Official RTAB-Map Forum

Problem with Post-Processing

classic Classic list List threaded Threaded
♦
♦
 6 messages Options
tobi
Reply | Threaded
Open this post in threaded view
♦
♦
|

Problem with Post-Processing

tobi
Hey,

i would like to use the Post Processing, but everytime I use it with the default settings, there is an Error: 
[FATAL] (2016-08-08 12:05:16.225) RegistrationVis.cpp:611::computeTransformationImpl() Condition (kptsFrom.empty() || int(kptsFrom.size()) == descriptorsFrom.rows) not met!

Thanks
matlabbe
Reply | Threaded
Open this post in threaded view
♦
♦
|

Re: Problem with Post-Processing

matlabbe
Administrator

Is it happening with every scanning session? I cannot reproduce the problem, which version are you using?

Can you save the database before trying Post-Processing? then share this database here?

cheers
tobi
Reply | Threaded
Open this post in threaded view
♦
♦
|

Re: Problem with Post-Processing

tobi
matlabbe wrote
Is it happening with every scanning session?
yes

matlabbe wrote
I cannot reproduce the problem, which version are you using?
i'm using the newest indigo-devel Version from github  (v. 0.11.8)

And here is my rtabmap.db:
https://drive.google.com/file/d/0BwVi_i1xy0s1d25LY2h6WnFYRFU/view?usp=sharing

thank you
greets
Tobias
matlabbe
Reply | Threaded
Open this post in threaded view
♦
♦
|

Re: Problem with Post-Processing

matlabbe
Administrator
I cannot reproduce the error with your database. I tested with Indigo-0.11.8 binaries and the latest code on Master branch: 
$ rtabmap rtabmap.db

On loading:
-> Yes, to use parameters from database
-> Ok, to download the cloud

-> Tool -> Post-processing...
-> Check everything and run

Output:
10:41:52 Post-processing beginning!
10:41:52 Looking for more loop closures, clustering poses... (iteration=1/1, radius=0.5 m angle=30 degrees)
10:41:52 Looking for more loop closures, clustering poses... found 1034 clusters.
10:41:52 Detected loop closure 26->1! (3/1034)
10:41:52 Detected loop closure 24->1! (4/1034)
10:41:52 Detected loop closure 21->1! (5/1034)
10:41:52 Detected loop closure 28->24! (20/1034)
10:41:52 Detected loop closure 31->26! (25/1034)
10:41:53 Detected loop closure 51->47! (89/1034)
10:41:53 Detected loop closure 56->51! (103/1034)
10:41:53 Detected loop closure 58->53! (109/1034)
10:41:53 Detected loop closure 60->56! (128/1034)
10:41:53 Detected loop closure 61->58! (134/1034)
10:41:53 Detected loop closure 81->76! (192/1034)
10:41:53 Detected loop closure 80->76! (193/1034)
10:41:53 Detected loop closure 79->76! (194/1034)
10:41:53 Detected loop closure 107->76! (196/1034)
10:41:53 Detected loop closure 83->79! (210/1034)
10:41:53 Detected loop closure 109->79! (217/1034)
10:41:53 Detected loop closure 106->79! (219/1034)
10:41:53 Detected loop closure 105->79! (220/1034)
10:41:53 Detected loop closure 85->81! (233/1034)
10:41:53 Detected loop closure 104->81! (244/1034)
10:41:53 Detected loop closure 86->83! (256/1034)
10:41:53 Detected loop closure 103->85! (263/1034)
10:41:53 Detected loop closure 102->87! (281/1034)
10:41:53 Detected loop closure 90->88! (298/1034)
10:41:53 Detected loop closure 100->89! (305/1034)
10:41:53 Detected loop closure 98->89! (313/1034)
10:41:53 Detected loop closure 92->90! (322/1034)
10:41:53 Detected loop closure 93->90! (323/1034)
10:41:54 Detected loop closure 121->118! (476/1034)
10:41:54 Detected loop closure 134->128! (513/1034)
10:41:54 Detected loop closure 136->131! (520/1034)
10:41:54 Detected loop closure 145->139! (540/1034)
10:41:54 Detected loop closure 143->139! (541/1034)
10:41:54 Detected loop closure 147->143! (551/1034)
10:41:54 Detected loop closure 158->155! (596/1034)
10:41:54 Detected loop closure 157->155! (597/1034)
10:41:54 Detected loop closure 169->157! (614/1034)
10:41:54 Detected loop closure 168->157! (615/1034)
10:41:54 Detected loop closure 167->157! (616/1034)
10:41:54 Detected loop closure 160->157! (617/1034)
10:41:54 Detected loop closure 159->157! (618/1034)
10:41:54 Detected loop closure 173->158! (633/1034)
10:41:54 Detected loop closure 166->160! (649/1034)
10:41:54 Detected loop closure 175->169! (701/1034)
10:41:54 Detected loop closure 177->173! (704/1034)
10:41:54 Detected loop closure 179->175! (717/1034)
10:41:55 Detected loop closure 199->195! (811/1034)
10:41:55 Detected loop closure 201->197! (818/1034)
10:41:55 Detected loop closure 203->199! (821/1034)
10:41:55 Detected loop closure 219->215! (879/1034)
10:41:55 Detected loop closure 221->217! (881/1034)
10:41:55 Detected loop closure 222->219! (888/1034)
10:41:55 Detected loop closure 224->221! (895/1034)
10:41:55 Detected loop closure 228->226! (913/1034)
10:41:55 Detected loop closure 236->234! (965/1034)
10:41:55 Detected loop closure 242->238! (988/1034)
10:41:55 Detected loop closure 244->240! (990/1034)
10:41:55 Detected loop closure 246->242! (996/1034)
10:41:55 Detected loop closure 248->244! (1001/1034)
10:41:55 Detected loop closure 250->244! (1002/1034)
10:41:55 Detected loop closure 251->246! (1007/1034)
10:41:55 Detected loop closure 252->250! (1019/1034)
10:41:55 Detected loop closure 253->251! (1025/1034)
10:41:55 Iteration 1/1: Detected 41 loop closures!
10:41:55 Total new loop closures detected=63
10:41:55 Refining links...
10:41:55 Refining link 1->20 (1/244)
10:41:55 Refining link 20->21 (2/244)
10:41:55 Refining link 21->24 (3/244)
10:41:55 Refining link 21->1 (4/244)
10:41:55 Refining link 24->26 (5/244)
10:41:55 Refining link 24->1 (6/244)
10:41:55 Refining link 26->28 (7/244)
10:41:55 Refining link 26->1 (8/244)
10:41:55 Refining link 28->31 (9/244)
10:41:55 Refining link 28->24 (10/244)
10:41:55 Refining link 31->36 (11/244)
10:41:55 Refining link 31->26 (12/244)
10:41:55 Refining link 36->38 (13/244)
10:41:55 Refining link 38->41 (14/244)
10:41:55 Refining link 41->42 (15/244)
10:41:55 Refining link 42->43 (16/244)
10:41:55 Refining link 43->44 (17/244)
10:41:56 Refining link 44->45 (18/244)
10:41:56 Refining link 45->47 (19/244)
10:41:56 Refining link 47->49 (20/244)
10:41:56 Refining link 49->51 (21/244)
10:41:56 Refining link 51->53 (22/244)
10:41:56 Refining link 51->47 (23/244)
10:41:56 Refining link 53->54 (24/244)
10:41:56 Refining link 54->56 (25/244)
10:41:56 Refining link 56->58 (26/244)
10:41:56 Refining link 56->51 (27/244)
10:41:56 Refining link 58->60 (28/244)
10:41:56 Refining link 58->53 (29/244)
10:41:56 Refining link 60->61 (30/244)
10:41:56 Refining link 60->56 (31/244)
10:41:56 Refining link 61->63 (32/244)
10:41:56 Refining link 61->58 (33/244)
10:41:56 Refining link 63->64 (34/244)
10:41:56 Refining link 64->66 (35/244)
10:41:56 Refining link 66->68 (36/244)
10:41:56 Refining link 68->70 (37/244)
10:41:56 Refining link 70->72 (38/244)
10:41:56 Refining link 72->73 (39/244)
10:41:56 Refining link 73->74 (40/244)
10:41:56 Refining link 74->76 (41/244)
10:41:56 Refining link 76->78 (42/244)
10:41:56 Refining link 76->89 (43/244)
10:41:56 Refining link 78->79 (44/244)
10:41:56 Refining link 78->90 (45/244)
10:41:56 Refining link 79->80 (46/244)
10:41:56 Refining link 79->91 (47/244)
10:41:56 Refining link 79->76 (48/244)
10:41:56 Refining link 80->81 (49/244)
10:41:56 Refining link 80->92 (50/244)
10:41:56 Refining link 80->76 (51/244)
10:41:56 Refining link 81->83 (52/244)
10:41:56 Refining link 81->93 (53/244)
10:41:56 Refining link 81->106 (54/244)
10:41:56 Refining link 81->107 (55/244)
10:41:56 Refining link 81->76 (56/244)
10:41:56 Refining link 83->85 (57/244)
10:41:56 Refining link 83->98 (58/244)
10:41:56 Refining link 83->105 (59/244)
10:41:56 Refining link 83->109 (60/244)
10:41:56 Refining link 83->79 (61/244)
10:41:56 Refining link 85->86 (62/244)
10:41:56 Refining link 85->100 (63/244)
10:41:56 Refining link 85->104 (64/244)
10:41:56 Refining link 85->106 (65/244)
10:41:56 Refining link 85->107 (66/244)
10:41:56 Refining link 85->109 (67/244)
10:41:56 Refining link 85->81 (68/244)
10:41:56 Refining link 86->87 (69/244)
10:41:56 Refining link 86->102 (70/244)
10:41:56 Refining link 86->103 (71/244)
10:41:56 Refining link 86->104 (72/244)
10:41:56 Refining link 86->105 (73/244)
10:41:56 Refining link 86->109 (74/244)
10:41:56 Refining link 86->112 (75/244)
10:41:56 Refining link 86->116 (76/244)
10:41:56 Refining link 86->83 (77/244)
10:41:56 Refining link 87->88 (78/244)
10:41:56 Refining link 87->103 (79/244)
10:41:56 Refining link 87->114 (80/244)
10:41:56 Refining link 88->89 (81/244)
10:41:56 Refining link 89->90 (82/244)
10:41:56 Refining link 90->91 (83/244)
10:41:56 Refining link 90->88 (84/244)
10:41:56 Refining link 91->92 (85/244)
10:41:56 Refining link 92->93 (86/244)
10:41:56 Refining link 92->90 (87/244)
10:41:56 Refining link 93->98 (88/244)
10:41:56 Refining link 93->90 (89/244)
10:41:56 Refining link 98->100 (90/244)
10:41:56 Refining link 98->89 (91/244)
10:41:56 Refining link 100->102 (92/244)
10:41:56 Refining link 100->89 (93/244)
10:41:56 Refining link 102->103 (94/244)
10:41:56 Refining link 102->87 (95/244)
10:41:56 Refining link 103->104 (96/244)
10:41:56 Refining link 103->85 (97/244)
10:41:56 Refining link 104->105 (98/244)
10:41:56 Refining link 104->81 (99/244)
10:41:56 Refining link 105->106 (100/244)
10:41:56 Refining link 105->79 (101/244)
10:41:56 Cannot refine link 105->79 (Cannot compute transform (ICP correction too large -> 0.026690 m 3.119020 rad, limits=0.200000 m, 0.780000 rad)
10:41:56 Refining link 106->107 (102/244)
10:41:56 Refining link 106->79 (103/244)
10:41:56 Refining link 107->109 (104/244)
10:41:56 Refining link 107->76 (105/244)
10:41:56 Cannot refine link 107->76 (Cannot compute transform (converged=false var=1.000000)
10:41:56 Refining link 109->112 (106/244)
10:41:56 Refining link 109->79 (107/244)
10:41:56 Refining link 112->114 (108/244)
10:41:56 Refining link 114->116 (109/244)
10:41:56 Refining link 116->118 (110/244)
10:41:56 Refining link 118->119 (111/244)
10:41:56 Refining link 119->121 (112/244)
10:41:56 Refining link 121->123 (113/244)
10:41:57 Refining link 121->118 (114/244)
10:41:57 Refining link 123->126 (115/244)
10:41:57 Refining link 126->127 (116/244)
10:41:57 Refining link 127->128 (117/244)
10:41:57 Refining link 128->131 (118/244)
10:41:57 Refining link 131->134 (119/244)
10:41:57 Refining link 134->136 (120/244)
10:41:57 Refining link 134->128 (121/244)
10:41:57 Refining link 136->137 (122/244)
10:41:57 Refining link 136->131 (123/244)
10:41:57 Refining link 137->139 (124/244)
10:41:57 Refining link 139->141 (125/244)
10:41:57 Refining link 141->143 (126/244)
10:41:57 Refining link 143->145 (127/244)
10:41:57 Refining link 143->139 (128/244)
10:41:57 Refining link 145->147 (129/244)
10:41:57 Refining link 145->139 (130/244)
10:41:57 Refining link 147->149 (131/244)
10:41:57 Refining link 147->143 (132/244)
10:41:57 Refining link 149->151 (133/244)
10:41:57 Refining link 149->161 (134/244)
10:41:57 Refining link 151->153 (135/244)
10:41:57 Refining link 151->162 (136/244)
10:41:57 Refining link 153->154 (137/244)
10:41:57 Refining link 153->166 (138/244)
10:41:57 Refining link 154->155 (139/244)
10:41:57 Refining link 154->167 (140/244)
10:41:57 Refining link 155->156 (141/244)
10:41:57 Refining link 155->168 (142/244)
10:41:57 Refining link 156->157 (143/244)
10:41:57 Refining link 156->169 (144/244)
10:41:57 Refining link 157->158 (145/244)
10:41:57 Refining link 157->173 (146/244)
10:41:57 Refining link 157->155 (147/244)
10:41:57 Refining link 158->159 (148/244)
10:41:57 Refining link 158->175 (149/244)
10:41:57 Refining link 158->155 (150/244)
10:41:57 Refining link 159->160 (151/244)
10:41:57 Refining link 159->157 (152/244)
10:41:57 Refining link 160->161 (153/244)
10:41:57 Refining link 160->157 (154/244)
10:41:57 Refining link 161->162 (155/244)
10:41:57 Refining link 162->166 (156/244)
10:41:57 Refining link 162->252 (157/244)
10:41:57 Refining link 162->253 (158/244)
10:41:57 Refining link 166->167 (159/244)
10:41:57 Refining link 166->160 (160/244)
10:41:57 Refining link 167->168 (161/244)
10:41:57 Refining link 167->157 (162/244)
10:41:57 Refining link 168->169 (163/244)
10:41:57 Refining link 168->157 (164/244)
10:41:57 Refining link 169->173 (165/244)
10:41:57 Refining link 169->157 (166/244)
10:41:57 Refining link 173->175 (167/244)
10:41:57 Refining link 173->158 (168/244)
10:41:57 Refining link 175->177 (169/244)
10:41:57 Refining link 175->250 (170/244)
10:41:57 Refining link 175->251 (171/244)
10:41:57 Refining link 175->252 (172/244)
10:41:57 Refining link 175->253 (173/244)
10:41:57 Refining link 175->169 (174/244)
10:41:57 Refining link 177->179 (175/244)
10:41:57 Refining link 177->173 (176/244)
10:41:57 Refining link 179->181 (177/244)
10:41:57 Refining link 179->175 (178/244)
10:41:57 Refining link 181->184 (179/244)
10:41:57 Refining link 184->186 (180/244)
10:41:57 Refining link 186->188 (181/244)
10:41:57 Refining link 188->190 (182/244)
10:41:57 Refining link 190->191 (183/244)
10:41:57 Refining link 191->192 (184/244)
10:41:57 Refining link 192->193 (185/244)
10:41:57 Refining link 193->195 (186/244)
10:41:57 Refining link 195->197 (187/244)
10:41:57 Refining link 197->199 (188/244)
10:41:57 Refining link 199->201 (189/244)
10:41:58 Refining link 199->195 (190/244)
10:41:58 Refining link 201->203 (191/244)
10:41:58 Refining link 201->197 (192/244)
10:41:58 Refining link 203->205 (193/244)
10:41:58 Refining link 203->199 (194/244)
10:41:58 Refining link 205->207 (195/244)
10:41:58 Refining link 207->209 (196/244)
10:41:58 Refining link 209->211 (197/244)
10:41:58 Refining link 211->213 (198/244)
10:41:58 Refining link 213->215 (199/244)
10:41:58 Refining link 215->217 (200/244)
10:41:58 Refining link 217->219 (201/244)
10:41:58 Refining link 219->221 (202/244)
10:41:58 Refining link 219->232 (203/244)
10:41:58 Refining link 219->215 (204/244)
10:41:58 Refining link 221->222 (205/244)
10:41:58 Refining link 221->233 (206/244)
10:41:58 Refining link 221->217 (207/244)
10:41:58 Refining link 222->224 (208/244)
10:41:58 Refining link 222->234 (209/244)
10:41:58 Refining link 222->219 (210/244)
10:41:58 Refining link 224->226 (211/244)
10:41:58 Refining link 224->235 (212/244)
10:41:58 Refining link 224->221 (213/244)
10:41:58 Refining link 226->227 (214/244)
10:41:58 Refining link 226->236 (215/244)
10:41:58 Cannot refine link 226->236 (Cannot compute transform (ICP correction too large -> 0.840596 m 3.136049 rad, limits=0.200000 m, 0.780000 rad)
10:41:58 Refining link 227->228 (216/244)
10:41:58 Refining link 228->229 (217/244)
10:41:58 Refining link 228->226 (218/244)
10:41:58 Refining link 229->230 (219/244)
10:41:58 Refining link 230->231 (220/244)
10:41:58 Refining link 231->232 (221/244)
10:41:58 Refining link 232->233 (222/244)
10:41:58 Refining link 233->234 (223/244)
10:41:58 Refining link 234->235 (224/244)
10:41:58 Refining link 235->236 (225/244)
10:41:58 Refining link 236->238 (226/244)
10:41:58 Refining link 236->234 (227/244)
10:41:58 Refining link 238->240 (228/244)
10:41:58 Refining link 240->242 (229/244)
10:41:58 Refining link 242->244 (230/244)
10:41:58 Refining link 242->238 (231/244)
10:41:58 Refining link 244->246 (232/244)
10:41:58 Refining link 244->240 (233/244)
10:41:58 Refining link 246->248 (234/244)
10:41:59 Refining link 246->242 (235/244)
10:41:59 Refining link 248->250 (236/244)
10:41:59 Refining link 248->244 (237/244)
10:41:59 Refining link 250->251 (238/244)
10:41:59 Refining link 250->244 (239/244)
10:41:59 Refining link 251->252 (240/244)
10:41:59 Refining link 251->246 (241/244)
10:41:59 Refining link 252->253 (242/244)
10:41:59 Refining link 252->250 (243/244)
10:41:59 Refining link 253->251 (244/244)
10:41:59 Refining links...done!
10:41:59 Optimizing graph with updated links (139 nodes, 244 constraints)...
10:42:01 Optimizing graph with updated links... done!
10:42:01 SBA (139 nodes, 244 constraints, 20 iterations)...
10:42:04 SBA... done!
10:42:04 Updating map...
10:42:04 Updating map... done!
10:42:04 Post-processing finished!

Note that without SBA, so with more loop closures detection and ICP refining, I have:


The point cloud seems not aligned with the laser scans sometimes. Maybe a problem of synchronization of the messages, or the TF between the camera and laser is not precise. Note that you can activate ICP refining by default to do it while mapping, in Preferences: check "RGBD-SLAM->Neighbor link refining" and select "Geometry (ICP)" in Motion Estimation's combo box.

Be aware that there was a bug when refining links with ICP from the Post-processing dialog, now fixed.

Similar post-processing options can be found in the DatabaseViewer under Edit menu (just SBA is missing here), you can give a try.

cheers
tobi
Reply | Threaded
Open this post in threaded view
♦
♦
|

Re: Problem with Post-Processing

tobi
hey,

matlabbe wrote
$ rtabmap rtabmap.db
okay this works for me as well, but if im running rtabmap with ros the error is still there. 
roslaunch rtabmap_ros rgbd_mapping.launch
[FATAL] (2016-08-12 14:58:52.859) RegistrationVis.cpp:611::computeTransformationImpl() Condition (kptsFrom.empty() || int(kptsFrom.size()) == descriptorsFrom.rows) not met!

greets
Tobias
matlabbe
Reply | Threaded
Open this post in threaded view
♦
♦
|

Re: Problem with Post-Processing

matlabbe
Administrator
Thx for the precision, I reproduced the problem. It should be fixed by these commits:

rtabmap: https://github.com/introlab/rtabmap/commit/a0d76eabe5e890d54c89dfaeb839af9d1cfeacf1
rtabmap_ros: https://github.com/introlab/rtabmap_ros/commit/b980adf8a6dd577c7399e8d6f9bb3931936e7ed5

cheers,
Mathieu
Free forum by Nabble Edit this page