scale correction with marker integration doesnt work in ros2

[aimilios-cell-labs]

Hello everyone, im using stella_vslam in ros2 jazzy and im trying to use an aruco marker for scale compensation. I have modified my yaml file to this:

#==============#
# Camera Model #
#==============#
Camera:
 name: "NR S3 Camera"
 setup: "monocular"
 model: "fisheye"

 fx: 257.23924003162307
 fy: 257.71963653721434
 cx: 314.86633456847943
 cy: 240.8685739906134

 k1: 0.40119951302962825
 k2: -0.0969676083701574
 k3: -0.08813202650058952
 k4: 0.051631310243367264

 fps: 30.0
 cols: 640
 rows: 480

 color_order: "BGR"

#================#
# ORB Parameters #
#================#
Feature:
 max_num_keypoints: 2000
 scale_factor: 1.2
 num_levels: 8
 ini_fast_threshold: 20
 min_fast_threshold: 7

#====================#
# Mapping Parameters #
#====================#
# Mapping:
#  baseline_dist_thr_ratio: 0.02
#  redundant_obs_ratio_thr: 0.9
#  num_covisibilities_for_landmark_generation: 20
#  num_covisibilities_for_landmark_fusion: 20
# #========================#
# # Initializer Parameters #
# #========================#
# Initializer:
#   scaling_factor: 1.0

MarkerModel:
type: "aruco" 
width: 0.145
marker_size: 6
max_markers: 1000

but it doesnt seem to be working when i start the node with the camera directly pointing to the marker and the scaling seems to be inconsistent (every time i launch it different scaling). I have generated an aruco marker from the 6x6_1000 dictionary and after printing it the actual size is 145 cm. Is my configuration file correct for the marker integration in ros2? i tried to comment out the mapping and initializer parameters. Is there any logging available to check if the marker detection is working and used by the slam? I have tested aruco detection in general in my system in a ros node and it works fine by recognizing the aruco marker with id etc and calculates also the distance to it with good accuracy when im passing the camera parameters and size of the marker. Should i use a specific version of stella vslam library?

Thank you very much in advance!

[ymd-stella]

Try changing the log_level to debug.

If the marker is successfully initialized, the following log will be displayed

https://github.com/stella-cv/stella_vslam/blob/f42c9d8647090ffd736aabf5df7b236c82cfda2f/src/stella_vslam/module/marker_initializer.cc#L70

[aimilios-cell-labs]

i tried today after pulling the latest version in stella_vslam with git pull and built it again (update 2 weeks ago) and the debug log level and i get this:
"[D] Initialized corner positions for marker 23 from 3 keyframes"
and the scale seems to be working better now. Thank for the quick reply!