"libpointmatcher has failed

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"libpointmatcher has failed

Masoumeh
hi everyone,

I am working with the simulation environment, i have received an error, would you please help me that how to fix it?

error.png

[ WARN] (2021-05-25 16:06:46.003) OdometryF2M.cpp:529::computeTransform() Registration failed: "libpointmatcher has failed: limit out of bounds: rot: 0.0127313/0.78 tr: 0.329964/0.2" (guess=xyz=-4.094911,-52.946735,-0.052915 rpy=-0.010397,0.002340,1.785476)


thanks
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Re: "libpointmatcher has failed

matlabbe
Administrator
Hi,

you can tune Icp/MaxTranslation and Icp/MaxRotation. Those are limits in case ICP does a very bad convergence.
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Re: "libpointmatcher has failed

Masoumeh
Dear Mattieu

again I have this warning, as you mentioned I should tune the following two parameters, and as I checked now they are set as:

RTABMAP_PARAM(Icp, MaxTranslation,            float, 0.2,   "Maximum ICP translation correction accepted (m).");
RTABMAP_PARAM(Icp, MaxRotation,               float, 0.78,  "Maximum ICP rotation correction accepted (rad).");


How much should i change them?
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Re: "libpointmatcher has failed

matlabbe
Administrator
Hi,

From the error message:
libpointmatcher has failed: limit out of bounds: rot: 0.0127313/0.78 tr: 0.329964/0.2
The actual translation estimated by ICP is 32 cm, try with Icp/MaxTranslation=0.4