Posted by
sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5061.html
Hi, and thank you for the reply.
I have made some other scan, with april tags. It's a lot better than Qrcode for making anchor position.
I still have issues, but not the same. This time, aprilTags are well find for loop closure, for the 3 or 4 first scan of a batch replay.
Then, I got this message at the start of the 5th scan:
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.
Then the new scan didn't find any loop closure with the other previous scan.
I can send you the database if your are interest, with my setting files.
anyway, I update tango phone and standelone version to last version I can found. I will try some more scans and come back soon with more news.
Last question.Is there a way to stream live tango phone data to a windows standelone version of rtab-map, or do i have to install rtab-map on ubuntu and run from there with tango ros streamer.
Thanks for your great job with this soft