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shiva16 / rtabmap

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RGB-D SLAM mode is enabled and no odometry is provided. #18

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
1.roslaunch openni_launch openni.launch depth_registration:=true
2.roslaunch rtabmap rgbd_mapping.launch

What is the expected output? What do you see instead?
there are many "odom: quality=0,update time=xxxs" with an error "Rtabmap.cpp 
763::process() RGB-D SLAM mode is enabled and no odometry is provided. Image xx 
is ignored!"

What version of the product are you using? On what operating system?
ubuntu12.04   hydro
ROS version
Please provide any additional information below.
without ROS,how to run standalone version? I have tried ./rtabmap. But there is 
nothing but a GUI.

Original issue reported on code.google.com by lyf49473...@gmail.com on 2 Nov 2014 at 6:10

GoogleCodeExporter commented 9 years ago 
Do you have a warning message like this too?
"Odometry.cpp:326::computeTransform() Not enough inliers 1 < 20"

This means that there are not enough features in the camera images to compute 
the odometry. This happens in these cases:
1) there is no texture in the RGB image (like looking at a white wall)
2) the features are too far (like looking at an empty space), the visual 
features must be under 4 meters
3) the camera is moved too fast, the odometry cannot find corresponding 
features between consecutives frames
4) blank images are sent to odometry node

Solution: 
- make sure that the camera is always looking at areas where objects are within 
4 meters, and where "Odom: quality>=100"
- make sure that these topics contain valid images:
 {{{
 /camera/rgb/image_rect_color
 /camera/depth_registered/image_raw
}}}

For the standalone version, take a look at this tutorial: 
https://code.google.com/p/rtabmap/wiki/KinectMapping

Original comment by matla...@gmail.com on 2 Nov 2014 at 3:26