMaxDepthError=0
+ExportCloudsDialog\mesh_textureMaxDistance=3
+ExportCloudsDialog\mesh_textureMinCluster=50
+ExportCloudsDialog\mesh_textureMultiband=false
+ExportCloudsDialog\mesh_textureMultibandAngleHardThr=90
+ExportCloudsDialog\mesh_textureMultibandBestScoreThr=0.1
+ExportCloudsDialog\mesh_textureMultibandDownScale=2
+ExportCloudsDialog\mesh_textureMultibandFillHoles=false
+ExportCloudsDialog\mesh_textureMultibandForceVisible=false
+ExportCloudsDialog\mesh_textureMultibandNbContrib=1 5 10 0
+ExportCloudsDialog\mesh_textureMultibandPadding=5
+ExportCloudsDialog\mesh_textureMultibandUnwrap=0
+ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
+ExportCloudsDialog\mesh_textureSize=6
+ExportCloudsDialog\mesh_textureVertexColorPolicy=0
+ExportCloudsDialog\mesh_triangle_size=1
+ExportCloudsDialog\mls=false
+ExportCloudsDialog\mls_dilation_iterations=1
+ExportCloudsDialog\mls_dilation_voxel_size=0.005
+ExportCloudsDialog\mls_output_voxel_size=0
+ExportCloudsDialog\mls_point_density=10
+ExportCloudsDialog\mls_polygonial_order=2
+ExportCloudsDialog\mls_radius=0.04
+ExportCloudsDialog\mls_upsampling_method=0
+ExportCloudsDialog\mls_upsampling_radius=0.01
+ExportCloudsDialog\mls_upsampling_step=0.005
+ExportCloudsDialog\nodes_filtering=false
+ExportCloudsDialog\nodes_filtering_xmax=0
+ExportCloudsDialog\nodes_filtering_xmin=0
+ExportCloudsDialog\nodes_filtering_ymax=0
+ExportCloudsDialog\nodes_filtering_ymin=0
+ExportCloudsDialog\nodes_filtering_zmax=0
+ExportCloudsDialog\nodes_filtering_zmin=0
+ExportCloudsDialog\normals_ground_normals_up=0
+ExportCloudsDialog\normals_k=20
+ExportCloudsDialog\normals_radius=0
+ExportCloudsDialog\openchisel_carving_dist_m=0.05
+ExportCloudsDialog\openchisel_chunk_size_x=16
+ExportCloudsDialog\openchisel_chunk_size_y=16
+ExportCloudsDialog\openchisel_chunk_size_z=16
+ExportCloudsDialog\openchisel_far_plane_dist=1.1
+ExportCloudsDialog\openchisel_integration_weight=1
+ExportCloudsDialog\openchisel_merge_vertices=true
+ExportCloudsDialog\openchisel_near_plane_dist=0.05
+ExportCloudsDialog\openchisel_truncation_constant=0.001504
+ExportCloudsDialog\openchisel_truncation_linear=0.00152
+ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
+ExportCloudsDialog\openchisel_truncation_scale=10
+ExportCloudsDialog\openchisel_use_voxel_carving=false
+ExportCloudsDialog\pipeline=1
+ExportCloudsDialog\poisson_depth=0
+ExportCloudsDialog\poisson_iso=8
+ExportCloudsDialog\poisson_manifold=true
+ExportCloudsDialog\poisson_minDepth=5
+ExportCloudsDialog\poisson_outputPolygons=false
+ExportCloudsDialog\poisson_pointWeight=4
+ExportCloudsDialog\poisson_polygon_size=0.03
+ExportCloudsDialog\poisson_samples=1
+ExportCloudsDialog\poisson_scale=1.1
+ExportCloudsDialog\poisson_solver=8
+ExportCloudsDialog\regenerate=false
+ExportCloudsDialog\regenerate_ceiling=0
+ExportCloudsDialog\regenerate_decimation=1
+ExportCloudsDialog\regenerate_distortion_model=
+ExportCloudsDialog\regenerate_edge_bleeding_error=0
+ExportCloudsDialog\regenerate_fill_error=2
+ExportCloudsDialog\regenerate_fill_size=0
+ExportCloudsDialog\regenerate_floor=0
+ExportCloudsDialog\regenerate_footprint_height=0
+ExportCloudsDialog\regenerate_footprint_length=0
+ExportCloudsDialog\regenerate_footprint_width=0
+ExportCloudsDialog\regenerate_max_depth=4
+ExportCloudsDialog\regenerate_min_depth=0
+ExportCloudsDialog\regenerate_min_depth_confidence=0
+ExportCloudsDialog\regenerate_offaxis_filtering=false
+ExportCloudsDialog\regenerate_offaxis_filtering_angle=10
+ExportCloudsDialog\regenerate_offaxis_filtering_neg_x=true
+ExportCloudsDialog\regenerate_offaxis_filtering_neg_y=true
+ExportCloudsDialog\regenerate_offaxis_filtering_neg_z=true
+ExportCloudsDialog\regenerate_offaxis_filtering_pos_x=true
+ExportCloudsDialog\regenerate_offaxis_filtering_pos_y=true
+ExportCloudsDialog\regenerate_offaxis_filtering_pos_z=true
+ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
+ExportCloudsDialog\regenerate_scan_decimation=1
+ExportCloudsDialog\regenerate_scan_max_range=0
+ExportCloudsDialog\regenerate_scan_min_range=0
+ExportCloudsDialog\subtract=false
+ExportCloudsDialog\subtract_min_neighbors=5
+ExportCloudsDialog\subtract_point_angle=0
+ExportCloudsDialog\subtract_point_radius=0.02
+Figures\counts=
+Figures\curves=
+Figures\thresholds=
+General\beep=false
+General\cloudCeilingHeight=0
+General\cloudFiltering=false
+General\cloudFilteringAngle=30
+General\cloudFilteringRadius=0.1
+General\cloudFloorHeight=0
+General\cloudNoiseMinNeighbors=5
+General\cloudNoiseRadius=0
+General\cloudVoxel=0
+General\cloudsKept=true
+General\colorScheme0=0
+General\colorScheme1=0
+General\colorSchemeScan0=0
+General\colorSchemeScan1=0
+General\decimation0=8
+General\decimation1=4
+General\depthConf0=0
+General\depthConf1=0
+General\downsamplingScan0=1
+General\downsamplingScan1=1
+General\elevationMapShown=0
+General\figure_cache=true
+General\figure_time=true
+General\gravityLength0=1
+General\gravityLength1=1
+General\gravityShown0=false
+General\gravityShown1=true
+General\gridMapOpacity=0.75
+General\gridMapShown=false
+General\gridUIResolution=0
+General\gtAlign=true
+General\imageHighestHypShown=false
+General\imageRejectedShown=true
+General\imagesKept=true
+General\landmarkSize=0
+General\localizationsGraphView=false
+General\localizationsGraphViewOdomCache=false
+General\loggerEventLevel=3
+General\loggerLevel=2
+General\loggerPauseLevel=3
+General\loggerPrintThreadId=false
+General\loggerPrintTime=true
+General\loggerType=1
+General\maxDepth0=5
+General\maxDepth1=0
+General\maxRange0=0
+General\maxRange1=0
+General\meshing=false
+General\meshing_angle=15
+General\meshing_quad=true
+General\meshing_texture=false
+General\meshing_triangle_size=2
+General\minDepth0=0
+General\minDepth1=0
+General\minRange0=0
+General\minRange1=0
+General\missingRepublished=true
+General\noFiltering=true
+General\nochangeGraphView=false
+General\normalKSearch=10
+General\normalRadiusSearch=0
+General\notifyNewGlobalPath=false
+General\octomap=false
+General\octomap_2dgrid=true
+General\octomap_3dmap=true
+General\octomap_depth=16
+General\octomap_point_size=5
+General\octomap_rendering_type=0
+General\odomDisabled=false
+General\odomF2MGravitySigma=-1
+General\odomOnlyInliersShown=false
+General\odomQualityThr=50
+General\odomRegistration=3
+General\opacity0=1
+General\opacity1=0.75
+General\opacityScan0=1
+General\opacityScan1=0.5
+General\posteriorGraphView=true
+General\ptSize0=1
+General\ptSize1=2
+General\ptSizeFeatures0=3
+General\ptSizeFeatures1=3
+General\ptSizeScan0=1
+General\ptSizeScan1=2
+General\roiRatios0=0.0 0.0 0.0 0.0
+General\roiRatios1=0.0 0.0 0.0 0.0
+General\scanCeilingHeight=0
+General\scanFloorHeight=0
+General\scanNormalKSearch=0
+General\scanNormalRadiusSearch=0
+General\showClouds0=true
+General\showClouds1=false
+General\showFeatures0=false
+General\showFeatures1=true
+General\showFrames=false
+General\showFrustums0=false
+General\showFrustums1=false
+General\showGraphs=true
+General\showIMUAcc=false
+General\showIMUGravity=false
+General\showLabels=false
+General\showLandmarks=true
+General\showScans0=true
+General\showScans1=true
+General\subtractFiltering=false
+General\subtractFilteringAngle=0
+General\subtractFilteringMinPts=5
+General\subtractFilteringRadius=0.02
+General\verticalLayoutUsed=true
+General\voxelSizeScan0=0
+General\voxelSizeScan1=0
+General\wordsGraphView=false
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\0\x32\0\0\0\x1b\0\0\x6\xf2\0\0\x3\xf\0\0\0\x32\0\0\0@\0\0\x6\xf2\0\0\x3\xf\0\0\0\0\0\0\0\0\a\x80\0\0\0\x32\0\0\0@\0\0\x6\xf2\0\0\x3\xf)
+MainWindow\maximized=false
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x3\\\0\0\x2\x95\xfc\x2\0\0\0\x3\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x2\0\0\0\x32\0\0\0\x1b\0\0\0\xc8\0\0\0\xc1\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0;\0\0\x1\xaa\0\0\0\x37\0\xff\xff\xff\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\x1\0\0\x1\xeb\0\0\0\xe5\0\0\0\x13\0\xff\xff\xff\0\0\0\x1\0\0\x3_\0\0\x2\x95\xfc\x2\0\0\0\x4\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0;\0\0\x2\x95\0\0\0\xdb\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf0\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x2\0\0\x4\xf2\0\0\x1\x39\0\0\x2}\0\0\x1\x90\xfb\0\0\0\x34\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0u\0l\0t\0i\0S\0\x65\0s\0s\0i\0o\0n\0L\0o\0\x63\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x13\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\x1(\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\x2\0\0\0\x32\0\0\0\x1b\0\0\0\xc8\0\0\0\x88\0\0\0\0\0\0\x2\x95\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\status_bar=false
+PostProcessingDialog\cluster_angle=30
+PostProcessingDialog\cluster_radius=1
+PostProcessingDialog\detect_more_lc=true
+PostProcessingDialog\inter_session=true
+PostProcessingDialog\intra_session=true
+PostProcessingDialog\iterations=5
+PostProcessingDialog\refine_lc=false
+PostProcessingDialog\refine_neigbors=false
+PostProcessingDialog\sba=false
+PostProcessingDialog\sba_iterations=20
+PostProcessingDialog\sba_rematch_features=true
+PostProcessingDialog\sba_type=1
+PostProcessingDialog\sba_variance=1
+PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x1\xa8\xff\xff\xff\xf6\0\0\x5{\0\0\x3\xb7\0\0\x1\xa8\0\0\0\x1b\0\0\x5{\0\0\x3\xb7\0\0\0\0\0\0\0\0\a\x80\0\0\x1\xa8\0\0\0\x1b\0\0\x5{\0\0\x3\xb7)
+graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
+graphicsView_graphView\ensure_frame_visible=1
+graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
+graphicsView_graphView\global_path_visible=true
+graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
+graphicsView_graphView\gps_graph_visible=true
+graphicsView_graphView\graph_visible=true
+graphicsView_graphView\grid_visible=true
+graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
+graphicsView_graphView\gt_graph_visible=true
+graphicsView_graphView\highlighting_color_0=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+graphicsView_graphView\highlighting_color_1=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
+graphicsView_graphView\intra_inter_session_colors_enabled=false
+graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\link_width=0
+graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+graphicsView_graphView\local_path_visible=true
+graphicsView_graphView\local_radius_visible=false
+graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
+graphicsView_graphView\min_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
+graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
+graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
+graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
+graphicsView_graphView\node_odom_cache_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\0\0\0\0)
+graphicsView_graphView\node_radius=0.009999999776482582
+graphicsView_graphView\node_visible=true
+graphicsView_graphView\odom_cache_overlay=true
+graphicsView_graphView\orientation_ENU=false
+graphicsView_graphView\origin_visible=true
+graphicsView_graphView\referential_visible=true
+graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\view_plane=0
+graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_loopClosure\alpha=100
+imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+imageView_loopClosure\colormap=2
+imageView_loopClosure\colormap_camera_frame=true
+imageView_loopClosure\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_loopClosure\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_loopClosure\confidence_shown=false
+imageView_loopClosure\depth_shown=false
+imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+imageView_loopClosure\features_shown=true
+imageView_loopClosure\features_size=0
+imageView_loopClosure\graphics_view=false
+imageView_loopClosure\graphics_view_scale=true
+imageView_loopClosure\graphics_view_scale_to_height=false
+imageView_loopClosure\image_shown=true
+imageView_loopClosure\lines_shown=true
+imageView_loopClosure\lines_width=0
+imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+imageView_odometry\alpha=200
+imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+imageView_odometry\colormap=2
+imageView_odometry\colormap_camera_frame=true
+imageView_odometry\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_odometry\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_odometry\confidence_shown=false
+imageView_odometry\depth_shown=false
+imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+imageView_odometry\features_shown=true
+imageView_odometry\features_size=0
+imageView_odometry\graphics_view=false
+imageView_odometry\graphics_view_scale=true
+imageView_odometry\graphics_view_scale_to_height=false
+imageView_odometry\image_shown=true
+imageView_odometry\lines_shown=true
+imageView_odometry\lines_width=0
+imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+imageView_source\alpha=100
+imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+imageView_source\colormap=2
+imageView_source\colormap_camera_frame=true
+imageView_source\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_source\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_source\confidence_shown=false
+imageView_source\depth_shown=false
+imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+imageView_source\features_shown=true
+imageView_source\features_size=0
+imageView_source\graphics_view=false
+imageView_source\graphics_view_scale=true
+imageView_source\graphics_view_scale_to_height=false
+imageView_source\image_shown=true
+imageView_source\lines_shown=true
+imageView_source\lines_width=0
+imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+multisession_imageview\alpha=100
+multisession_imageview\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+multisession_imageview\colormap=2
+multisession_imageview\colormap_camera_frame=true
+multisession_imageview\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+multisession_imageview\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+multisession_imageview\confidence_shown=false
+multisession_imageview\depth_shown=false
+multisession_imageview\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+multisession_imageview\features_shown=true
+multisession_imageview\features_size=0
+multisession_imageview\graphics_view=false
+multisession_imageview\graphics_view_scale=true
+multisession_imageview\graphics_view_scale_to_height=false
+multisession_imageview\image_shown=true
+multisession_imageview\lines_shown=true
+multisession_imageview\lines_width=0
+multisession_imageview\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+multisession_imageview\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+widget_cloudViewer\camera_axis_shown=true
+widget_cloudViewer\camera_focal=@Variant(\0\0\0T8\xb6\0\0\x37s\0\0\xb5\xd5\0\0)
+widget_cloudViewer\camera_free=false
+widget_cloudViewer\camera_lockZ=true
+widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0\xc0\x9b\x36@\x80\xf7\xea\x41\x17p\xe)
+widget_cloudViewer\camera_target_follow=true
+widget_cloudViewer\camera_target_locked=false
+widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
+widget_cloudViewer\color_range_inverted=0
+widget_cloudViewer\color_range_max=0
+widget_cloudViewer\color_range_min=0
+widget_cloudViewer\coordinate_frame_scale=1
+widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
+widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
+widget_cloudViewer\frustum_shown=true
+widget_cloudViewer\grid=false
+widget_cloudViewer\grid_cell_count=50
+widget_cloudViewer\grid_cell_size=1
+widget_cloudViewer\intensity_max=100
+widget_cloudViewer\intensity_rainbow_colormap=false
+widget_cloudViewer\intensity_red_colormap=true
+widget_cloudViewer\normals=false
+widget_cloudViewer\normals_scale=0.20000000298023224
+widget_cloudViewer\normals_step=1
+widget_cloudViewer\rendering_rate=5
+widget_cloudViewer\trajectory_shown=true
+widget_cloudViewer\trajectory_size=100

rtabmap_examples/launch/config/multi_rgbd_inertial_dataset_front.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_FRONT
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 319.1610, 0., 329.5844, 0.,
+       319.0881, 182.1654, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0535, 0.0589, -0.0176, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1, 0, 0, 
+       0, 1, 0,
+       0, 0, 1 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 319.1610, 0., 329.5844, 0., 0.,
+       319.0881, 182.1654, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/launch/config/multi_rgbd_inertial_dataset_left.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_LEFT
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 319.1506, 0., 321.8367, 0.,
+       318.9474, 180.0959, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0556, 0.0576, -0.0174, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1, 0, 0, 
+       0, 1, 0,
+       0, 0, 1 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 319.1506, 0., 321.8367, 0., 0.,
+       318.9474, 180.0959, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/launch/config/multi_rgbd_inertial_dataset_rear.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_REAR
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 319.3360, 0., 323.9265, 0.,
+       319.1947, 181.9133, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0534, 0.0542, -0.0155, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1, 0, 0, 
+       0, 1, 0,
+       0, 0, 1 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 319.3360, 0., 323.9265, 0., 0.,
+       319.1947, 181.9133, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/launch/config/multi_rgbd_inertial_dataset_right.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_RIGHT
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 320.7208, 0., 325.4179, 0.,
+       320.7359, 184.8089, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0531, 0.0549, -0.0166, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1, 0, 0, 
+       0, 1, 0,
+       0, 0, 1 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 320.7208, 0., 325.4179, 0., 0.,
+       320.7359, 184.8089, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch

@@ -0,0 +1,131 @@
+<?xml version="1.0"?>
+<!--
+  Example launch file to run VSLAM on this dataset: https://github.com/seungsang07/multi-rgbd-inertial-dataset
+
+  Requirement(s):
+    * RTAB-Map should be built with OpenGV support.
+
+  Usage:
+    roslaunch rtabmap_examples multi_rgbd_inertial_dataset.launch
+    rosbag play -.-clock indoor.bag
+
+  Note(s):
+    * Communication performance could be improved using the nodelet versions of these nodes instead,
+      but we are using nodes here to better understand what is going on with rqt_graph.
+-->
+
+<launch>
+
+  <param name="use_sim_time" value="true"/>
+  <arg name="use_imu" default="false"/>
+
+  <!-- the dataset doesn't provide /tf or /tf_static for the extrinsics between imu and the cameras, so we add them here -->
+  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_base_to_imu" args="0 0 0.22 3.14159 0 0 base_link imu_link 100"/>
+  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_imu_to_left" args="-0.099307 -0.208806 0.024309 3.108592 -0.051480 -1.592415 imu_link camera_left_color_optical_frame 100"/>
+  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_imu_to_front" args="-0.435392 0.022256 0.053441 1.532258 -0.007768 -1.580204 imu_link camera_front_color_optical_frame 100"/>
+  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_imu_to_right" args="-0.063987 0.212966 0.032071 -0.010030 0.021977 -1.553814 imu_link camera_right_color_optical_frame 100"/>
+  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_imu_to_rear" args="0.178893 -0.006307 0.017677 -1.606156 0.027545 -1.587179 imu_link camera_rear_color_optical_frame 100"/>
+  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_imu_to_lidar" args="0.045872 -0.026775 0.284806 3.141063 -0.014869 -0.014969 imu_link os_sensor 100"/>
+
+  <group ns="camera_left">
+    <!-- the dataset doesn't provide camera_info topics of the camera in the rosbags, so we need to generate them -->
+    <node pkg="rtabmap_util" type="yaml_to_camera_info.py" name="yaml_to_camera_info">
+      <param name="yaml_path" value="$(find rtabmap_examples)/launch/config/multi_rgbd_inertial_dataset_left.yaml"/>
+      <remap from="image"       to="color/image_raw"/>
+      <remap from="camera_info" to="color/camera_info"/>
+    </node>
+    <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
+      <param name="approx_sync"       value="false"/>
+      <remap from="rgb/image"         to="color/image_raw"/>
+      <remap from="depth/image"       to="aligned_depth_to_color/image_raw"/>
+      <remap from="rgb/camera_info"   to="color/camera_info"/>
+    </node>
+  </group>
+  <group ns="camera_front">
+    <!-- the dataset doesn't provide camera_info topics of the camera in the rosbags, so we need to generate them -->
+    <node pkg="rtabmap_util" type="yaml_to_camera_info.py" name="yaml_to_camera_info">
+      <param name="yaml_path" value="$(find rtabmap_examples)/launch/config/multi_rgbd_inertial_dataset_front.yaml"/>
+      <remap from="image"       to="color/image_raw"/>
+      <remap from="camera_info" to="color/camera_info"/>
+    </node>
+    <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
+      <param name="approx_sync"       value="false"/>
+      <remap from="rgb/image"         to="color/image_raw"/>
+      <remap from="depth/image"       to="aligned_depth_to_color/image_raw"/>
+      <remap from="rgb/camera_info"   to="color/camera_info"/>
+    </node>
+  </group>
+  <group ns="camera_right">
+    <!-- the dataset doesn't provide camera_info topics of the camera in the rosbags, so we need to generate them -->
+    <node pkg="rtabmap_util" type="yaml_to_camera_info.py" name="yaml_to_camera_info">
+      <param name="yaml_path" value="$(find rtabmap_examples)/launch/config/multi_rgbd_inertial_dataset_right.yaml"/>
+      <remap from="image"       to="color/image_raw"/>
+      <remap from="camera_info" to="color/camera_info"/>
+    </node>
+    <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
+      <param name="approx_sync"       value="false"/>
+      <remap from="rgb/image"         to="color/image_raw"/>
+      <remap from="depth/image"       to="aligned_depth_to_color/image_raw"/>
+      <remap from="rgb/camera_info"   to="color/camera_info"/>
+    </node>
+  </group>
+  <group ns="camera_rear">
+    <!-- the dataset doesn't provide camera_info topics of the camera in the rosbags, so we need to generate them -->
+    <node pkg="rtabmap_util" type="yaml_to_camera_info.py" name="yaml_to_camera_info">
+      <param name="yaml_path" value="$(find rtabmap_examples)/launch/config/multi_rgbd_inertial_dataset_rear.yaml"/>
+      <remap from="image"       to="color/image_raw"/>
+      <remap from="camera_info" to="color/camera_info"/>
+    </node>
+    <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
+      <param name="approx_sync"       value="false"/>
+      <remap from="rgb/image"         to="color/image_raw"/>
+      <remap from="depth/image"       to="aligned_depth_to_color/image_raw"/>
+      <remap from="rgb/camera_info"   to="color/camera_info"/>
+    </node>
+  </group>
+
+   <!-- Nodes -->
+  <group ns="rtabmap">
+
+    <node pkg="rtabmap_sync" type="rgbdx_sync" name="rgbdx_sync" output="screen">
+       <param name="rgbd_cameras" value="4"/>
+       <param name="approx_sync" value="true"/>
+       <param name="approx_sync_max_interval" value="0.015"/>
+       <remap from="rgbd_image0" to="/camera_left/rgbd_image"/>
+       <remap from="rgbd_image1" to="/camera_front/rgbd_image"/>
+       <remap from="rgbd_image2" to="/camera_right/rgbd_image"/>
+       <remap from="rgbd_image3" to="/camera_rear/rgbd_image"/>
+    </node>
+
+    <!-- RGB-D Odometry -->
+    <node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen">
+      <param name="subscribe_rgbd"   type="bool"   value="true"/>
+      <param name="rgbd_cameras"     type="int"    value="0"/>
+      <param name="frame_id"         type="string" value="base_link"/>
+      <param name="wait_imu_to_init" type="bool"   value="$(arg use_imu)"/>
+      <remap if="$(arg use_imu)" from="imu" to="/imu"/>
+    </node>
+
+    <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
+      <param name="subscribe_sensor_data"    type="bool"   value="true"/>
+      <param name="frame_id"                 type="string" value="base_link"/>
+      <param name="approx_sync"              type="bool"   value="false"/>
+      <param name="Grid/3D"                  type="string" value="false"/>
+      <param name="Grid/RayTracing"          type="string" value="true"/>
+      <param name="Grid/NormalsSegmentation" type="string" value="false"/>
+      <param name="Grid/MaxGroundHeight"     type="string" value="0.05"/>
+      <remap from="sensor_data" to="odom_sensor_data/raw"/>
+      <remap if="$(arg use_imu)" from="imu" to="/imu"/>
+    </node>
+
+    <node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" output="screen" args="-d $(find rtabmap_examples)/launch/config/multi_rgbd_inertial_dataset.ini">
+      <param name="subscribe_sensor_data" type="bool"   value="true"/>
+      <param name="frame_id"              type="string" value="base_link"/>
+      <param name="approx_sync"           type="string" value="false"/>
+      <param name="subscribe_odom_info"   type="bool"   value="true"/>
+      <remap from="sensor_data" to="odom_sensor_data/raw"/>
+    </node>
+
+  </group>
+
+</launch>