Re: The problem is with running the euroc_datasets.launch file.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/The-problem-is-with-running-the-euroc-datasets-launch-file-tp9873p9888.html

Hi, you should add "stereo:=true" argument to rtabmap.launch command to explicitly tell rtabmap to use stereo. However, in your log it seems using stereo data, not sure why.

It seems odometry got lost:
"[ WARN] (2023-12-24 20:37:30.539) OdometryF2M.cpp:566::computeTransform() Registration failed: "Not enough inliers 10/20 (matches=73) between -1 and 1239" (guess=xyz=0.000000,0.000000,0.000000 rpy=0.092260,0.057604,-0.533286) "

That message:
"[ WARN] (2023-12-24 20:37:30.490) Features2d.cpp:837::generateKeypoints3D() A large number (527/822) of stereo correspondences are rejected! Optical flow may have failed because images are not calibrated, the background is too far (no disparity between the images), maximum disparity may be too small (128.000000) or that exposure between left and right images is too different. "

can indicate that left and right frames have different exposure, there are just not enough good features to track (try not pointing the camera towards a featureless area) or there is a bad synchronization. Normally with stereo:=true, approx_sync should be false, otherwise explicitly set "approx_sync:=false".