rtabmap stops mapping when scanning a certain area

Posted by Mackhu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-stops-mapping-when-scanning-a-certain-area-tp8943.html

Hi Mathieu

I do the 3D mapping by using RTABMAP and Realsense L515. It works well at the beginning. However, when I move to camera to scan some certain areas, it freezes and stops mapping.

There are errors in the terminal:
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2022-02-18 12:46:55.808) OdometryF2M.cpp:529::computeTransform() Registration failed: "Cannot compute transform (converged=false var=1.000000)" (guess=xyz=0.000000,0.000000,0.000000 rpy=-0.304493,0.475385,2.567989)
[ INFO] [1645159615.809399641]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.062001s
 
what may cause this issue?


Thanks