RGBDSLAM errors [closed]
Hi,
Currently I work on RGBDSLAM on Ubuntu 13.04 (ROS indigo) but I have some problems.
When saving SIFT descriptors in YAML format (Features menu), I find 2 types of problems: - 10% of descriptors have duplicate points (same x,y,z) but completely different descriptor; - some descriptors contain one or multiple (up to 128) NaN for a descriptor. It seems also at least the previous descriptor of a descriptor which contains NaN is completely wrong.
Maybe I have done something wrong when capturing multiple images ?
Do someone already find these kinds of errors ? In which conditions appear NaN in descriptor ?
Thanks for help.
I assume you are using rgbdslam_v2? Is it SIFT or SIFTGPU? Could you post a small example from the yaml file you get? The yaml export was written for a specific use case, so it's not well tested in general. It should work, but it's possible that this is just a bug in the export code. How is the map?