Re: g2o error on loop closure

Posted by joshcorn on
URL: http://official-rtab-map-forum.206.s1.nabble.com/g2o-error-on-loop-closure-tp4707p4729.html

Hi Mathieu and Kemal,
I am having the same issue. If I map a space using G2O or even using TORO but then try to replay the database in rtabmap with G2O, I get an error at loop closure. Here is an example of my odometry message if it helps to debug:

header:
  seq: 5025
  stamp:
    secs: 1530616088
    nsecs: 912664413
  frame_id: "odom"
child_frame_id: "base_link"
pose:
  pose:
    position:
      x: -3.74060212997
      y: -3.46450097923
      z: 5.08594993175e-41
    orientation:
      x: -8.06924906635e-34
      y: 5.88928756199e-34
      z: -0.20862903246
      w: 0.977994850096
  covariance: [12.686810358243818, -1.3968613001501316e-06, 7.668319755579451e-43, -6.5808757363258135e-47, 9.31472426219147e-47, -1.7100305706904937e-14, -1.3968613001503e-06, 12.686808804312687, 6.868672508437312e-43, -5.615928846216479e-47, -2.203720934045757e-47, -9.06107774075948e-16, 7.668319755880418e-43, 6.868672508453273e-43, 9.983904260409865e-07, 3.9230978399995335e-17, 2.0090168903201882e-17, -5.078303782800176e-45, -3.1128810526816167e-47, -5.432052783009098e-47, 3.923097839999533e-17, 9.96788590037476e-07, -4.896701411726453e-25, 9.690892032796565e-37, 7.764795840279529e-47, -2.285899473087892e-47, 2.0090168903201888e-17, -4.896700744084517e-25, 9.967885900374757e-07, -4.321171516054147e-37, -1.7100305706904937e-14, -9.06107774075948e-16, 1.2929379301643271e-44, -9.690909294489868e-37, 4.341237177896264e-37, 0.0006197844144668082]
twist:
  twist:
    linear:
      x: -0.000427685481123
      y: 0.000835242621314
      z: -6.30205947146e-46
    angular:
      x: -5.80673370376e-31
      y: -3.014060155e-44
      z: -0.00421867148938
  covariance: [0.0005067836282552057, 1.8237883693895204e-26, -1.0949524850939264e-46, 7.237649690742052e-54, 9.001358964848324e-54, 4.746299381057628e-75, 5.303690085370432e-26, 0.0005067836282552057, -2.4500233396079856e-46, 1.6194679286875402e-53, 2.014108554759372e-53, 1.0620131695632636e-74, -1.094952485093926e-46, -2.450023339607984e-46, 9.975885452089326e-07, 1.6493334990319415e-26, 2.0512512855579715e-26, 1.0823262121141407e-47, 7.237649690742052e-54, 1.61946792868754e-53, 1.6493334990319426e-26, 9.904572080410505e-07, 4.087063625809987e-28, 2.9699838788951874e-32, 9.001358964848325e-54, 2.0141085547593725e-53, 2.0512512855579726e-26, 4.087058720643747e-28, 9.904572080410505e-07, -3.450481650127278e-49, -4.746299383035191e-75, -1.0620131700057561e-74, -1.0823262125743454e-47, -2.969983878895204e-32, 1.5829175702708016e-48, 0.00020671608637670805]
 
Thanks for the help!