"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
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Re: "libpointmatcher has failed

Masoumeh
Hi Mattieu,

I have a big issue with this icp, i have increased the Icp/MaxTranslation to 0.4 and even to 0.6, but again i have this error.
when I run rtabmap, and send the goals to the move-base, it is fine for the first minutes, but after a few minutes rtabmap fails becasue of this error, and makes the other files which are using icp-odom, fail as well.

[ WARN] [1634039493.347906000]: Could not get transform from icp_odom to base_link after 0.200000 seconds (for stamp=1634039491.368917)! Error="Lookup would require extrapolation into the future.  Requested time 1634039491.368917465 but the latest data is at time 1634039382.535105467, when looking up transform from frame [base_link] to frame [icp_odom]. canTransform returned after 0.202121 timeout was 0.2.".
[ WARN] (2021-10-12 12:51:33.409) OdometryF2M.cpp:529::computeTransform() Registration failed: "libpointmatcher has failed: ErrorMnimizer: no point to minimize" (guess=xyz=18.544451,50.635197,0.000000 rpy=0.000000,0.000000,-0.827829)

libpointmatcher-error.png

and this is the output of my rtabmap --version:

masoumeh@masoumeh-ThinkPad-T490s:~/catkin_ws$ rtabmap --version
RTAB-Map:               0.20.7
PCL:                     1.7.2
With VTK:                6.2.0
OpenCV:              3.3.1-dev
With OpenCV xfeatures2d:  true
With OpenCV nonfree:      true
With ORB OcTree:          true
With SuperPoint Torch:   false
With Python3:            false
With FastCV:             false
With Madgwick:            true
With TORO:                true
With g2o:                 true
With GTSAM:              false
With Vertigo:             true
With CVSBA:              false
With Ceres:              false
With OpenNI2:            false
With Freenect:            true
With Freenect2:          false
With K4W2:               false
With K4A:                false
With DC1394:             false
With FlyCapture2:        false
With ZED:                false
With RealSense:          false
With RealSense SLAM:     false
With RealSense2:         false
With MYNT EYE S:         false
With libpointmatcher:    false
With octomap:             true
With cpu-tsdf:           false
With open chisel:        false
With Alice Vision:       false
With LOAM:               false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM2:          false
With OKVIS:              false
With MSCKF_VIO:          false
With VINS-Fusion:        false


Would you please guide me what should i do to solve this problem?
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Re: "libpointmatcher has failed

matlabbe
Administrator
The log warnings show that odometry is lost. Look in the log the first time odometry started to get lost to see the original issue.
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Re: "libpointmatcher has failed

Masoumeh
dear Mattieu,

this is the first time that icp-odometry starts failing:
mainERROR.png

and would you please mention what is the topic which generated by icp_odometry?
I have a topic /rtabmap/odom. is this the one which generated by icp?

thanks