Re: How to improve mapping accuracy based on ArUco identification code?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9243.html

xsasdA wrote

I was able to update RTABMap now. In order to make it work, I had to update librealsense packages as well. Otherwise, I got this error when trying to install rtabmap standalone libraries "rs2::sensor’ has no member named ‘get_active_streams’; did you mean ‘get_option_name’?'" in CameraStereoImages2.cpp.

Should I understand with latest realsense version it builds correctly? If so, then it is expected (I triy to be compatible with latest version that people will usually use). Which realsense version were you using? I could see if I should do a backward compatibility patch for old realsense libraries if they are still the current binaries.

[ERROR] [1670926021.493159740, 1616584700.766188181]: Client [/rtabmap/rtabmap] wants topic /d435_1/rgbd_image to have datatype/md5sum [rtabmap_ros/RGBDImage/affef6cc8804ffba98ce6ed6f1ca8942], but our version has [rtabmap_ros/RGBDImage/a7fa8f34f44b976b3b2dec13c02f9f0e]. Dropping connection.
[ERROR] [1670926021.494318351, 1616584700.766188181]: Client [/rtabmap/rtabmap] wants topic /d435_2/rgbd_image to have datatype/md5sum [rtabmap_ros/RGBDImage/affef6cc8804ffba98ce6ed6f1ca8942], but our version has [rtabmap_ros/RGBDImage/a7fa8f34f44b976b3b2dec13c02f9f0e]. Dropping connection.

Humm, the RGBDImage msg has been updated and doesn't match the one in your bag. Do you care about this bag? or creating a new one is not too much trouble. Otherwise, you may have to downgrade RGBDImage msg to a previous version. See history here, though corresponding code would need to be downgrade. Ideally, when you record rosbags, record the standard msgs if possible.

cheers,
Mathieu