Re: Losing odometry when doing fixed point scanning

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Losing-odometry-when-doing-fixed-point-scanning-tp4336p4421.html

Hi,

process(SensorData(image, id), Transform()) is for the loop closure detection only mode, original RTAB-Map. To do 3D mapping, a depth image is also required with a valid Transform, this is why you have the error.

Set Transform::getIdentity() for the transform.

Can you share the database of the single multi-camera SensorData processed?

cheers,
Mathieu