rtabmap RGB camera calibration hangs

I went into the calibration GUI, downloaded the PDF, displayed it on a secondary monitor and moved the webcam around it from different angles/distances until the count progress bar finished at around 42. I left it to process but poking it with gdb has revealed it's still doing the exact same thing as yesterday:

(gdb) where
#0  0x00007fa4e9067567 in sched_yield () from /nix/store/m4g6lswi75b739cpdx8wfxlfmcazyks9-glibc-2.34-115/lib/libc.so.6
#1  0x00007fa4f7ee278d in inner_thread () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#2  0x00007fa4f8016153 in exec_blas._omp_fn () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#3  0x00007fa4f9db1a86 in GOMP_parallel () from /nix/store/69brclzxp7mg927k6986hrfzyd1hpqgd-gcc-11.2.0-lib/lib/libgomp.so.1
#4  0x00007fa4f801656f in exec_blas () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#5  0x00007fa4f7ee2d53 in gemm_driver.isra () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#6  0x00007fa4f7ee2e9b in dgemm_thread_nt () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#7  0x00007fa4f7df3b07 in dgemm_ () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#8  0x00007fa4f8ee0a49 in dgebrd_ () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#9  0x00007fa4f8ef22f9 in dgesdd_ () from /nix/store/j43l6bmil57qmr4pv8srl3xmc2cdc7px-blas-3/lib/libblas.so.3
#10 0x00007fa4f47de418 in lapack_SVD64f(double*, unsigned long, double*, double*, unsigned long, double*, unsigned long, int, int, int) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_core.so.4.5
#11 0x00007fa4f47f5469 in cv::hal::SVD64f(double*, unsigned long, double*, double*, unsigned long, double*, unsigned long, int, int, int) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_core.so.4.5
#12 0x00007fa4f47f5d89 in cv::solve(cv::_InputArray const&, cv::_InputArray const&, cv::_OutputArray const&, int) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_core.so.4.5
#13 0x00007fa4f52b9fb9 in CvLevMarq::step() () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_calib3d.so.4.5
#14 0x00007fa4f52ba82f in CvLevMarq::updateAlt(CvMat const*&, CvMat*&, CvMat*&, double*&) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_calib3d.so.4.5
#15 0x00007fa4f526cb64 in cvCalibrateCamera2Internal(CvMat const*, CvMat const*, CvMat const*, CvSize, int, CvMat*, CvMat*, CvMat*, CvMat*, CvMat*, CvMat*, CvMat*, int, CvTermCriteria) ()
   from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_calib3d.so.4.5
#16 0x00007fa4f527067b in cv::calibrateCameraRO(cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int>, int, cv::_InputOutputArray const&, cv::_InputOutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, int, cv::TermCriteria) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_calib3d.so.4.5
#17 0x00007fa4f5271039 in cv::calibrateCamera(cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int>, cv::_InputOutputArray const&, cv::_InputOutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, int, cv::TermCriteria) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_calib3d.so.4.5
#18 0x00007fa4f527112a in cv::calibrateCamera(cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int>, cv::_InputOutputArray const&, cv::_InputOutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, int, cv::TermCriteria) () from /nix/store/3p96pgq1lkhirs69qc0r1687lzaccb2n-opencv-4.5.4/lib/libopencv_calib3d.so.4.5
#19 0x00007fa4fadb6ca3 in rtabmap::CalibrationDialog::calibrate() () from /nix/store/ippf9zdmw9yqa6wv006za12sa3k17yq3-rtabmap-unstable-2022-02-07/lib/librtabmap_gui.so.0.20
#20 0x00007fa4e97ed618 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#21 0x00007fa4ea36e722 in QAbstractButton::clicked(bool) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#22 0x00007fa4ea36e99a in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#23 0x00007fa4ea370560 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#24 0x00007fa4ea370783 in QAbstractButton::mouseReleaseEvent(QMouseEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#25 0x00007fa4ea2bc70e in QWidget::event(QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#26 0x00007fa4ea27a6cf in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#27 0x00007fa4ea282224 in QApplication::notify(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#28 0x00007fa4e97b6a2a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#29 0x00007fa4ea280d17 in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool, bool) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#30 0x00007fa4ea2d583c in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#31 0x00007fa4ea2d8ab5 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#32 0x00007fa4ea27a6cf in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#33 0x00007fa4e97b6a2a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#34 0x00007fa4e9bc87b7 in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Gui.so.5
#35 0x00007fa4e9b9e56c in QWindowSystemInterface::sendWindowSystemEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Gui.so.5
#36 0x00007fa46eeeaeca in ?? () from /nix/store/vdfcc2c8ndvhfcx5xjjwhbn95cpxj457-qtbase-5.15.3-bin/lib/qt-5.15.3/plugins/platforms/../../../../../5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5XcbQpa.so.5
#37 0x00007fa4e65d5ddb in g_main_context_dispatch () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#38 0x00007fa4e65d6088 in g_main_context_iterate.constprop () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#39 0x00007fa4e65d613f in g_main_context_iteration () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#40 0x00007fa4e980e494 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#41 0x00007fa4e97b53ab in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#42 0x00007fa4ea485cba in QDialog::exec() () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#43 0x00007fa4fabe0189 in rtabmap::PreferencesDialog::calibrate() () from /nix/store/ippf9zdmw9yqa6wv006za12sa3k17yq3-rtabmap-unstable-2022-02-07/lib/librtabmap_gui.so.0.20
#44 0x00007fa4e97ed618 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#45 0x00007fa4ea36e722 in QAbstractButton::clicked(bool) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#46 0x00007fa4ea36e99a in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#47 0x00007fa4ea370560 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#48 0x00007fa4ea370783 in QAbstractButton::mouseReleaseEvent(QMouseEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#49 0x00007fa4ea2bc70e in QWidget::event(QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#50 0x00007fa4ea27a6cf in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#51 0x00007fa4ea282224 in QApplication::notify(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#52 0x00007fa4e97b6a2a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#53 0x00007fa4ea280d17 in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool, bool) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#54 0x00007fa4ea2d583c in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#55 0x00007fa4ea2d8ab5 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#56 0x00007fa4ea27a6cf in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
--Type <RET> for more, q to quit, c to continue without paging--
#57 0x00007fa4e97b6a2a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#58 0x00007fa4e9bc87b7 in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Gui.so.5
#59 0x00007fa4e9b9e56c in QWindowSystemInterface::sendWindowSystemEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Gui.so.5
#60 0x00007fa46eeeaeca in ?? () from /nix/store/vdfcc2c8ndvhfcx5xjjwhbn95cpxj457-qtbase-5.15.3-bin/lib/qt-5.15.3/plugins/platforms/../../../../../5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5XcbQpa.so.5
#61 0x00007fa4e65d5ddb in g_main_context_dispatch () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#62 0x00007fa4e65d6088 in g_main_context_iterate.constprop () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#63 0x00007fa4e65d613f in g_main_context_iteration () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#64 0x00007fa4e980e494 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#65 0x00007fa4e97b53ab in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#66 0x00007fa4ea485cba in QDialog::exec() () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#67 0x00007fa4e97ed618 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#68 0x00007fa4ea273dd2 in QAction::triggered(bool) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#69 0x00007fa4ea276a04 in QAction::activate(QAction::ActionEvent) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#70 0x00007fa4ea3fdb72 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#71 0x00007fa4ea405731 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#72 0x00007fa4ea2bc70e in QWidget::event(QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#73 0x00007fa4ea27a6cf in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#74 0x00007fa4ea282224 in QApplication::notify(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#75 0x00007fa4e97b6a2a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#76 0x00007fa4ea280d17 in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool, bool) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#77 0x00007fa4ea2d6343 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#78 0x00007fa4ea2d8ab5 in ?? () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#79 0x00007fa4ea27a6cf in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Widgets.so.5
#80 0x00007fa4e97b6a2a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#81 0x00007fa4e9bc87b7 in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Gui.so.5
#82 0x00007fa4e9b9e56c in QWindowSystemInterface::sendWindowSystemEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Gui.so.5
#83 0x00007fa46eeeaeca in ?? () from /nix/store/vdfcc2c8ndvhfcx5xjjwhbn95cpxj457-qtbase-5.15.3-bin/lib/qt-5.15.3/plugins/platforms/../../../../../5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5XcbQpa.so.5
#84 0x00007fa4e65d5ddb in g_main_context_dispatch () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#85 0x00007fa4e65d6088 in g_main_context_iterate.constprop () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#86 0x00007fa4e65d613f in g_main_context_iteration () from /nix/store/hqvf17nn5fmwrlrgq9qyplz1id923jri-glib-2.72.1/lib/libglib-2.0.so.0
#87 0x00007fa4e980e494 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#88 0x00007fa4e97b53ab in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#89 0x00007fa4e97bd9f0 in QCoreApplication::exec() () from /nix/store/5zdacvyjfx4gg1lyfj7kfr3h781jqf7q-qtbase-5.15.3/lib/libQt5Core.so.5
#90 0x00000000004036d5 in main ()

Do you think it is actually working on it or is it stuck? How can I debug this or add some progress indicator?

May 17 '22 05:05 ckiee

私も同じ問題を抱えていますキャリブレーションが終了しませんカメラキャリブレーションが終わらない

Jun 15 '22 03:06 koshiba2021

Try selecting Fish eye since your camera looks like that. Then you press the Calibrate button after a while.

Jun 15 '22 13:06 ckiee

Thank you for your reply. I have successfully calibrated !! Then I generated a cam.yaml file.

I immediately tried localization using that file. But I got the following error:

[ERROR] (2022-06-16 01:46:25) OdometryThread.cpp:140::rtabmap::OdometryThread::addData() Missing some information (images/scans empty or missing calibration)!?

Is localization impossible with a cheap USB webcam that doesn't have an odometry sensor Localization_with_Simple_USB_WebCam_ERROR ?

Jun 15 '22 16:06 koshiba2021

Maybe you have to save it first, I'm not very sure though, I was planning to map with a kinect (RGBD) and then use a webcam (just RGB) with it, but I haven't finished that project.

Jun 15 '22 17:06 ckiee

Thank you for your reply.

One person creates a map (map.db) using Azure Kinect / Realsense. Other users can estimate their own position with the above map. Using only one cheap USB WebCAM (RGB).

It would be great if this were possible. I searched on Google search but couldn't find any software to enable it.

I will try to study ORB-SLAM.

Jun 15 '22 21:06 koshiba2021

There is no mono odometry approach officially implemented in rtabmap. If you only want to localize with RGB-only camera in pre-built map, there is a specific option in Preferences to not start odometry: Screenshot from 2022-10-09 15-25-15

Oct 09 '22 22:10 matlabbe

There is no mono odometry approach officially implemented in rtabmap. If you only want to localize with RGB-only camera in pre-built map, there is a specific option in Preferences to not start odometry:

Note: for this setting to be enabled, you must first disable RBG-D Slam using Advanced Settings, as seen on the left panel

Apr 01 '23 17:04 Kyu

I think this is this one you are referring: Screenshot from 2023-04-02 12-20-26

Apr 02 '23 19:04 matlabbe

Hi, I am getting the same error.

Created DB using RGBD and now trying to run localization mode with a video file. i am on docker image noetic/superpoint

ERROR] (2023-08-21 15:51:12.853) OdometryThread.cpp:140::addData() Missing some information (images/scans empty or missing calibration)!?

Aug 21 '23 15:08 fbliman

Missing calibration? Did you pass a YAML file along your video in Source panel?

Aug 27 '23 20:08 matlabbe

Yes, I when I hit the test button I see the video correctly, but then when I start the localization i get that error

Aug 28 '23 12:08 fbliman

The video preview doesn't do any checks about calibration.

Oh just realized the warning was in Odometry, rtabmap's odometry doesn't support monocular images. If you want to test purely localization, you can disable odometry with this option:

Aug 29 '23 03:08 matlabbe

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RGB camera calibration hangs

[ERROR] (2022-06-16 01:46:25) OdometryThread.cpp:140::rtabmap::OdometryThread::addData() Missing some information (images/scans empty or missing calibration)!?

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