RTABmap error during the SLAM
Hi,
I am using RTABmap RGBD slam using the laser scanner. I have a stereo cam and I used rtabmap node to convert the disparity images to depth map so I could use the laser scanner for mapping. During the SLAM, I got this error:
DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. (expected: 'count >= 6'), where
> 'count' is 5
> must be greater than or equal to
> '6' is 6
How can I disable the pose estimation from the camera so I won't get this error anymore?
Asked by EdwardNur on 2019-08-08 03:21:32 UTC
Answers
Which rtabmap and opencv versions are you using? You could try different PnP flags with Vis/PnPFlags
parameter (default 0=iterative, 1=EPNP, 2=P3P). Otherwise, we can also switch to 3D->3D estimation by setting Vis/EstimationType
to 0.
Pose estimation from camera is required on loop closure detection to get a relatively good guess for scan matching. Well, if you don't want visual loop closure detection, you can set Kp/MaxFeatures=-1
to avoid extracting visual features (so no motion estimation will be done with the camera).
Asked by matlabbe on 2019-08-13 13:34:27 UTC
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