matlabbe
matlabbe
On Android, maybe ARCore cannot provide higher resolution images. Looking at the code, there is this part commented: https://github.com/introlab/rtabmap/blob/e5655b0b961df83a94b4fac423584ed68dcd3d18/app/android/src/com/introlab/rtabmap/ARCoreSharedCamera.java#L396-L401 Don't remember what was the issue when trying to use higher...
The IMU is already fused in the pose provided by ARCore. Is your code running in Java or C++? For ARCore NDK, the frame is captured in c++ directly, so...
You may check if ARCore java can use a function like `ArFrame_acquireDepthImage` in c++, like here https://github.com/introlab/rtabmap/blob/49704743209316f13889a39a0ac617a5ad67aad5/app/android/jni/CameraARCore.cpp#L390 It seems it exists: https://developers.google.com/ar/reference/java/com/google/ar/core/Frame#acquireDepthImage() That could be added somewhere after that call:...
It looks like the databases don't have the same features. The easiest way to recover is to ignore features in the databases and re-extract them. To do so, launch with...
Can you show the terminal output with "--uwarn" argument? I suspect that the computer on which you are reprocessing doesn't have access to same features that were recorded in the...
We disabled the 90 deg rotation when we did the first ios release: https://github.com/introlab/rtabmap/blob/30962119cb4d871fa60121fa9d2d3c6875a6f093/app/android/jni/RTABMapApp.cpp#L4393-L4397 The exported OBJ is actually in same coordinate frame than the [one](https://www.ros.org/reps/rep-0103.html#coordinate-frame-conventions) used in the app:...
Thanks for reporting. It has been fixed in the commit above. The expected size in the config is the OpenCV one (number of internal corners). Here is an example of...
You should use [rtabmap_ros](https://github.com/introlab/rtabmap_ros), not the standalone version. To know how to connect to the OAK-D, we would need to know which topics are currently published, and what is the...
Sorry about that, I'll check to release new 0.22 compatible binaries shortly. For others having the same issue, current workarounds are: * Mac: you can do `brew install rtabmap --HEAD`...
It seems crashing in that loop: https://github.com/introlab/rtabmap/blob/52e770e2d46a95c739c1890bd499f2a9f2912e61/corelib/src/camera/CameraRealSense2.cpp#L625-L694 If you can change the source code, can you move the `UINFO("%s was found.", elem.get_info(RS2_CAMERA_INFO_NAME)); ` at the beggining of the loop to...