Re: stereo example

Posted by noone on Oct 16, 2024; 12:04pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10550.html

i tested the gui once more it works fine with low resolution the camera wont lag ,

when i run my code with the same calibration of the ones in the gui it show up those warnings then later on it crashes if i wrote the essentail and fundamental it does not crash but i never get point cloud as you see above

check those warning  


C:\rtabmap\build\bin>C:\rtabmap\build\bin\rtabmap-rgbd_mapping.exe
Using single stereo camera (device=0)
[ WARN] (2024-10-16 14:26:35) StereoCameraModel.cpp:304::rtabmap::StereoCameraModel::load() Missing "essential_matrix" field in "./00000001_pose.yaml"
[ WARN] (2024-10-16 14:26:35) StereoCameraModel.cpp:320::rtabmap::StereoCameraModel::load() Missing "fundamental_matrix" field in "./00000001_pose.yaml"

[ERROR] (2024-10-16 15:00:23) VWDictionary.cpp:741::rtabmap::VWDictionary::addWordRef() Not found word 1 (dict size=0)
[ERROR] (2024-10-16 15:00:23) VWDictionary.cpp:741::rtabmap::VWDictionary::addWordRef() Not found word 1 (dict size=0)
[ERROR] (2024-10-16 15:00:23) VWDictionary.cpp:741::rtabmap::VWDictionary::addWordRef() Not found word 1 (dict size=0)
[ERROR] (2024-10-16 15:00:23) VWDictionary.cpp:741::rtabmap::VWDictionary::addWordRef() Not found word 1 (dict size=0)

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[ WARN] (2024-10-16 15:00:27) Rtabmap.cpp:3037::rtabmap::Rtabmap::process() Rejected loop closure 3 -> 4: Not enough inliers 0/20 (matches=66) between 3 and 4