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

Posted by xsasdA on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9246.html

Hello Mathieu,

thank you for the fast response!

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.

Yes, you are right that everything is building fine with the latest Realsense version. I was using version 2.33.1 before which is around 2.75 years old. It was honestly my fault, I just forgot to update the SDK. It's probably better to continue working with the new version, if it doesn't break anything in my current setup and it's enough to record a new Bagfile.

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.

I'll be able to record another Bagfile next week when I'm back in the test laboratory, so the existing Bagfile wouldn't be too important.
Do you think that all the issues with RTABMap and the missing topic publishers get fixed by recording a new Bagfile?

Otherwise, you may have to downgrade RGBDImage msg to a previous version. See history here, though corresponding code would need to be downgrade.

Thanks for the information, I will try using this alternative if I can't record a bagfile next week.

 Ideally, when you record rosbags, record the standard msgs if possible.

Thanks for the hint, I will remember to include standard messages.

Best regards,
xsasda