Using RTAB-MAP for Loop Closure

[Emilio]

Hi!

I am trying to use the standalone version of RTAB-Map for loop closure detection. I followed this tutorial:

https://code.google.com/p/rtabmap/wiki/Example

I did not get errors during the compilation and the installation of the library. I created the two files indicated in the tutorial and compiled the project without problems. However, the output of the program is the following:

Processing images... from directory "../samples/"
 #1 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #2 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #3 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #4 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #5 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #6 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #7 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #8 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #9 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #10 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #11 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #12 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #13 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #14 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #15 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #16 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #17 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #18 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #19 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #20 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #21 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #22 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #23 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #24 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #25 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #26 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #27 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #28 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #29 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #30 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #31 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #32 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #33 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #34 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #35 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #36 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #37 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #38 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #39 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #40 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #41 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #42 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #43 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #44 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #45 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #46 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #47 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #48 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #49 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #50 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #51 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #52 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #53 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #54 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #55 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #56 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #57 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #58 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #59 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #60 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #61 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #62 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #63 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #64 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #65 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #66 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #67 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #68 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #69 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #70 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #71 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #72 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #73 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #74 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #75 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #76 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #77 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #78 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #79 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #80 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #81 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #82 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #83 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
 #84 ptime(0.000000s) STM(0) WM(0) hyp(0) value(0.00)
Processing images completed. Loop closures found = 0
Saving Long-Term Memory to "LTM.db"...

Images are read correctly, since I am able to show them using the OpenCV imshow function.

Perhaps it is a simple question, but, do I need to modify some parameters? There are a lot of parameters, which ones should I modify? I am a bit lost at this point.

Thank you in advance,

Emilio

[matlabbe]

Hello,

There is a problem in the example on the wiki. The default parameters have changed and we need to explicitly set RGBD/Enabled parameter to false.

Try adding this before rtabmap.init():
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false"));

Regards,
Mathieu

[Emilio]

Perfect! That was the problem! Now it works.

Thank you Matt