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Hi @drjsmith, if the robot is kidnapped, how could retrieve its location ? How could it query and find the landmark if this landmark isn't in its field of view...

@drjsmith Thank you for your clarifications . I understand that you always refer to "map" as the internal map of the t265, so the static node you set is like...

@drjsmith thank you,it helps a lot ! With "lose the information" I was asking if the static node pose was usable also in the context of the occupancy mapping.From your...

...yes and I think also it would be possible Maybe it would need simply to modify the semantic_cloud.py with a transformation bgr->rgb in order to feed the segmented image it...

Hey @AnhTuDo1998 and @frankSARU Maybe did you try or manage to make the semantic pointcloud work using the rtabmap rgbd map ( i mean replacing with rtabmap the Orb2 rgbd...

Hello @AnhTuDo1998 and thanks for your reply ! Yes the topics are published but with a slightly different frequency **rostopic hz /semantic_pcl/semantic_pcl** average rate: 0.204 min: 4.559s max: 6.710s std...

Hi @esmaeilinia , I have exactly the same issue with a d435 camera, all the detected objects (i.e. person,book) are positioned at the origin of the map frame, even if...

Hello @renatojmsdh @ericksonrn @ericksonrn @michelmelosilva could you please help to understand the root cause of the issue ? Is this a misconfiguration of mine ? Thanks Regards

Hello @renatojmsdh Thank you for your reply. I have ROS Melodic . There aren't error messages ; looking at the code , it seems to me that object_marker.py and map_interceptor.py...

Hi @renatojmsdh I have uploaded the bag with the following topics /d400/color/image_rect_color /d400/depth/image_rect_raw /d400/color/camera_info /d400/depth_registered/points /tf /tf_static /darknet_ros/bounding_boxes /object_positioner/raw_marker https://wetransfer.com/downloads/05aa8e39f3272f46d91cafb54776969120210128150139/4b676bfaf22a56eff8aedf7ad727e33420210128150218/ca7a59 Thanks for your help !