Posted by
fboris on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-external-markers-from-apriltag-ros-with-Priors-tp10358p10445.html
Mathieu,
Thanks for clear explanation for re-process database again. I tried to follow your steps. But it actually has following error when it click "start"
[ERROR] (2024-09-13 01:16:09.244) VWDictionary.cpp:789::addNewWords() Descriptors (size=32) are not the same size as already added words in dictionary(size=256)
[ERROR] (2024-09-13 01:16:10.296) VWDictionary.cpp:789::addNewWords() Descriptors (size=32) are not the same size as already added words in dictionary(size=256)
And I actually to uncheck Ignore landmark/ Ignore features to make it not has error at startup. But there are still some warning as following.
[ WARN] (2024-09-13 01:12:52.526) OptimizerGTSAM.cpp:872::optimize() GTSAM exception caught:
Indeterminant linear system detected while working near variable
299 (Symbol: 299).
Thrown when a linear system is ill-posed. The most common cause for this
error is having underconstrained variables. Mathematically, the system is
underdetermined. See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.
Graph has 451 edges and 144 vertices
[ WARN] (2024-09-13 01:12:52.526) Rtabmap.cpp:5266::optimizeGraph() Optimization has failed (poses=144, guess=1, links=451)...
[ WARN] (2024-09-13 01:12:52.526) Rtabmap.cpp:5157::optimizeCurrentMap() Failed to optimize the graph! returning empty optimized poses...
[ WARN] (2024-09-13 01:12:52.526) Rtabmap.cpp:3767::proce
After a while, It will have following message and rtabmap cannot do detection anymore.
[ERROR] (2024-09-13 01:13:14.901) VWDictionary.cpp:789::addNewWords() Descriptors (size=32) are not the same size as already added words in dictionary(size=256)
[ERROR] (2024-09-13 01:13:14.921) VWDictionary.cpp:789::addNewWords() Descriptors (size=32) are not the same size as already added words in dictionary(size=256)
[FATAL] (2024-09-13 01:13:14.921) RegistrationVis.cpp:1401::computeTransformationImpl() Condition (toWordIds.size() == kptsTo.size()) not met!
I compiled rtabmap 0.21.6 with gtsam 4.2.0. Any steps i missed or i use wrong version?