Re: About Visual slam with lidar

Posted by plaid on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-Visual-slam-with-lidar-tp8798p8862.html

(1）When Grid/Sensor=0,1, the map can be created without any problem, but only when Grid/Sensor=2, the following error occurs and the map is not created.

[ WARN]util3d.cpp:605::cloudFromDepthRGB() Cloud with only NaN values created!
OpenCV Error: Assertion failed (src[i].dims <= 2 && src[i].rows == src[0].rows && src[i].type() == src[0].type()) in hconcat, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2865
terminate called after throwing an instance of 'cv::Exception'
  what():  /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2865: error: (-215) src[i].dims <= 2 && src[i].rows == src[0].rows && src[i].type() == src[0].type() in function hconcat


(2)Can I add together a map created by rtabmap and a map created by gmapping? If it is possible, I would like to do something like rtabmap(visual slam)+gmapping(lidar slam). Is there a way to do this?