Re: Cannot display on custom sensor: Warning: Odometry could not get transform, Error in process()

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cannot-display-on-custom-sensor-Warning-Odometry-could-not-get-transform-Error-in-process-tp7204p7249.html

Your P in the calibration is not right, at least it should be [K [0;0;0]]. For the bag it would be easier to reproduce if rgb image and camera_info are also included.

EDIT: This warning:

[ WARN] (2020-12-06 11:33:01.779) OdometryF2M.cpp:1256::computeTransform() 20 visual features required to initialize the odometry (only 769 extracted).

means that this condition is not true, so there is indeed a problem with the projection of the depth in 3D. With a P=null, this may automatically cause invalid 3D points.