Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Angular-information-roll-should-not-be-null-tp8300p8464.html
Hi, if Reg/Force3DoF is false, those covariances would indeed create an assert. The covariance should be invertible, so put 1 on the diagonal of the matrix where values are 0:
covariance: [0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05]