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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Postprocessing Error [ OptimizerCVSBA.cpp:156::rtabmap::OptimizerCVSBA::optimizeBA()] #165

Closed eric-schleicher closed 7 years ago

eric-schleicher commented 7 years ago

A Capture with Phab2 Pro with RTAB-MAP 0.11.13

Choose Post process with the following options. image

It runs but at the very end of the run i see the following error in the console.

Afterware it does appear as if changes have been made in the cloud

SBA: sba_motstr_levmar_x() cannot solve a problem with fewer measurements [8732] than unknowns [12245]
[ERROR] (2017-02-02 15:16:05) OptimizerCVSBA.cpp:156::rtabmap::OptimizerCVSBA::optimizeBA() Running SBA... error! C:\workspace\cvsba-1.0.0\src\cvsba.cpp:233: error: (8888) Error occured during Sba optimization in function Sba::run

Is this a legitimate error? this behavior is consistent with other phab 2 captures i've made.

matlabbe commented 7 years ago

cvsba requires that there are visual constraints (visual feature correspondences) between all images linked in the map. If not, there will be more unknowns than measurements. g2o's SBA is more robust to this, as it can use pure odometric links (without visual correspondences) of the map's graph in its optimization.

eric-schleicher commented 7 years ago

Thank you! I will try this.