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rtabmap with stereo images

asked 2018-01-16 05:34:11 -0600 gravatar image

hi, i used this file link text for create map and localization by stereo images. but when i used parameter (rviz:=true), rtabmapviz and rviz simultaneous run and this error is created: [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.

please help me

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answered 2018-01-17 11:17:11 -0600

matlabbe gravatar image

The warning was coming from rtabmap_ros/points_xyzrgb nodelet, caused by the voxel_size parameter which was set too small for the stereo point clouds. This is fixed in this commit where voxel_size is now disabled by default.


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how can i solved this problem? Should I update rtabmap_ros package? gravatar image  ( 2018-01-18 01:57:20 -0600 )edit

You can manually make the change in your installed rtabmap.launch, or copy rtabmap.launch to another location and modify it. No rebuild from source is required as it is a change in a launch file. You can also not subscribe to voxel_cloud in RVIZ, then the warning will disappear.

matlabbe gravatar image matlabbe  ( 2018-01-18 09:11:03 -0600 )edit

thanks, matlabbe gravatar image  ( 2018-01-18 12:47:06 -0600 )edit

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Asked: 2018-01-16 05:34:11 -0600

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Last updated: Jan 17 '18