rtabmap-globalBundleAdjustment errors

[agodlin]

Hi, i am trying to run rtabmap-globalBundleAdjustment on a map i have
i am running a clip on the map before and after and testing localization with a clip i have.
the localization perform much worse on the map after i run GBA on it.

i did notice in the logs a warning that appear that i dont have when i use original map.

Memory.cpp:902::update() The working memory is empty and the memory is not incremental (Mem/IncrementalMemory=False), no loop closure can be detected! Please set Mem/IncrementalMemory=true to increase the memory with new images or decrease the STM size (which is 1 including the new one added)

i am attaching the rtabmp log while localization is running, the log from GBA run and the original map.
hope you could help me to understand where the problem is.

https://drive.google.com/file/d/1sWB3FKgsDsNWB6gE0GApIrJcnMSM6Em_/view?usp=sharing

[matlabbe]

That warning "Memory.cpp:902::update() The working memory is empty and the memory is not incremental" means the database is empty, or something is wrong with the working memory / local graph.

From the log file (rtabmap_log.txt), the database seems empty:

[rtabmap-4] [INFO] [1685623635.191247127] [rtabmap.rtabmap]: rtabmap: Using database from "/root/.ros/rtabmap.db" (0 MB).

Are you using a docker container?

If I start the db locally:

roslaunch rtabmap_launch rtabmap.launch database_path:=~/Downloads/gba_debug/map_vslam/rtabmap.db  localization:=true

...

[ INFO] [1685934546.495477376]: rtabmap: Using database from "/home/mathieu/Downloads/gba_debug/map_vslam/rtabmap.db" (500 MB).

[agodlin]

Hi thanks for the quick response, after some checking this was my error that the map wasn't loaded as you pointed out.