Aruco Marker Landmarks error in Localisation after good mapping.

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Aruco Marker Landmarks error in Localisation after good mapping.

Mike.Hallettuk@gmail.com
Been using RTABmap for ~ a year now... all good. Now tried the Aruco Marker Landmarks which seemed to work well for mapping, showing my three Landmarks recognised etc... Then with same params but in Localisation mode, I get these errors:
[ WARN] (2022-08-13 10:36:47.509) RegistrationIcp.cpp:552::computeTransformationImpl() ICP PointToPlane ignored as structural complexity cannot be computed (from=0.000000 to=0.000000)!? PointToPoint is done instead.
[ WARN] (2022-08-13 10:36:47.509) RegistrationIcp.cpp:687::computeTransformationImpl() libpointmatcher icp...temporary maxDist=0.05 (Icp/MaxCorrespondenceDistance=0.050000, Icp/VoxelSize=0.050000)
[ WARN] (2022-08-13 10:36:47.511) RegistrationIcp.cpp:816::computeTransformationImpl() not supposed to be here!
[ERROR] (2022-08-13 10:36:47.512) OptimizerG2O.cpp:890::optimize() Map: Failed adding constraint between -3 and -3, skipping
[ERROR] (2022-08-13 10:36:47.512) OptimizerG2O.cpp:890::optimize() Map: Failed adding constraint between -2 and -2, skipping
[ERROR] (2022-08-13 10:36:47.512) OptimizerG2O.cpp:890::optimize() Map: Failed adding constraint between -1 and -1, skipping
Setup is Turtlebot3 with Realsense D455, apt installed : ros-noetic-rtabmap-ros/focal,now 0.20.18-2focal.20220621.181925 amd64 [installed] params:
      <param name="RGBD/MarkerDetection"            type="string" value="true"/>      
      <param name="Marker/Dictionary"               type="string" value="10"/>
      <param name="Marker/Length"                   type="string" value="0.1705"/>
      <param name="Marker/MaxRange"                 type="string" value="2.5"/>            
      <param name="Marker/MinRange"                 type="string" value="0.35"/> 
I have a small .db example (88Mb) if it would be useful ? Any advice please. Thanks, Michael Hallett.