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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Issues with features appearing as two different features when revisiting an area using RTABMAP. #3167

Closed GraysonWylie1 closed 3 months ago

GraysonWylie1 commented 4 months ago

I am running .bag file collected using a D455 camera through RTABMAP's Slam feature to map a small forested area. My collection path is circular, but when I complete the circle and revisit an area that has already been recorded by the camera, the features (trees) don't register as the same tree. There will be two or three trees where only one exists. Any suggestions on RTABMAP parameter tuning to fix this issue would be greatly appreciated. Thanks!

MartyG-RealSense commented 4 months ago

Hi @GraysonWylie1 I performed research of your question. The link below suggests that "if you want to re-use visual features already extracted by odometry node in the rtabmap node, connect rgbd_image output topic from the odometry node to rtabmap node (with the latter using subscribe_rgbd:=true)".

http://official-rtab-map-forum.206.s1.nabble.com/Does-the-main-rtabmap-node-slam-support-nodelet-extra-questions-td9436.html

MartyG-RealSense commented 3 months ago

Hi @GraysonWylie1 Do you require further assistance with this case, please? Thanks!

MartyG-RealSense commented 3 months ago

Case closed due to no further comments received.