Re: RTAB-Map launch file for zed2i

Posted by Parastou Bakhtiari on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-launch-file-for-zed2i-tp10920p11029.html

Btw, I get this in terminal when launching.
[ INFO] [1742757506.261714983, 1685653568.649166305]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.068524s, delay=0.133632s
[ WARN] (2025-03-23 14:18:26.314) Features2d.cpp:971::generateKeypoints3D() A large number (693/946) of stereo correspondences are rejected! Optical flow may have failed because images are not calibrated, the background is too far (no disparity between the images), maximum disparity may be too small (128.000000) or that exposure between left and right images is too different.
[ WARN] (2025-03-23 14:18:26.332) OdometryF2M.cpp:569::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=80) between -1 and 1062" (guess=xyz=0.000000,0.000000,0.000000 rpy=-0.067908,-0.003609,0.067692)
[ WARN] (2025-03-23 14:18:26.332) OdometryF2M.cpp:317::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000000,0.000000,0.000000 rpy=-0.067908,-0.003609,0.067692), trying again without a guess.
[ WARN] (2025-03-23 14:18:26.370) OdometryF2M.cpp:559::computeTransform() Trial with no guess still fail.
[ WARN] (2025-03-23 14:18:26.370) OdometryF2M.cpp:569::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=48) between -1 and 1062" (guess=xyz=0.000000,0.000000,0.000000 rpy=-0.067908,-0.003609,0.067692)
[ INFO] [1742757506.371335765, 1685653568.749840820]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.075885s, delay=0.134306s
[ERROR] (2025-03-23 14:18:26.373) Rtabmap.cpp:1376::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 42125 is ignored!
[ INFO] [1742757506.373380641, 1685653568.759946023]: rtabmap (8): Rate=1.00s, Limit=0.000s, Conversion=0.0010s, RTAB-Map=0.0000s, Maps update=0.0000s pub=0.0000s (local map=7, WM=7)