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Everytime when I perfrom SLAM with RTABMAP, I get a map with some warning like:
Memory.cpp:1746::forget() Less signatures transferred (3) than added (4)! The working memory cannot decrease in size
But when I start the localization part (on a 2nd time), the database gets corrupted and I get this error everytime:
VWDictionary.cpp:616::addWordRef() Not found word
How can I fix it?
Hi,
For the first warning, it is because memory management is enabled and for some reasons rtabmap cannot transfer enough locations to long-term memory to decrease Working Memory size. Unless you understand very well how memory management is done, I suggest to disable it while you are debugging the mapping. To do so, make sure parameter Rtabmap/TimeThr and Rtabmap/MemoryThr are 0 (by default they are 0).
For the error "VWDictionary.cpp:616::addWordRef() Not found word", it means the database has some data missing (because for example the database was not correctly closed). To repair the database, we have a tool called rtabmap-recovery:
$ rtabmap-recovery ~/.ros/rtabmap.db
To make sure the database is correctly saved, after doing ctrl-c on terminal that started rtabmap, you should see:
rtabmap: Saving database/long-term memory...done! (located at /home/user/.ros/rtabmap.db, 76 MB)
cheers,
Mathieu
Asked: 2019-07-14 10:54:38 -0500
Seen: 451 times
Last updated: Jul 17 '19
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