Reject loop closure : Not enough features in images (old=0, new=181, min=20)

[thomas8329]

Hello,

I keep getting this warning : Rtabmap.cpp:3036::process() Rejected loop closure 104 -> 1110: Not enough features in images (old=0, new=181, min=20). Values are changing but the problem is still the same. Old is always 0 even if the mapping is working. I tried adding or replacing some args in my launchfile, but nothing.

None of my loop closure aren't rejected.

Thanks for your help (@matlabbe )

[matlabbe]

Maybe 104 doesn't have features. If you move and the old signature is always empty (even if you know that it shouldn't), there could be an issue. You can open the database in rtabmap-databaseViewer and look at the frame 104 and see if there are features or not.