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Issues setting rtabmap parameters - libpng warning: iCCP

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Issues setting rtabmap parameters - libpng warning: iCCP

VK
Hi,

I have been using rtabmap_ros with no problems for the last few months, but recently I'm facing some issues with the database and the default parameters.
The first thing I noticed is that even if I set the --delete_database_on_start  argument when launching rtabmap_ros, the database is not empty (previous session is kept, so I have to deleted manually).

The most important issue is that I am unable to pass parameters to rtabmap...for example when I run the following:

roslaunch rtabmap_ros rtabmap.launch \
   stereo:=true \
   rtabmapviz:=true \
   approx_sync:=false \
   use_sim_time:=true \
   frame_id:=D435_link \
   left_camera_info_topic:=/D435/infra1/camera_info \
   right_camera_info_topic:=/D435/infra2/camera_info \
   left_image_topic:=/D435/infra1/image_rect_raw \
   right_image_topic:=/D435/infra2/image_rect_raw \
   odom_guess_frame_id:=velo_odom \
   compressed:=true \
   args:="-d \
      --Odom/Strategy 0 \
      --Vis/MinInliers 10 \
      --Vis/FeatureType 0 \
      --Vis/MaxFeatures 1000 \
      --Vis/CorType 0 \
      --Vis/EstimationType 1 \
      --Rtabmap/DetectionRate 5 \
      --Rtabmap/ImagesAlreadyRectified false \
      --RGBD/OptimizeMaxError 5.0 \
      --RGBD/LoopClosureReextractFeatures true \
      --Kp/DetectorStrategy 0 \
      --RGBD/NeighborLinkRefining true \
      --Kp/MaxFeatures 1000 \
      --Kp/NndrRatio 0.8 \
      --Reg/Strategy 0 "

I receive:

NODES
  /rtabmap/
    republish_left (image_transport/republish)
    republish_right (image_transport/republish)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/republish_left-1]: started with pid [16071]
process[rtabmap/republish_right-2]: started with pid [16072]
process[rtabmap/stereo_odometry-3]: started with pid [16079]
process[rtabmap/rtabmap-4]: started with pid [16084]
process[rtabmap/rtabmapviz-5]: started with pid [16085]
[ INFO] [1623667876.777199252]: Starting node...
[ INFO] [1623667876.777711746]: Starting node...
[ INFO] [1623667876.834376630]: Initializing nodelet with 4 worker threads.
[ INFO] [1623667876.849985841]: Initializing nodelet with 4 worker threads.
[ INFO] [1623667877.040969101]: Odometry: frame_id               = D435_link
[ INFO] [1623667877.041098594]: Odometry: odom_frame_id          = odom
[ INFO] [1623667877.041196382]: Odometry: publish_tf             = true
[ INFO] [1623667877.041290058]: Odometry: wait_for_transform     = true
[ INFO] [1623667877.041389233]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1623667877.041504337]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1623667877.041587795]: Odometry: ground_truth_frame_id  =
[ INFO] [1623667877.041668670]: Odometry: ground_truth_base_frame_id =
[ INFO] [1623667877.041747893]: Odometry: config_path            =
[ INFO] [1623667877.041830215]: Odometry: publish_null_when_lost = true
[ INFO] [1623667877.041908561]: Odometry: guess_frame_id         = velo_odom
[ INFO] [1623667877.041989057]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1623667877.042067898]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1623667877.042114421]: Odometry: guess_min_time         = 0.000000
[ INFO] [1623667877.042161004]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1623667877.042206390]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1623667877.042249622]: Odometry: wait_imu_to_init       = false
[ INFO] [1623667877.042315609]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1623667877.093701786]: rtabmapviz: Using configuration from "/home/skiparissi/.ros/rtabmap_gui.ini"
[ INFO] [1623667877.125994051]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1623667877.126084263]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1623667877.126142535]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1623667877.126190984]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1623667877.126240106]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1623667877.126284324]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1623667877.126323857]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1623667877.126365402]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1623667877.131652501]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1623667877.207878540]: rtabmap: frame_id      = D435_link
[ INFO] [1623667877.207988749]: rtabmap: map_frame_id  = map
[ INFO] [1623667877.208056120]: rtabmap: use_action_for_goal  = false
[ INFO] [1623667877.208116884]: rtabmap: tf_delay      = 0.050000
[ INFO] [1623667877.208164838]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1623667877.208211015]: rtabmap: odom_sensor_sync   = false
[ INFO] [1623667877.210345424]: rtabmap: stereo_to_depth = false
[ INFO] [1623667877.210409313]: rtabmap: gen_scan  = false
[ INFO] [1623667877.210469141]: rtabmap: gen_depth  = false
[ INFO] [1623667877.860299709]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1623667877.861265474]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1623667878.137779824]: StereoOdometry: approx_sync = false
[ INFO] [1623667878.137928974]: StereoOdometry: queue_size = 10
[ INFO] [1623667878.138011834]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1623667878.138082100]: StereoOdometry: keep_color = false
[ INFO] [1623667878.190579238]:
/rtabmap/stereo_odometry subscribed to (exact sync):
   /D435/infra1/image_rect_raw_relay \
   /D435/infra2/image_rect_raw_relay \
   /D435/infra1/camera_info \
   /D435/infra2/camera_info
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1623667878.666241380]: Update RTAB-Map parameter "Grid/FromDepth"="false" from database
[ INFO] [1623667878.666488935]: Update RTAB-Map parameter "Grid/RangeMax"="0" from database
[ INFO] [1623667878.666595319]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.05" from database
[ INFO] [1623667878.666662847]: Update RTAB-Map parameter "Icp/Epsilon"="0.0001" from database
[ INFO] [1623667878.666710933]: Update RTAB-Map parameter "Icp/Iterations"="25" from database
[ INFO] [1623667878.666769172]: Update RTAB-Map parameter "Icp/MaxTranslation"="2" from database
[ INFO] [1623667878.666823145]: Update RTAB-Map parameter "Icp/PMMatcherEpsilon"="1" from database
[ INFO] [1623667878.666858159]: Update RTAB-Map parameter "Icp/PMMatcherIntensity"="true" from database
[ INFO] [1623667878.666896921]: Update RTAB-Map parameter "Icp/PMMatcherKnn"="25" from database
[ INFO] [1623667878.666942836]: Update RTAB-Map parameter "Icp/PMOutlierRatio"="0.7" from database
[ INFO] [1623667878.666995876]: Update RTAB-Map parameter "Icp/PointToPlaneK"="25" from database
[ INFO] [1623667878.667042439]: Update RTAB-Map parameter "Icp/PointToPlaneRadius"="0" from database

......

[ WARN] (2021-06-14 14:04:26.214) SensorData.cpp:718::uncompressDataConst() Requested laser scan data, but the sensor data (41) doesn't have laser scan.
[ WARN] (2021-06-14 14:04:26.214) SensorData.cpp:718::uncompressDataConst() Requested laser scan data, but the sensor data (42) doesn't have laser scan.
[ERROR] (2021-06-14 14:04:26.214) RegistrationIcp.cpp:1479::computeTransformationImpl() Laser scans empty?!? (new[42]=0 old[41]=0)


It seems that rtabmap is looking for laser scans and I noticed that even if I set Reg/Strategy 0 \, I receive the following:

[ INFO] [1623667878.667670879]: Update RTAB-Map parameter "Reg/Strategy"="1" from database

I guess that something is wrong with the database, the default parameters stored and my issue has to do with the warning message
libpng warning: iCCP: known incorrect sRGB profile  ??

Has anyone run into similar problems?

Thanks in advance


matlabbe
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Re: Issues setting rtabmap parameters - libpng warning: iCCP

matlabbe
Administrator
Hi,

I tried your command and it seems to work as expected (the database is deleted, and you can see messages with "from arguments"), see below. What rtabmap version are you using, on which system? 
roslaunch rtabmap_ros rtabmap.launch \
    stereo:=true \
    rtabmapviz:=true \
    approx_sync:=false \
    use_sim_time:=true \
    frame_id:=D435_link \
    left_camera_info_topic:=/D435/infra1/camera_info \
    right_camera_info_topic:=/D435/infra2/camera_info \
    left_image_topic:=/D435/infra1/image_rect_raw \
    right_image_topic:=/D435/infra2/image_rect_raw \
    odom_guess_frame_id:=velo_odom \
    compressed:=true \
    args:="-d \
       --Odom/Strategy 0 \
       --Vis/MinInliers 10 \
       --Vis/FeatureType 0 \
       --Vis/MaxFeatures 1000 \
       --Vis/CorType 0 \
       --Vis/EstimationType 1 \
       --Rtabmap/DetectionRate 5 \
       --Rtabmap/ImagesAlreadyRectified false \
       --RGBD/OptimizeMaxError 5.0 \
       --RGBD/LoopClosureReextractFeatures true \
       --Kp/DetectorStrategy 0 \
       --RGBD/NeighborLinkRefining true \
       --Kp/MaxFeatures 1000 \
       --Kp/NndrRatio 0.8 \
       --Reg/Strategy 0 " 
... logging to /home/mathieu/.ros/log/55a0a740-e4be-11eb-a0c5-4ddeac5f7919/roslaunch-mathieu-XPS-15-7590-27585.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/mathieu/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://mathieu-XPS-15-7590:36885/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.9
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: D435_link
 * /rtabmap/rtabmap/gen_depth: False
 * /rtabmap/rtabmap/gen_depth_decimation: 1
 * /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
 * /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
 * /rtabmap/rtabmap/gen_depth_fill_iterations: 1
 * /rtabmap/rtabmap/gen_scan: False
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_frame_id_init: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: False
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap/subscribe_stereo: True
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: False
 * /rtabmap/rtabmapviz/frame_id: D435_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: False
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgb: False
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmapviz/subscribe_stereo: True
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2
 * /rtabmap/stereo_odometry/approx_sync: False
 * /rtabmap/stereo_odometry/config_path: 
 * /rtabmap/stereo_odometry/expected_update_rate: 0.0
 * /rtabmap/stereo_odometry/frame_id: D435_link
 * /rtabmap/stereo_odometry/ground_truth_base_frame_id: 
 * /rtabmap/stereo_odometry/ground_truth_frame_id: 
 * /rtabmap/stereo_odometry/guess_frame_id: velo_odom
 * /rtabmap/stereo_odometry/guess_min_rotation: 0.0
 * /rtabmap/stereo_odometry/guess_min_translation: 0.0
 * /rtabmap/stereo_odometry/keep_color: False
 * /rtabmap/stereo_odometry/max_update_rate: 0.0
 * /rtabmap/stereo_odometry/odom_frame_id: odom
 * /rtabmap/stereo_odometry/publish_tf: True
 * /rtabmap/stereo_odometry/queue_size: 10
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/stereo_odometry/wait_imu_to_init: False
 * /use_sim_time: True

NODES
  /rtabmap/
    republish_left (image_transport/republish)
    republish_right (image_transport/republish)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/republish_left-1]: started with pid [27601]
process[rtabmap/republish_right-2]: started with pid [27602]
process[rtabmap/stereo_odometry-3]: started with pid [27603]
process[rtabmap/rtabmap-4]: started with pid [27608]
process[rtabmap/rtabmapviz-5]: started with pid [27615]
[ INFO] [1626282308.442154745]: Starting node...
[ INFO] [1626282308.459579355]: Initializing nodelet with 12 worker threads.
[ INFO] [1626282308.491849139]: Initializing nodelet with 12 worker threads.
[ INFO] [1626282308.517782272]: Odometry: frame_id               = D435_link
[ INFO] [1626282308.517804268]: Odometry: odom_frame_id          = odom
[ INFO] [1626282308.517815492]: Odometry: publish_tf             = true
[ INFO] [1626282308.517825627]: Odometry: wait_for_transform     = true
[ INFO] [1626282308.517840508]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1626282308.517865462]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1626282308.517876182]: Odometry: ground_truth_frame_id  = 
[ INFO] [1626282308.517885728]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1626282308.517895549]: Odometry: config_path            = 
[ INFO] [1626282308.517907627]: Odometry: publish_null_when_lost = true
[ INFO] [1626282308.517918197]: Odometry: guess_frame_id         = velo_odom
[ INFO] [1626282308.517929070]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1626282308.517939536]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1626282308.517949168]: Odometry: guess_min_time         = 0.000000
[ INFO] [1626282308.517958763]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1626282308.517968290]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1626282308.517977896]: Odometry: wait_imu_to_init       = false
[ INFO] [1626282308.517997779]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1626282308.546898489]: Starting node...
[ INFO] [1626282308.641458739]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1626282308.641495087]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1626282308.641514430]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1626282308.641530755]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1626282308.641546960]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1626282308.641562210]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1626282308.641577812]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1626282308.641594652]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1626282308.641812385]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1626282308.670451862]: rtabmap: frame_id      = D435_link
[ INFO] [1626282308.670490821]: rtabmap: map_frame_id  = map
[ INFO] [1626282308.670511421]: rtabmap: use_action_for_goal  = false
[ INFO] [1626282308.670531616]: rtabmap: tf_delay      = 0.050000
[ INFO] [1626282308.670550277]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1626282308.670566882]: rtabmap: odom_sensor_sync   = false
[ INFO] [1626282308.671370796]: rtabmap: stereo_to_depth = false
[ INFO] [1626282308.671389309]: rtabmap: gen_scan  = false
[ INFO] [1626282308.671401935]: rtabmap: gen_depth  = false
[ INFO] [1626282308.748329140]: rtabmapviz: Using configuration from "/home/mathieu/.ros/rtabmap_gui.ini"
[ INFO] [1626282308.771581340, 4432.620000000]: Odometry: Ignored parameter "Kp/DetectorStrategy"="0" from arguments
[ INFO] [1626282308.771610525, 4432.620000000]: Odometry: Ignored parameter "Kp/MaxFeatures"="1000" from arguments
[ INFO] [1626282308.771619682, 4432.620000000]: Odometry: Ignored parameter "Kp/NndrRatio"="0.8" from arguments
[ INFO] [1626282308.771629935, 4432.620000000]: Update odometry parameter "Odom/Strategy"="0" from arguments
[ INFO] [1626282308.771639501, 4432.620000000]: Odometry: Ignored parameter "RGBD/LoopClosureReextractFeatures"="true" from arguments
[ INFO] [1626282308.771652257, 4432.620000000]: Odometry: Ignored parameter "RGBD/NeighborLinkRefining"="true" from arguments
[ INFO] [1626282308.771660171, 4432.620000000]: Odometry: Ignored parameter "RGBD/OptimizeMaxError"="5.0" from arguments
[ INFO] [1626282308.771667518, 4432.620000000]: Update odometry parameter "Reg/Strategy"="0" from arguments
[ INFO] [1626282308.771674388, 4432.620000000]: Odometry: Ignored parameter "Rtabmap/DetectionRate"="5" from arguments
[ INFO] [1626282308.771684596, 4432.620000000]: Update odometry parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1626282308.771696874, 4432.620000000]: Update odometry parameter "Vis/CorType"="0" from arguments
[ INFO] [1626282308.771703839, 4432.620000000]: Update odometry parameter "Vis/EstimationType"="1" from arguments
[ INFO] [1626282308.771714231, 4432.620000000]: Update odometry parameter "Vis/FeatureType"="0" from arguments
[ INFO] [1626282308.771721252, 4432.620000000]: Update odometry parameter "Vis/MaxFeatures"="1000" from arguments
[ INFO] [1626282308.771727720, 4432.620000000]: Update odometry parameter "Vis/MinInliers"="10" from arguments
[ WARN] (2021-07-14 13:05:08.819) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:08.820) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1626282308.829762135, 4432.680000000]: StereoOdometry: approx_sync = false
[ INFO] [1626282308.829791254, 4432.680000000]: StereoOdometry: queue_size = 10
[ INFO] [1626282308.829818612, 4432.680000000]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1626282308.829834376, 4432.680000000]: StereoOdometry: keep_color = false
[ INFO] [1626282308.843848712, 4432.690000000]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /D435/infra1/image_rect_raw_relay \
   /D435/infra2/image_rect_raw_relay \
   /D435/infra1/camera_info \
   /D435/infra2/camera_info
[ INFO] [1626282308.873734571, 4432.720000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1626282308.873996020, 4432.720000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1626282309.020019701, 4432.870000000]: Update RTAB-Map parameter "Kp/DetectorStrategy"="0" from arguments
[ INFO] [1626282309.020050322, 4432.870000000]: Update RTAB-Map parameter "Kp/MaxFeatures"="1000" from arguments
[ INFO] [1626282309.020064596, 4432.870000000]: Update RTAB-Map parameter "Kp/NndrRatio"="0.8" from arguments
[ INFO] [1626282309.020077199, 4432.870000000]: Update RTAB-Map parameter "Odom/Strategy"="0" from arguments
[ INFO] [1626282309.020091416, 4432.870000000]: Update RTAB-Map parameter "RGBD/LoopClosureReextractFeatures"="true" from arguments
[ INFO] [1626282309.020119868, 4432.870000000]: Update RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" from arguments
[ INFO] [1626282309.020139381, 4432.870000000]: Update RTAB-Map parameter "RGBD/OptimizeMaxError"="5.0" from arguments
[ INFO] [1626282309.020173216, 4432.870000000]: Update RTAB-Map parameter "Reg/Strategy"="0" from arguments
[ INFO] [1626282309.020193792, 4432.870000000]: Update RTAB-Map parameter "Rtabmap/DetectionRate"="5" from arguments
[ INFO] [1626282309.020241317, 4432.870000000]: Update RTAB-Map parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1626282309.020261105, 4432.870000000]: Update RTAB-Map parameter "Vis/CorType"="0" from arguments
[ INFO] [1626282309.020278228, 4432.870000000]: Update RTAB-Map parameter "Vis/EstimationType"="1" from arguments
[ INFO] [1626282309.020300313, 4432.870000000]: Update RTAB-Map parameter "Vis/FeatureType"="0" from arguments
[ INFO] [1626282309.020321084, 4432.870000000]: Update RTAB-Map parameter "Vis/MaxFeatures"="1000" from arguments
[ INFO] [1626282309.020341202, 4432.870000000]: Update RTAB-Map parameter "Vis/MinInliers"="10" from arguments
[ INFO] [1626282309.131558537, 4432.980000000]: RTAB-Map detection rate = 5.000000 Hz
[ INFO] [1626282309.132015496, 4432.980000000]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1626282309.132044268, 4432.980000000]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db" (0 MB).
[ WARN] (2021-07-14 13:05:09.132) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.133) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.133) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.134) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.135) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.135) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.136) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.137) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.137) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.289) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.290) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.291) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1626282309.292104696, 4433.140000000]: rtabmap: Database version = "0.20.13".
[ INFO] [1626282309.292146067, 4433.140000000]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1626282309.314066743, 4433.160000000]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1626282309.314114250, 4433.160000000]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1626282309.314144740, 4433.160000000]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1626282309.314156473, 4433.160000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1626282309.314169566, 4433.160000000]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1626282309.314180359, 4433.160000000]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1626282309.314195514, 4433.160000000]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1626282309.314211021, 4433.160000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1626282309.314223209, 4433.160000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1626282309.314236348, 4433.160000000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1626282309.314253868, 4433.160000000]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1626282309.318654543, 4433.170000000]: Setup stereo callback
[ INFO] [1626282309.332608605, 4433.180000000]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /D435/infra1/image_rect_raw_relay \
   /D435/infra2/image_rect_raw_relay \
   /D435/infra1/camera_info \
   /D435/infra2/camera_info \
   /rtabmap/odom_info
[ INFO] [1626282309.438416126, 4433.290000000]: rtabmap 0.20.13 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1626282309.718161827, 4433.570000000]: rtabmapviz: Reading parameters from the ROS server...
[ WARN] (2021-07-14 13:05:09.754) PreferencesDialog.cpp:4396::setParameter() Trying to set "Kp/DetectorStrategy" to SURF but RTAB-Map isn't built with the nonfree module from OpenCV. Keeping default combo value: GFTT+ORB.
[ WARN] (2021-07-14 13:05:09.823) PreferencesDialog.cpp:4396::setParameter() Trying to set "Vis/FeatureType" to SURF but RTAB-Map isn't built with the nonfree module from OpenCV. Keeping default combo value: GFTT+ORB.
[ INFO] [1626282309.828950126, 4433.680000000]: rtabmapviz: Parameters read = 352
[ INFO] [1626282309.828970907, 4433.680000000]: rtabmapviz: Parameters successfully read.
[ INFO] [1626282310.223618745, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_depth = false
[ INFO] [1626282310.223644315, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1626282310.223653458, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_stereo = true
[ INFO] [1626282310.223662170, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1626282310.223669919, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1626282310.223678110, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1626282310.223686096, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1626282310.223693529, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1626282310.223701048, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1626282310.223711259, 4434.070000000]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1626282310.223721426, 4434.070000000]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1626282310.223747595, 4434.070000000]: Setup stereo callback
[ INFO] [1626282310.264048078, 4434.110000000]: 
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom \
   /D435/infra1/image_rect_raw_relay \
   /D435/infra2/image_rect_raw_relay \
   /D435/infra1/camera_info \
   /D435/infra2/camera_info \
   /rtabmap/odom_info
[ INFO] [1626282310.264202263, 4434.110000000]: rtabmapviz started.
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