matlabbe
matlabbe
1. Yes, default parameters should be fine, unless resolution is higher than 720p (parameters are tuned for 480p). 2. In visual odometry, both pose and 3D features are optimized.
On ROS, rtabmap_viz needs to uncompress data to show it (on map updates), maybe it is where the lag is coming from. Note that if odometry topic is not subscribed...
This will give you the overview of the approach https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf
That [example](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/rtabmap_D405x2.launch.py) uses 2 cameras for localization, 1 for odometry. You could make `rgbd_odometry` working with both cameras by also setting `rgbd_cameras` to 2 (with correct remaps). I suggest to...
Yes, you can set `rgbd_cameras` parameter to 2 for `rtabmap` node and provide the input topics (possibly outputs of two `rgbd_sync` nodes). For multi-cameras localization, it is also preferred to...
If rtabmap is launched in localization mode, parameter Grid/RayTracing is enabled and `map_always_update` is set to true, then the OctoMap will be updated with dynamic obstacles (also clearing them if...
Which version are you using? `apriltag_ros` should be `apriltag_msgs`: https://github.com/introlab/rtabmap_ros/blob/e2b70a6707f0fc5002622cc0d581b7c9204b2a3a/rtabmap_slam/src/CoreWrapper.cpp#L828 It has been updated in this commit: https://github.com/introlab/rtabmap_ros/commit/96e8f0e2232028a4e70e4c8deab0fcb2c4566d97
Where is that python script? Converting from rospy to rclpy is not too hard, look at this page https://docs.ros.org/en/rolling/How-To-Guides/Migrating-from-ROS1/Migrating-Python-Packages.html For the c++, that node had not been ported to ros2:...
> I have a map but I can't localize on it. Has the map been created by rtabmap in similar setup? Do you mean that you restarted rtabmap in localization...
Can you detail more what would be the setup? Would there be multiple static monocular cameras on pan/tilt servo around a room? Not sure rtabmap would ideal, as rtabmap is...