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