A large number (170/172) 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.

Open DZK326 opened this issue 1 year ago • 1 comments

Hi! I'm using a stereo camera to map in gazebo. I tried /Stereo/OpticalFlow to false and Vis/CorFlowMaxLevel to 5 Stereo/MaxDisparity to 200 but it still warns

Nov 28 '24 06:11 DZK326

Could be bad stereo images. Can you show an example of left and right images that you feed to rtabmap? That warning would appear with/without optical flow stereo approach.

Dec 02 '24 01:12 matlabbe