Cannot run the noEventExample

[Chao]

Hi Mathieu,

I am trying the noEventsExample. I downloaded the  stereo_20Hz.zip images and run it with

$ ./rtabmap-noEventsExample 20 2 10 stereo_20Hz stereo_20Hz_left.yaml stereo_20Hz/left stereo_20Hz/right.

but it shows "[ERROR] (2018-09-06 17:27:22.708) Rtabmap.cpp:1003::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 1 is ignored! "

I revised the main.cpp by disabling the RGBD mode by
       
       rtabmap::ParametersMap parameters;
        parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false"));
        rtabmap.init(parameters);

then the loop closure can be detected  in console, but nothing shows in the GUI.

So I outputed the pose, it showed the pose is always 0 (t.isNull() = 1). So I guess the problem is with the camera model, but I don't know how to fix this.

Can you give some suggestions?

Thanks,
Chao
 

[matlabbe]

Hi Chao,

Not sure what is the problem as the demo is working here:

~/rtabmap/bin/rtabmap-noEventsExample 20 2 10 ~/Downloads/stereo_20Hz stereo_20Hz ~/Downloads/stereo_20Hz/left ~/Downloads/stereo_20Hz/right



When RGBD/Enabled is disabled, only loop closure detection is done. For this example, this parameter should be true to create a 3D map.

On your system, the odometry seems returning null, like it is not able to compute motion estimation. Do you have other warnings or errors in the console? Set log level here to Debug to see more info.

cheers,
Mathieu

[Chao]

Hi Mathieu,

Thank you for the reply, it appears the wrong camera name that caused the problem. Now it is now working perfectly.

Cheers,
Chao