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You need an X server with opengl enabled for SiftGPU to work. So you might not be able to use it when ssh'ing into another machine. To use ORB, just put ORB into the detector and extractor type parameters and BRUTEFORCE into the matcher parameter of your launch-file (see rgbdslam_sample_config.launch for a list of all available options, their names and their default values).

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