matlabbe

Hi, changing `Aruco/VarianceAngular` won't do any difference in localization mode. The actual detection is taken "as is" for localization with orientation estimated and distance. It can be indeed difficult to...

Did you use apriltags2_ros? If so, can you share the apriltags2 config file? The launch file part of rtabmap could be convenient to have too. thx Mathieu

Thank you for the config and launch files. I can reproduce the jumps when using the tags. I see that when the tags are far from the camera, the orientation...

You may try apriltag [bundles](https://github.com/AprilRobotics/apriltag_ros/blob/d030c6d630088f36291c861ec8e39913347ee6cc/apriltag_ros/config/tags.yaml#L23-L46), increase tag size, increase camera resolution... the idea is to increase apriltag orientation estimation accuracy. If you are using apriltag_ros, note that I fixed a...

Hi, I've implemented a more robust and smoother localization approach (including tags) in this [commit](https://github.com/introlab/rtabmap/commit/8cf12c613577b19fd91c0897bfef19ee72e731dd) last friday. Just update the code. You can then tune `RGBD/MaxOdomCacheSize` (default 10), the higher...

Hi, rtabmap-calibration tool didn't support realsense2, this has been added yesterday: https://github.com/introlab/rtabmap/commit/4390cb64284b7c029ca091693d2f83713ff22846 ``` rtabmap-calibration --driver 11 ``` I tested with my T265. It won't work for other realsense cameras.

I reproduced the error with realsense v2.44 and v2.45 (was working with 2.42 before I upgraded). The rs2::syncer seems not working anymore with fisheye streams, don't know why. I tested...

I tested on Windows by switching easily `realsense2.dll` from v2.44 and decreasing until v2.42 worked. They changed something inside realsense library between 2.42 and 2.43 that has broken rs2::syncer and...

A fix can be found here for the synchronization problem with T265: https://github.com/IntelRealSense/librealsense/issues/9030#issuecomment-962223017

ZED SDK driver on Windows is only available with CUDA11 release: https://github.com/introlab/rtabmap/releases