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stereo_odometry process has died, exit code -11 , when using Superpoint and Superglue

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saipuneeth
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stereo_odometry process has died, exit code -11 , when using Superpoint and Superglue

saipuneeth
This post was updated on .
My launch file 
<launch>
   
   <!--
      Demo of outdoor stereo mapping. 
      From bag: 
      $ rosbag record 
            /stereo_camera/left/image_raw_throttle/compressed 
            /stereo_camera/right/image_raw_throttle/compressed 
            /stereo_camera/left/camera_info_throttle 
            /stereo_camera/right/camera_info_throttle 
            /tf
    
      $ roslaunch rtabmap_demos demo_stereo_outdoor.launch
      $ rosbag play -.-clock stereo_oudoorA.bag
   -->
   
   <!-- Choose visualization -->
   <arg name="rviz" default="false" />
   <arg name="rtabmap_viz" default="false" />
    
   <param name="use_sim_time" type="bool" value="true"/>
   
   <!-- Just to uncompress images for stereo_image_rect -->
   <node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
   <node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />

   <!-- Run the ROS package stereo_image_proc for image rectification -->
   <group ns="/stereo_camera" >
      <node pkg="nodelet" type="nodelet" name="stereo_nodelet"  args="manager"/>
   
      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
         <remap from="left/image_raw"    to="left/image_raw_throttle_relay"/>
         <remap from="left/camera_info"  to="left/camera_info_throttle"/>
         <remap from="right/image_raw"   to="right/image_raw_throttle_relay"/>
         <remap from="right/camera_info" to="right/camera_info_throttle"/>
         <param name="disparity_range" value="128"/>
      </node>
   </group>
         
   <!-- Stereo Odometry -->   
   <node pkg="rtabmap_odom" type="stereo_odometry" name="stereo_odometry" output="screen">
      <remap from="left/image_rect"       to="/stereo_camera/left/image_rect"/>
      <remap from="right/image_rect"      to="/stereo_camera/right/image_rect"/>
      <remap from="left/camera_info"      to="/stereo_camera/left/camera_info_throttle"/>
      <remap from="right/camera_info"     to="/stereo_camera/right/camera_info_throttle"/>
      <remap from="odom"                  to="/stereo_odometry"/>

      param name="frame_id" type="string" value="base_footprint"/>
      param name="odom_frame_id" type="string" value="odom"/>

      param name="Odom/Strategy" type="string" value="0"/> <!-- 0=BOW, 1=OpticalFlow -->
      param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
      param name="Vis/MinInliers" type="string" value="10"/>
      param name="Vis/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
      param name="Vis/MaxDepth" type="string" value="10"/>
      param name="Vis/CorNNDR" type="string" value="0.8"/>
      param name="Vis/MaxFeatures" type="string" value="1000"/>
      param name="Odom/FillInfoData" type="string" value="$(arg rtabmap_viz)"/>
      param name="Kp/DetectorStrategy" type="string" value="11"/> 
      param name="GFTT/MinDistance" type="string" value="10"/>
      param name="Vis/FeatureType" type="string" value="11"/>
      param name="GFTT/QualityLevel" type="string" value="0.00001"/>
      param name="Vis/CorNNType" type="string" value="6" />  <!-- SuperGlue -->
      param name="PyMatcher/Path" type="string" value="/workspace/rtabmap/corelib/src/python/SuperGluePretrainedNetwork/rtabmap_superglue.py" />
      param name="SuperPoint/ModelPath" type="string" value="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/superpoint_v1.pth" />
      param name="PyDetector/Model" type="string" value="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/superpoint_v1.pth" /> 
      param name="PyDetector/Path" type="string" value="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/rtabmap_superpoint.py" />
      param name="PyMatcher/Cuda" type="string" value="false"/>
      param name="SuperPoint/Cuda"        type="string" value="false"/>
</node>
     
   <group ns="rtabmap">   
      <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
      <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
         param name="frame_id" type="string" value="base_footprint"/>
         param name="subscribe_stereo" type="bool" value="true"/>
         param name="subscribe_depth" type="bool" value="false"/>

         <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
         <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
         <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
         <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>

         <remap from="odom" to="/stereo_odometry"/>

         param name="queue_size" type="int" value="30"/>

         <!-- RTAB-Map's parameters -->
         param name="Rtabmap/TimeThr" type="string" value="700"/>
         param name="Rtabmap/DetectionRate" type="string" value="1"/>
         
         param name="Kp/MaxFeatures" type="string" value="200"/>
         param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
         param name="Kp/DetectorStrategy" type="string" value="11"/>   <!-- use Superpoint -->
         param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->
         param name="Vis/CorNNType" type="string" value="6" />  <!-- SuperGlue -->
         param name="PyMatcher/Cuda" type="string" value="false"/>
         param name="SuperPoint/Cuda"        type="string" value="false"/>
         param name="PyMatcher/Path" type="string" value="/workspace/rtabmap/corelib/src/python/SuperGluePretrainedNetwork/rtabmap_superglue.py" />
         param name="SuperPoint/ModelPath" type="string" value="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/superpoint_v1.pth" />
      </node>
      
      <!-- Visualisation RTAB-Map -->
      <node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
         param name="subscribe_stereo" type="bool" value="true"/>
         param name="subscribe_odom_info" type="bool" value="true"/>
         param name="queue_size" type="int" value="10"/>
         param name="frame_id" type="string" value="base_footprint"/>
         <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
         <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
         <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
         <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
         <remap from="odom_info" to="/odom_info"/>
         <remap from="odom" to="/stereo_odometry"/>
         <remap from="mapData" to="mapData"/>
      </node>
         
   </group>
  
   <!-- Visualisation RVIZ --> 
   <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_stereo_outdoor.rviz"/>

</launch>

Log info 
PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rtabmap/rtabmap/Kp/DetectorStrategy: 11
 * /rtabmap/rtabmap/Kp/MaxFeatures: 200
 * /rtabmap/rtabmap/Kp/NNStrategy: 1
 * /rtabmap/rtabmap/Kp/RoiRatios: 0.03 0.03 0.04 0.04
 * /rtabmap/rtabmap/PyMatcher/Cuda: false
 * /rtabmap/rtabmap/PyMatcher/Path: /workspace/rtabma...
 * /rtabmap/rtabmap/Rtabmap/DetectionRate: 1
 * /rtabmap/rtabmap/Rtabmap/TimeThr: 700
 * /rtabmap/rtabmap/SuperPoint/Cuda: false
 * /rtabmap/rtabmap/SuperPoint/ModelPath: /workspace/rtabma...
 * /rtabmap/rtabmap/Vis/CorNNType: 6
 * /rtabmap/rtabmap/frame_id: base_footprint
 * /rtabmap/rtabmap/queue_size: 30
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_stereo: True
 * /stereo_camera/stereo_image_proc/disparity_range: 128
 * /stereo_odometry/GFTT/MinDistance: 10
 * /stereo_odometry/GFTT/QualityLevel: 0.00001
 * /stereo_odometry/Kp/DetectorStrategy: 11
 * /stereo_odometry/Odom/FillInfoData: false
 * /stereo_odometry/Odom/Strategy: 0
 * /stereo_odometry/PyDetector/Model: /workspace/rtabma...
 * /stereo_odometry/PyDetector/Path: /workspace/rtabma...
 * /stereo_odometry/PyMatcher/Cuda: false
 * /stereo_odometry/PyMatcher/Path: /workspace/rtabma...
 * /stereo_odometry/SuperPoint/Cuda: false
 * /stereo_odometry/SuperPoint/ModelPath: /workspace/rtabma...
 * /stereo_odometry/Vis/CorNNDR: 0.8
 * /stereo_odometry/Vis/CorNNType: 6
 * /stereo_odometry/Vis/EstimationType: 1
 * /stereo_odometry/Vis/FeatureType: 11
 * /stereo_odometry/Vis/MaxDepth: 10
 * /stereo_odometry/Vis/MaxFeatures: 1000
 * /stereo_odometry/Vis/MinInliers: 10
 * /stereo_odometry/Vis/RoiRatios: 0.03 0.03 0.04 0.04
 * /stereo_odometry/frame_id: base_footprint
 * /stereo_odometry/odom_frame_id: odom
 * /use_sim_time: True

NODES
  /
    republish_left (image_transport/republish)
    republish_right (image_transport/republish)
    stereo_odometry (rtabmap_odom/stereo_odometry)
  /rtabmap/
    rtabmap (rtabmap_slam/rtabmap)
  /stereo_camera/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
    stereo_nodelet (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[republish_left-1]: started with pid [2269]
process[republish_right-2]: started with pid [2270]
process[stereo_camera/stereo_nodelet-3]: started with pid [2271]
process[stereo_camera/stereo_image_proc-4]: started with pid [2276]
process[stereo_odometry-5]: started with pid [2282]
process[rtabmap/rtabmap-6]: started with pid [2284]
[ WARN] [1713446730.926462455]: The input topic '/stereo_camera/left/camera_info_throttle' is not yet advertised
[ WARN] [1713446730.926905282]: The input topic '/stereo_camera/right/camera_info_throttle' is not yet advertised
[ INFO] [1713446731.113934197]: Starting node...
[ INFO] [1713446731.153684455]: Initializing nodelet with 128 worker threads.
[ INFO] [1713446731.155066167]: Initializing nodelet with 128 worker threads.
[ INFO] [1713446731.188401470]: Odometry: frame_id               = base_footprint
[ INFO] [1713446731.188422230]: Odometry: odom_frame_id          = odom
[ INFO] [1713446731.188429543]: Odometry: publish_tf             = true
[ INFO] [1713446731.188438621]: Odometry: wait_for_transform     = true
[ INFO] [1713446731.188455613]: Odometry: wait_for_transform_duration  = 0.100000
[ INFO] [1713446731.188470361]: Odometry: log_to_rosout_level    = 4
[ INFO] [1713446731.188503253]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1713446731.188514785]: Odometry: ground_truth_frame_id  = 
[ INFO] [1713446731.188526246]: Odometry: ground_truth_base_frame_id = base_footprint
[ INFO] [1713446731.188542978]: Odometry: config_path            = 
[ INFO] [1713446731.188555271]: Odometry: publish_null_when_lost = true
[ INFO] [1713446731.188568266]: Odometry: publish_compressed_sensor_data = false
[ INFO] [1713446731.188582933]: Odometry: guess_frame_id         = 
[ INFO] [1713446731.188595978]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1713446731.188608692]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1713446731.188623199]: Odometry: guess_min_time         = 0.000000
[ INFO] [1713446731.188637376]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1713446731.188651623]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1713446731.188664898]: Odometry: min_update_rate        = 0.000000 Hz
[ INFO] [1713446731.188678163]: Odometry: wait_imu_to_init       = false
[ INFO] [1713446731.188694144]: Odometry: sensor_data_compression_format   = .jpg
[ INFO] [1713446731.188709432]: Odometry: sensor_data_parallel_compression = true
[ INFO] [1713446731.188737816]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1713446731.189542186]: Setting odometry parameter "BRIEF/Bytes"="32"
[ INFO] [1713446731.189714071]: Setting odometry parameter "BRISK/Octaves"="3"
[ INFO] [1713446731.189877871]: Setting odometry parameter "BRISK/PatternScale"="1"
[ INFO] [1713446731.190059103]: Setting odometry parameter "BRISK/Thresh"="30"
[ INFO] [1713446731.190241608]: Setting odometry parameter "FAST/CV"="0"
[ INFO] [1713446731.190436376]: Setting odometry parameter "FAST/Gpu"="false"
[ INFO] [1713446731.190614713]: Setting odometry parameter "FAST/GpuKeypointsRatio"="0.05"
[ INFO] [1713446731.190791057]: Setting odometry parameter "FAST/GridCols"="0"
[ INFO] [1713446731.190941591]: Setting odometry parameter "FAST/GridRows"="0"
[ INFO] [1713446731.191095131]: Setting odometry parameter "FAST/MaxThreshold"="200"
[ INFO] [1713446731.191248090]: Setting odometry parameter "FAST/MinThreshold"="7"
[ INFO] [1713446731.191400749]: Setting odometry parameter "FAST/NonmaxSuppression"="true"
[ INFO] [1713446731.191557816]: Setting odometry parameter "FAST/Threshold"="20"
[ INFO] [1713446731.191710434]: Setting odometry parameter "FREAK/NOctaves"="4"
[ INFO] [1713446731.191867511]: Setting odometry parameter "FREAK/OrientationNormalized"="true"
[ INFO] [1713446731.192019218]: Setting odometry parameter "FREAK/PatternScale"="22"
[ INFO] [1713446731.192171355]: Setting odometry parameter "FREAK/ScaleNormalized"="true"
[ INFO] [1713446731.192323603]: Setting odometry parameter "GFTT/BlockSize"="3"
[ INFO] [1713446731.192475440]: Setting odometry parameter "GFTT/K"="0.04"
[ INFO] [1713446731.192626456]: Setting odometry parameter "GFTT/MinDistance"="10"
[ INFO] [1713446731.192780026]: Setting odometry parameter "GFTT/QualityLevel"="0.00001"
[ INFO] [1713446731.192932905]: Setting odometry parameter "GFTT/UseHarrisDetector"="false"
[ INFO] [1713446731.193084842]: Setting odometry parameter "GMS/ThresholdFactor"="6.0"
[ INFO] [1713446731.193237851]: Setting odometry parameter "GMS/WithRotation"="false"
[ INFO] [1713446731.193389989]: Setting odometry parameter "GMS/WithScale"="false"
[ INFO] [1713446731.193544901]: Setting odometry parameter "GTSAM/IncRelinearizeSkip"="1"
[ INFO] [1713446731.193699293]: Setting odometry parameter "GTSAM/IncRelinearizeThreshold"="0.01"
[ INFO] [1713446731.193854477]: Setting odometry parameter "GTSAM/Incremental"="false"
[ INFO] [1713446731.194008247]: Setting odometry parameter "GTSAM/Optimizer"="1"
[ INFO] [1713446731.194165735]: Setting odometry parameter "KAZE/Diffusivity"="1"
[ INFO] [1713446731.194329705]: Setting odometry parameter "KAZE/Extended"="false"
[ INFO] [1713446731.194485619]: Setting odometry parameter "KAZE/NOctaveLayers"="4"
[ INFO] [1713446731.194639570]: Setting odometry parameter "KAZE/NOctaves"="4"
[ INFO] [1713446731.194792209]: Setting odometry parameter "KAZE/Threshold"="0.001"
[ INFO] [1713446731.194942543]: Setting odometry parameter "KAZE/Upright"="false"
[ INFO] [1713446731.195094330]: Setting odometry parameter "Kp/ByteToFloat"="false"
[ INFO] [1713446731.195246858]: Setting odometry parameter "ORB/EdgeThreshold"="19"
[ INFO] [1713446731.195397954]: Setting odometry parameter "ORB/FirstLevel"="0"
[ INFO] [1713446731.195551294]: Setting odometry parameter "ORB/Gpu"="false"
[ INFO] [1713446731.195701988]: Setting odometry parameter "ORB/NLevels"="3"
[ INFO] [1713446731.195855498]: Setting odometry parameter "ORB/PatchSize"="31"
[ INFO] [1713446731.196007065]: Setting odometry parameter "ORB/ScaleFactor"="2"
[ INFO] [1713446731.196159283]: Setting odometry parameter "ORB/ScoreType"="0"
[ INFO] [1713446731.196312412]: Setting odometry parameter "ORB/WTA_K"="2"
[ INFO] [1713446731.196464870]: Setting odometry parameter "Odom/AlignWithGround"="false"
[ INFO] [1713446731.196617338]: Setting odometry parameter "Odom/Deskewing"="true"
[ INFO] [1713446731.196769586]: Setting odometry parameter "Odom/FillInfoData"="false"
[ INFO] [1713446731.196922154]: Setting odometry parameter "Odom/FilteringStrategy"="0"
[ INFO] [1713446731.197075354]: Setting odometry parameter "Odom/GuessMotion"="true"
[ INFO] [1713446731.197229034]: Setting odometry parameter "Odom/GuessSmoothingDelay"="0"
[ INFO] [1713446731.197382144]: Setting odometry parameter "Odom/Holonomic"="true"
[ INFO] [1713446731.197534291]: Setting odometry parameter "Odom/ImageBufferSize"="1"
[ INFO] [1713446731.197687070]: Setting odometry parameter "Odom/ImageDecimation"="1"
[ INFO] [1713446731.197841542]: Setting odometry parameter "Odom/KalmanMeasurementNoise"="0.01"
[ INFO] [1713446731.197994662]: Setting odometry parameter "Odom/KalmanProcessNoise"="0.001"
[ INFO] [1713446731.198147360]: Setting odometry parameter "Odom/KeyFrameThr"="0.3"
[ INFO] [1713446731.198309106]: Setting odometry parameter "Odom/ParticleLambdaR"="100"
[ INFO] [1713446731.198463107]: Setting odometry parameter "Odom/ParticleLambdaT"="100"
[ INFO] [1713446731.198614713]: Setting odometry parameter "Odom/ParticleNoiseR"="0.002"
[ INFO] [1713446731.198766871]: Setting odometry parameter "Odom/ParticleNoiseT"="0.002"
[ INFO] [1713446731.198921062]: Setting odometry parameter "Odom/ParticleSize"="400"
[ INFO] [1713446731.199073661]: Setting odometry parameter "Odom/ResetCountdown"="0"
[ INFO] [1713446731.199225748]: Setting odometry parameter "Odom/ScanKeyFrameThr"="0.9"
[ INFO] [1713446731.199377184]: Setting odometry parameter "Odom/Strategy"="0"
[ INFO] [1713446731.199529462]: Setting odometry parameter "Odom/VisKeyFrameThr"="150"
[ INFO] [1713446731.199682251]: Setting odometry parameter "OdomF2M/BundleAdjustment"="1"
[ INFO] [1713446731.199835932]: Setting odometry parameter "OdomF2M/BundleAdjustmentMaxFrames"="10"
[ INFO] [1713446731.199988400]: Setting odometry parameter "OdomF2M/MaxNewFeatures"="0"
[ INFO] [1713446731.200140587]: Setting odometry parameter "OdomF2M/MaxSize"="2000"
[ INFO] [1713446731.200292845]: Setting odometry parameter "OdomF2M/ScanMaxSize"="2000"
[ INFO] [1713446731.200446255]: Setting odometry parameter "OdomF2M/ScanRange"="0"
[ INFO] [1713446731.200599825]: Setting odometry parameter "OdomF2M/ScanSubtractAngle"="45"
[ INFO] [1713446731.200752885]: Setting odometry parameter "OdomF2M/ScanSubtractRadius"="0.05"
[ INFO] [1713446731.200906264]: Setting odometry parameter "OdomF2M/ValidDepthRatio"="0.75"
[ INFO] [1713446731.201060035]: Setting odometry parameter "OdomFovis/BucketHeight"="80"
[ INFO] [1713446731.201211772]: Setting odometry parameter "OdomFovis/BucketWidth"="80"
[ INFO] [1713446731.201364981]: Setting odometry parameter "OdomFovis/CliqueInlierThreshold"="0.1"
[ INFO] [1713446731.201517600]: Setting odometry parameter "OdomFovis/FastThreshold"="20"
[ INFO] [1713446731.201672282]: Setting odometry parameter "OdomFovis/FastThresholdAdaptiveGain"="0.005"
[ INFO] [1713446731.201824380]: Setting odometry parameter "OdomFovis/FeatureSearchWindow"="25"
[ INFO] [1713446731.201976998]: Setting odometry parameter "OdomFovis/FeatureWindowSize"="9"
[ INFO] [1713446731.202130909]: Setting odometry parameter "OdomFovis/InlierMaxReprojectionError"="1.5"
[ INFO] [1713446731.202291262]: Setting odometry parameter "OdomFovis/MaxKeypointsPerBucket"="25"
[ INFO] [1713446731.202448339]: Setting odometry parameter "OdomFovis/MaxMeanReprojectionError"="10.0"
[ INFO] [1713446731.202601008]: Setting odometry parameter "OdomFovis/MaxPyramidLevel"="3"
[ INFO] [1713446731.202753726]: Setting odometry parameter "OdomFovis/MinFeaturesForEstimate"="20"
[ INFO] [1713446731.202907527]: Setting odometry parameter "OdomFovis/MinPyramidLevel"="0"
[ INFO] [1713446731.203059945]: Setting odometry parameter "OdomFovis/StereoMaxDisparity"="128"
[ INFO] [1713446731.203213134]: Setting odometry parameter "OdomFovis/StereoMaxDistEpipolarLine"="1.5"
[ INFO] [1713446731.203367296]: Setting odometry parameter "OdomFovis/StereoMaxRefinementDisplacement"="1.0"
[ INFO] [1713446731.203522820]: Setting odometry parameter "OdomFovis/StereoRequireMutualMatch"="true"
[ INFO] [1713446731.203676781]: Setting odometry parameter "OdomFovis/TargetPixelsPerFeature"="250"
[ INFO] [1713446731.203838086]: Setting odometry parameter "OdomFovis/UpdateTargetFeaturesWithRefined"="false"
[ INFO] [1713446731.203989852]: Setting odometry parameter "OdomFovis/UseAdaptiveThreshold"="true"
[ INFO] [1713446731.204141940]: Setting odometry parameter "OdomFovis/UseBucketing"="true"
[ INFO] [1713446731.204296452]: Setting odometry parameter "OdomFovis/UseHomographyInitialization"="true"
[ INFO] [1713446731.204449171]: Setting odometry parameter "OdomFovis/UseImageNormalization"="false"
[ INFO] [1713446731.204601959]: Setting odometry parameter "OdomFovis/UseSubpixelRefinement"="true"
[ INFO] [1713446731.204754347]: Setting odometry parameter "OdomLOAM/AngVar"="0.01"
[ INFO] [1713446731.204906385]: Setting odometry parameter "OdomLOAM/LinVar"="0.01"
[ INFO] [1713446731.205059815]: Setting odometry parameter "OdomLOAM/LocalMapping"="true"
[ INFO] [1713446731.205211752]: Setting odometry parameter "OdomLOAM/Resolution"="0.2"
[ INFO] [1713446731.205363609]: Setting odometry parameter "OdomLOAM/ScanPeriod"="0.1"
[ INFO] [1713446731.205514985]: Setting odometry parameter "OdomLOAM/Sensor"="2"
[ INFO] [1713446731.205667032]: Setting odometry parameter "OdomMSCKF/FastThreshold"="10"
[ INFO] [1713446731.205818889]: Setting odometry parameter "OdomMSCKF/GridCol"="5"
[ INFO] [1713446731.205971788]: Setting odometry parameter "OdomMSCKF/GridMaxFeatureNum"="4"
[ INFO] [1713446731.206124367]: Setting odometry parameter "OdomMSCKF/GridMinFeatureNum"="3"
[ INFO] [1713446731.206297895]: Setting odometry parameter "OdomMSCKF/GridRow"="4"
[ INFO] [1713446731.206454320]: Setting odometry parameter "OdomMSCKF/InitCovAccBias"="0.01"
[ INFO] [1713446731.206605606]: Setting odometry parameter "OdomMSCKF/InitCovExRot"="0.00030462"
[ INFO] [1713446731.206759006]: Setting odometry parameter "OdomMSCKF/InitCovExTrans"="0.000025"
[ INFO] [1713446731.206913097]: Setting odometry parameter "OdomMSCKF/InitCovGyroBias"="0.01"
[ INFO] [1713446731.207065135]: Setting odometry parameter "OdomMSCKF/InitCovVel"="0.25"
[ INFO] [1713446731.207220348]: Setting odometry parameter "OdomMSCKF/MaxCamStateSize"="20"
[ INFO] [1713446731.207375822]: Setting odometry parameter "OdomMSCKF/MaxIteration"="30"
[ INFO] [1713446731.207850008]: Setting odometry parameter "OdomMSCKF/NoiseAcc"="0.05"
[ INFO] [1713446731.208188979]: Setting odometry parameter "OdomMSCKF/NoiseAccBias"="0.01"
[ INFO] [1713446731.208347879]: Setting odometry parameter "OdomMSCKF/NoiseFeature"="0.035"
[ INFO] [1713446731.208573275]: Setting odometry parameter "OdomMSCKF/NoiseGyro"="0.005"
[ INFO] [1713446731.208762964]: Setting odometry parameter "OdomMSCKF/NoiseGyroBias"="0.001"
[ INFO] [1713446731.208931111]: Setting odometry parameter "OdomMSCKF/OptTranslationThreshold"="0"
[ INFO] [1713446731.209093348]: Setting odometry parameter "OdomMSCKF/PatchSize"="15"
[ INFO] [1713446731.209259682]: Setting odometry parameter "OdomMSCKF/PositionStdThreshold"="8.0"
[ INFO] [1713446731.209422580]: Setting odometry parameter "OdomMSCKF/PyramidLevels"="3"
[ INFO] [1713446731.209586400]: Setting odometry parameter "OdomMSCKF/RansacThreshold"="3"
[ INFO] [1713446731.209748657]: Setting odometry parameter "OdomMSCKF/RotationThreshold"="0.2618"
[ INFO] [1713446731.209909140]: Setting odometry parameter "OdomMSCKF/StereoThreshold"="5"
[ INFO] [1713446731.210067579]: Setting odometry parameter "OdomMSCKF/TrackPrecision"="0.01"
[ INFO] [1713446731.210227351]: Setting odometry parameter "OdomMSCKF/TrackingRateThreshold"="0.5"
[ INFO] [1713446731.210409315]: Setting odometry parameter "OdomMSCKF/TranslationThreshold"="0.4"
[ INFO] [1713446731.210568566]: Setting odometry parameter "OdomMono/InitMinFlow"="100"
[ INFO] [1713446731.210725142]: Setting odometry parameter "OdomMono/InitMinTranslation"="0.1"
[ INFO] [1713446731.210883672]: Setting odometry parameter "OdomMono/MaxVariance"="0.01"
[ INFO] [1713446731.211037032]: Setting odometry parameter "OdomMono/MinTranslation"="0.02"
[ INFO] [1713446731.211189370]: Setting odometry parameter "OdomOKVIS/ConfigPath"=""
[ INFO] [1713446731.211344022]: Setting odometry parameter "OdomORBSLAM/AccNoise"="0.1"
[ INFO] [1713446731.211497903]: Setting odometry parameter "OdomORBSLAM/AccWalk"="0.0001"
[ INFO] [1713446731.211650732]: Setting odometry parameter "OdomORBSLAM/Bf"="0.076"
[ INFO] [1713446731.211804632]: Setting odometry parameter "OdomORBSLAM/Fps"="0.0"
[ INFO] [1713446731.211956880]: Setting odometry parameter "OdomORBSLAM/GyroNoise"="0.01"
[ INFO] [1713446731.212109629]: Setting odometry parameter "OdomORBSLAM/GyroWalk"="0.000001"
[ INFO] [1713446731.212262929]: Setting odometry parameter "OdomORBSLAM/Inertial"="false"
[ INFO] [1713446731.212416629]: Setting odometry parameter "OdomORBSLAM/MapSize"="3000"
[ INFO] [1713446731.212570530]: Setting odometry parameter "OdomORBSLAM/MaxFeatures"="1000"
[ INFO] [1713446731.212723259]: Setting odometry parameter "OdomORBSLAM/SamplingRate"="0"
[ INFO] [1713446731.212874344]: Setting odometry parameter "OdomORBSLAM/ThDepth"="40.0"
[ INFO] [1713446731.213025830]: Setting odometry parameter "OdomORBSLAM/VocPath"=""
[ INFO] [1713446731.213178900]: Setting odometry parameter "OdomOpen3D/MaxDepth"="3.0"
[ INFO] [1713446731.213330727]: Setting odometry parameter "OdomOpen3D/Method"="0"
[ INFO] [1713446731.213486812]: Setting odometry parameter "OdomOpenVINS/AccelerometerNoiseDensity"="0.01"
[ INFO] [1713446731.213642125]: Setting odometry parameter "OdomOpenVINS/AccelerometerRandomWalk"="0.001"
[ INFO] [1713446731.213795225]: Setting odometry parameter "OdomOpenVINS/CalibCamExtrinsics"="false"
[ INFO] [1713446731.213947973]: Setting odometry parameter "OdomOpenVINS/CalibCamIntrinsics"="false"
[ INFO] [1713446731.214100321]: Setting odometry parameter "OdomOpenVINS/CalibCamTimeoffset"="false"
[ INFO] [1713446731.214263219]: Setting odometry parameter "OdomOpenVINS/CalibIMUGSensitivity"="false"
[ INFO] [1713446731.214423913]: Setting odometry parameter "OdomOpenVINS/CalibIMUIntrinsics"="false"
[ INFO] [1713446731.214577653]: Setting odometry parameter "OdomOpenVINS/DtSLAMDelay"="0.0"
[ INFO] [1713446731.214731103]: Setting odometry parameter "OdomOpenVINS/FeatRepMSCKF"="0"
[ INFO] [1713446731.214884493]: Setting odometry parameter "OdomOpenVINS/FeatRepSLAM"="4"
[ INFO] [1713446731.215039246]: Setting odometry parameter "OdomOpenVINS/FiMaxBaseline"="40"
[ INFO] [1713446731.215192866]: Setting odometry parameter "OdomOpenVINS/FiMaxCondNumber"="10000"
[ INFO] [1713446731.215344302]: Setting odometry parameter "OdomOpenVINS/FiMaxRuns"="5"
[ INFO] [1713446731.215498053]: Setting odometry parameter "OdomOpenVINS/FiRefineFeatures"="true"
[ INFO] [1713446731.215652024]: Setting odometry parameter "OdomOpenVINS/FiTriangulate1d"="false"
[ INFO] [1713446731.215805434]: Setting odometry parameter "OdomOpenVINS/GravityMag"="9.81"
[ INFO] [1713446731.215962721]: Setting odometry parameter "OdomOpenVINS/GyroscopeNoiseDensity"="0.001"
[ INFO] [1713446731.216115680]: Setting odometry parameter "OdomOpenVINS/GyroscopeRandomWalk"="0.0001"
[ INFO] [1713446731.216268008]: Setting odometry parameter "OdomOpenVINS/InitDynInflationBa"="100.0"
[ INFO] [1713446731.216420446]: Setting odometry parameter "OdomOpenVINS/InitDynInflationBg"="10.0"
[ INFO] [1713446731.216573776]: Setting odometry parameter "OdomOpenVINS/InitDynInflationOri"="10.0"
[ INFO] [1713446731.216726735]: Setting odometry parameter "OdomOpenVINS/InitDynInflationVel"="100.0"
[ INFO] [1713446731.216879694]: Setting odometry parameter "OdomOpenVINS/InitDynMLEMaxIter"="50"
[ INFO] [1713446731.217031381]: Setting odometry parameter "OdomOpenVINS/InitDynMLEMaxThreads"="6"
[ INFO] [1713446731.217183038]: Setting odometry parameter "OdomOpenVINS/InitDynMLEMaxTime"="0.05"
[ INFO] [1713446731.217334424]: Setting odometry parameter "OdomOpenVINS/InitDynMLEOptCalib"="false"
[ INFO] [1713446731.217485439]: Setting odometry parameter "OdomOpenVINS/InitDynMinDeg"="10.0"
[ INFO] [1713446731.217636735]: Setting odometry parameter "OdomOpenVINS/InitDynMinRecCond"="1e-15"
[ INFO] [1713446731.217787039]: Setting odometry parameter "OdomOpenVINS/InitDynNumPose"="6"
[ INFO] [1713446731.217939147]: Setting odometry parameter "OdomOpenVINS/InitDynUse"="false"
[ INFO] [1713446731.218090002]: Setting odometry parameter "OdomOpenVINS/InitIMUThresh"="1.0"
[ INFO] [1713446731.218241608]: Setting odometry parameter "OdomOpenVINS/InitMaxDisparity"="10.0"
[ INFO] [1713446731.218406821]: Setting odometry parameter "OdomOpenVINS/InitMaxFeatures"="50"
[ INFO] [1713446731.218561503]: Setting odometry parameter "OdomOpenVINS/InitWindowTime"="2.0"
[ INFO] [1713446731.218715103]: Setting odometry parameter "OdomOpenVINS/Integration"="1"
[ INFO] [1713446731.218868663]: Setting odometry parameter "OdomOpenVINS/LeftMaskPath"=""
[ INFO] [1713446731.219019999]: Setting odometry parameter "OdomOpenVINS/MaxClones"="11"
[ INFO] [1713446731.219173119]: Setting odometry parameter "OdomOpenVINS/MaxMSCKFInUpdate"="50"
[ INFO] [1713446731.219324405]: Setting odometry parameter "OdomOpenVINS/MaxSLAM"="50"
[ INFO] [1713446731.219477143]: Setting odometry parameter "OdomOpenVINS/MaxSLAMInUpdate"="25"
[ INFO] [1713446731.219630293]: Setting odometry parameter "OdomOpenVINS/MinPxDist"="15"
[ INFO] [1713446731.219789083]: Setting odometry parameter "OdomOpenVINS/NumPts"="200"
[ INFO] [1713446731.219943665]: Setting odometry parameter "OdomOpenVINS/RightMaskPath"=""
[ INFO] [1713446731.220094991]: Setting odometry parameter "OdomOpenVINS/TryZUPT"="true"
[ INFO] [1713446731.220247770]: Setting odometry parameter "OdomOpenVINS/UpMSCKFChi2Multiplier"="1.0"
[ INFO] [1713446731.220400779]: Setting odometry parameter "OdomOpenVINS/UpMSCKFSigmaPx"="1.0"
[ INFO] [1713446731.220553448]: Setting odometry parameter "OdomOpenVINS/UpSLAMChi2Multiplier"="1.0"
[ INFO] [1713446731.220705094]: Setting odometry parameter "OdomOpenVINS/UpSLAMSigmaPx"="1.0"
[ INFO] [1713446731.220857031]: Setting odometry parameter "OdomOpenVINS/UseFEJ"="true"
[ INFO] [1713446731.221008949]: Setting odometry parameter "OdomOpenVINS/UseKLT"="true"
[ INFO] [1713446731.221162088]: Setting odometry parameter "OdomOpenVINS/UseStereo"="true"
[ INFO] [1713446731.221316059]: Setting odometry parameter "OdomOpenVINS/ZUPTChi2Multiplier"="0.0"
[ INFO] [1713446731.221468547]: Setting odometry parameter "OdomOpenVINS/ZUPTMaxDisparity"="0.5"
[ INFO] [1713446731.221621055]: Setting odometry parameter "OdomOpenVINS/ZUPTMaxVelodicy"="0.1"
[ INFO] [1713446731.221774115]: Setting odometry parameter "OdomOpenVINS/ZUPTNoiseMultiplier"="10.0"
[ INFO] [1713446731.221925841]: Setting odometry parameter "OdomOpenVINS/ZUPTOnlyAtBeginning"="false"
[ INFO] [1713446731.222080143]: Setting odometry parameter "OdomVINS/ConfigPath"=""
[ INFO] [1713446731.222231890]: Setting odometry parameter "OdomViso2/BucketHeight"="50"
[ INFO] [1713446731.222396912]: Setting odometry parameter "OdomViso2/BucketMaxFeatures"="2"
[ INFO] [1713446731.222549049]: Setting odometry parameter "OdomViso2/BucketWidth"="50"
[ INFO] [1713446731.222700526]: Setting odometry parameter "OdomViso2/InlierThreshold"="2.0"
[ INFO] [1713446731.222853425]: Setting odometry parameter "OdomViso2/MatchBinsize"="50"
[ INFO] [1713446731.223007446]: Setting odometry parameter "OdomViso2/MatchDispTolerance"="2"
[ INFO] [1713446731.223162228]: Setting odometry parameter "OdomViso2/MatchHalfResolution"="true"
[ INFO] [1713446731.223315247]: Setting odometry parameter "OdomViso2/MatchMultiStage"="true"
[ INFO] [1713446731.223468217]: Setting odometry parameter "OdomViso2/MatchNmsN"="3"
[ INFO] [1713446731.223622208]: Setting odometry parameter "OdomViso2/MatchNmsTau"="50"
[ INFO] [1713446731.223776329]: Setting odometry parameter "OdomViso2/MatchOutlierDispTolerance"="5"
[ INFO] [1713446731.223929298]: Setting odometry parameter "OdomViso2/MatchOutlierFlowTolerance"="5"
[ INFO] [1713446731.224081405]: Setting odometry parameter "OdomViso2/MatchRadius"="200"
[ INFO] [1713446731.224232611]: Setting odometry parameter "OdomViso2/MatchRefinement"="1"
[ INFO] [1713446731.224383456]: Setting odometry parameter "OdomViso2/RansacIters"="200"
[ INFO] [1713446731.224534382]: Setting odometry parameter "OdomViso2/Reweighting"="true"
[ INFO] [1713446731.224686018]: Setting odometry parameter "Optimizer/Epsilon"="0.00001"
[ INFO] [1713446731.224836803]: Setting odometry parameter "Optimizer/GravitySigma"="0.3"
[ INFO] [1713446731.224989211]: Setting odometry parameter "Optimizer/Iterations"="20"
[ INFO] [1713446731.225142621]: Setting odometry parameter "Optimizer/LandmarksIgnored"="false"
[ INFO] [1713446731.225295109]: Setting odometry parameter "Optimizer/PriorsIgnored"="true"
[ INFO] [1713446731.225445163]: Setting odometry parameter "Optimizer/Robust"="false"
[ INFO] [1713446731.225597170]: Setting odometry parameter "Optimizer/Strategy"="2"
[ INFO] [1713446731.225750340]: Setting odometry parameter "Optimizer/VarianceIgnored"="false"
[ INFO] [1713446731.225902036]: Setting odometry parameter "PyDetector/Cuda"="true"
[ INFO] [1713446731.226055697]: Setting odometry parameter "PyDetector/Path"="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/rtabmap_superpoint.py"
[ INFO] [1713446731.226210089]: Setting odometry parameter "PyMatcher/Cuda"="false"
[ INFO] [1713446731.226376283]: Setting odometry parameter "PyMatcher/Iterations"="20"
[ INFO] [1713446731.226532338]: Setting odometry parameter "PyMatcher/Model"="indoor"
[ INFO] [1713446731.226687521]: Setting odometry parameter "PyMatcher/Path"="/workspace/rtabmap/corelib/src/python/SuperGluePretrainedNetwork/rtabmap_superglue.py"
[ INFO] [1713446731.226842985]: Setting odometry parameter "PyMatcher/Threshold"="0.2"
[ INFO] [1713446731.226996515]: Setting odometry parameter "Reg/Force3DoF"="false"
[ INFO] [1713446731.227149865]: Setting odometry parameter "Reg/RepeatOnce"="true"
[ INFO] [1713446731.227303856]: Setting odometry parameter "Reg/Strategy"="0"
[ INFO] [1713446731.227459460]: Setting odometry parameter "Rtabmap/ImagesAlreadyRectified"="true"
[ INFO] [1713446731.227612559]: Setting odometry parameter "Rtabmap/PublishRAMUsage"="false"
[ INFO] [1713446731.227765518]: Setting odometry parameter "SIFT/ContrastThreshold"="0.04"
[ INFO] [1713446731.227919229]: Setting odometry parameter "SIFT/EdgeThreshold"="10"
[ INFO] [1713446731.228072128]: Setting odometry parameter "SIFT/NFeatures"="0"
[ INFO] [1713446731.228223334]: Setting odometry parameter "SIFT/NOctaveLayers"="3"
[ INFO] [1713446731.228374630]: Setting odometry parameter "SIFT/RootSIFT"="false"
[ INFO] [1713446731.228527418]: Setting odometry parameter "SIFT/Sigma"="1.6"
[ INFO] [1713446731.228678153]: Setting odometry parameter "SURF/Extended"="false"
[ INFO] [1713446731.228832184]: Setting odometry parameter "SURF/GpuKeypointsRatio"="0.01"
[ INFO] [1713446731.228984472]: Setting odometry parameter "SURF/GpuVersion"="false"
[ INFO] [1713446731.229137151]: Setting odometry parameter "SURF/HessianThreshold"="500"
[ INFO] [1713446731.229288878]: Setting odometry parameter "SURF/OctaveLayers"="2"
[ INFO] [1713446731.229440955]: Setting odometry parameter "SURF/Octaves"="4"
[ INFO] [1713446731.229592782]: Setting odometry parameter "SURF/Upright"="false"
[ INFO] [1713446731.229745070]: Setting odometry parameter "Stereo/DenseStrategy"="0"
[ INFO] [1713446731.229899031]: Setting odometry parameter "Stereo/Eps"="0.01"
[ INFO] [1713446731.230053092]: Setting odometry parameter "Stereo/Iterations"="30"
[ INFO] [1713446731.230207484]: Setting odometry parameter "Stereo/MaxDisparity"="128.0"
[ INFO] [1713446731.230372345]: Setting odometry parameter "Stereo/MaxLevel"="5"
[ INFO] [1713446731.230527018]: Setting odometry parameter "Stereo/MinDisparity"="0.5"
[ INFO] [1713446731.230678043]: Setting odometry parameter "Stereo/OpticalFlow"="true"
[ INFO] [1713446731.230830521]: Setting odometry parameter "Stereo/SSD"="true"
[ INFO] [1713446731.230983100]: Setting odometry parameter "Stereo/WinHeight"="3"
[ INFO] [1713446731.231137742]: Setting odometry parameter "Stereo/WinWidth"="15"
[ INFO] [1713446731.231291342]: Setting odometry parameter "SuperPoint/Cuda"="false"
[ INFO] [1713446731.231447347]: Setting odometry parameter "SuperPoint/ModelPath"="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/superpoint_v1.pth"
[ INFO] [1713446731.231599956]: Setting odometry parameter "SuperPoint/NMS"="true"
[ INFO] [1713446731.231752654]: Setting odometry parameter "SuperPoint/NMSRadius"="4"
[ INFO] [1713446731.231905463]: Setting odometry parameter "SuperPoint/Threshold"="0.010"
[ INFO] [1713446731.232057049]: Setting odometry parameter "Vis/BundleAdjustment"="1"
[ INFO] [1713446731.232209267]: Setting odometry parameter "Vis/CorFlowEps"="0.01"
[ INFO] [1713446731.232360463]: Setting odometry parameter "Vis/CorFlowIterations"="30"
[ INFO] [1713446731.232513141]: Setting odometry parameter "Vis/CorFlowMaxLevel"="3"
[ INFO] [1713446731.232664347]: Setting odometry parameter "Vis/CorFlowWinSize"="16"
[ INFO] [1713446731.232818449]: Setting odometry parameter "Vis/CorGuessMatchToProjection"="false"
[ INFO] [1713446731.232972079]: Setting odometry parameter "Vis/CorGuessWinSize"="40"
[ INFO] [1713446731.233124697]: Setting odometry parameter "Vis/CorNNDR"="0.8"
[ INFO] [1713446731.233276073]: Setting odometry parameter "Vis/CorNNType"="6"
[ INFO] [1713446731.233427029]: Setting odometry parameter "Vis/CorType"="0"
[ INFO] [1713446731.233580439]: Setting odometry parameter "Vis/DepthAsMask"="true"
[ INFO] [1713446731.233733879]: Setting odometry parameter "Vis/EpipolarGeometryVar"="0.1"
[ INFO] [1713446731.233887218]: Setting odometry parameter "Vis/EstimationType"="1"
[ INFO] [1713446731.234040448]: Setting odometry parameter "Vis/FeatureType"="11"
[ INFO] [1713446731.234193567]: Setting odometry parameter "Vis/ForwardEstOnly"="true"
[ INFO] [1713446731.234356045]: Setting odometry parameter "Vis/GridCols"="1"
[ INFO] [1713446731.234510486]: Setting odometry parameter "Vis/GridRows"="1"
[ INFO] [1713446731.234663856]: Setting odometry parameter "Vis/InlierDistance"="0.1"
[ INFO] [1713446731.234815473]: Setting odometry parameter "Vis/Iterations"="300"
[ INFO] [1713446731.234967460]: Setting odometry parameter "Vis/MaxDepth"="10"
[ INFO] [1713446731.235123545]: Setting odometry parameter "Vis/MaxFeatures"="1000"
[ INFO] [1713446731.235276825]: Setting odometry parameter "Vis/MeanInliersDistance"="0.0"
[ INFO] [1713446731.235428552]: Setting odometry parameter "Vis/MinDepth"="0"
[ INFO] [1713446731.235582563]: Setting odometry parameter "Vis/MinInliers"="10"
[ INFO] [1713446731.235738648]: Setting odometry parameter "Vis/MinInliersDistribution"="0.0"
[ INFO] [1713446731.235889934]: Setting odometry parameter "Vis/PnPFlags"="0"
[ INFO] [1713446731.236042452]: Setting odometry parameter "Vis/PnPMaxVariance"="0.0"
[ INFO] [1713446731.236196313]: Setting odometry parameter "Vis/PnPRefineIterations"="0"
[ INFO] [1713446731.236347128]: Setting odometry parameter "Vis/PnPReprojError"="2"
[ INFO] [1713446731.236500117]: Setting odometry parameter "Vis/PnPSamplingPolicy"="1"
[ INFO] [1713446731.236654799]: Setting odometry parameter "Vis/PnPSplitLinearCovComponents"="false"
[ INFO] [1713446731.236807969]: Setting odometry parameter "Vis/PnPVarianceMedianRatio"="4"
[ INFO] [1713446731.236961960]: Setting odometry parameter "Vis/RefineIterations"="5"
[ INFO] [1713446731.237118215]: Setting odometry parameter "Vis/RoiRatios"="0.03 0.03 0.04 0.04"
[ INFO] [1713446731.237271064]: Setting odometry parameter "Vis/SubPixEps"="0.02"
[ INFO] [1713446731.237424975]: Setting odometry parameter "Vis/SubPixIterations"="0"
[ INFO] [1713446731.237577714]: Setting odometry parameter "Vis/SubPixWinSize"="3"
[ INFO] [1713446731.237732626]: Setting odometry parameter "g2o/Baseline"="0.075"
[ INFO] [1713446731.237885946]: Setting odometry parameter "g2o/Optimizer"="0"
[ INFO] [1713446731.238040769]: Setting odometry parameter "g2o/PixelVariance"="1.0"
[ INFO] [1713446731.238192185]: Setting odometry parameter "g2o/RobustKernelDelta"="8"
[ INFO] [1713446731.238354672]: Setting odometry parameter "g2o/Solver"="0"
[ INFO] [1713446731.263172628]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1713446731.263220538]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1713446731.263240757]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1713446731.263259081]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1713446731.263281323]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1713446731.263302323]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1713446731.263323393]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1713446731.263344503]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1713446731.286102185]: rtabmap: frame_id      = base_footprint
[ INFO] [1713446731.286138654]: rtabmap: map_frame_id  = map
[ INFO] [1713446731.286156297]: rtabmap: log_to_rosout_level = 4
[ INFO] [1713446731.286196193]: rtabmap: initial_pose  = 
[ INFO] [1713446731.286220468]: rtabmap: use_action_for_goal  = false
[ INFO] [1713446731.286245606]: rtabmap: tf_delay      = 0.050000
[ INFO] [1713446731.286289228]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1713446731.286312953]: rtabmap: odom_sensor_sync   = false
[ INFO] [1713446731.286336878]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1713446731.287240336]: rtabmap: stereo_to_depth = false
[ INFO] [1713446731.287255264]: rtabmap: gen_scan  = false
[ INFO] [1713446731.287267788]: rtabmap: gen_depth  = false
[ INFO] [1713446731.443626015]: Setting RTAB-Map parameter "Kp/DetectorStrategy"="11"
[ INFO] [1713446731.449772171]: Setting RTAB-Map parameter "Kp/MaxFeatures"="200"
[ INFO] [1713446731.450485009]: Setting RTAB-Map parameter "Kp/NNStrategy"="1"
[ INFO] [1713446731.452231199]: Setting RTAB-Map parameter "Kp/RoiRatios"="0.03 0.03 0.04 0.04"
[ INFO] [1713446731.487837815]: Setting RTAB-Map parameter "PyMatcher/Cuda"="false"
[ INFO] [1713446731.489058452]: Setting RTAB-Map parameter "PyMatcher/Path"="/workspace/rtabmap/corelib/src/python/SuperGluePretrainedNetwork/rtabmap_superglue.py"
[ INFO] [1713446731.512779946]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="1"
[ INFO] [1713446731.526793922]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1713446731.557102987]: Setting RTAB-Map parameter "SuperPoint/Cuda"="false"
[ INFO] [1713446731.557318624]: Setting RTAB-Map parameter "SuperPoint/ModelPath"="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/superpoint_v1.pth"
[ INFO] [1713446731.567547406]: Setting RTAB-Map parameter "Vis/CorNNType"="6"
[stereo_odometry-5] process has died [pid 2282, exit code -11, cmd /workspace/catkin_ws/devel/lib/rtabmap_odom/stereo_odometry left/image_rect:=/stereo_camera/left/image_rect right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info_throttle right/camera_info:=/stereo_camera/right/camera_info_throttle odom:=/stereo_odometry __name:=stereo_odometry __log:=/root/.ros/log/aabdb644-fd72-11ee-a308-581122aee40d/stereo_odometry-5.log].
log file: /root/.ros/log/aabdb644-fd72-11ee-a308-581122aee40d/stereo_odometry-5*.log
Problem description:

stereo odometry node dies when using Superpoint Superglue.
When i remove the lines from rtabmap_odom package 
param name="Kp/DetectorStrategy" type="string" value="11"/>
param name="Vis/FeatureType" type="string" value="11"/>
param name="Vis/CorNNType" type="string" value="6" />  <!-- SuperGlue -->
param name="PyMatcher/Path" type="string" value="/workspace/rtabmap/corelib/src/python/SuperGluePretrainedNetwork/rtabmap_superglue.py" />
param name="SuperPoint/ModelPath" type="string" value="/workspace/rtabmap/corelib/src/python/SuperPointPretrainedNetwork/superpoint_v1.pth" />
then everythig works fine
matlabbe
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Re: stereo_odometry process has died, exit code -11 , when using Superpoint and Superglue

matlabbe
Administrator
I reproduced the issue. Just to make sure, only stereo_odometry is crashing when setting superglue, not rtabmap (if also set with superglue)?

The issue is that the python interpreter is not initialized in stereo_odometry node, so all calls to python will crash. We have to add: 
#include <rtabmap/core/PythonInterface.h>

int main(int argc, char **argv) {
   rtabmap::PythonInterface pythonInterface;
   ...
to stereo_odometry node to make it not crashes. Note however that superglue would be ignored if you don't set also Vis/CorGuessWinSize to 0. Set also Reg/RepeatOnce=false to avoid overriding superglue matches with local ones. I added the fix in this commit. One remaining issue is that it won't work if you launch the stereo_odometry as a nodelet. 
<param name="Kp/DetectorStrategy" type="string" value="11"/>
<param name="Vis/FeatureType" type="string" value="11"/>
<param name="Vis/CorGuessWinSize" type="string" value="0"/>
<param name="Reg/RepeatOnce" type="string" value="false"/>
<param name="Vis/CorNNType" type="string" value="6" />  <!-- SuperGlue -->
<param name="PyMatcher/Path" type="string" value="/workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py" />
<param name="SuperPoint/ModelPath" type="string" value="/workspace/superpoint_v1.pt" />


A workaround is to not use superglue for stereo_odometry, only for rtabmap node. 

For stereo_odometry:
<param name="Kp/DetectorStrategy" type="string" value="11"/>
<param name="Vis/FeatureType" type="string" value="11"/>
<param name="SuperPoint/ModelPath" type="string" value="/workspace/superpoint_v1.pt" />

For rtabmap:
<param name="Kp/DetectorStrategy" type="string" value="11"/>
<param name="Vis/FeatureType" type="string" value="11"/>
<param name="Vis/CorGuessWinSize" type="string" value="0"/>
<param name="Reg/RepeatOnce" type="string" value="false"/>
<param name="Vis/CorNNType" type="string" value="6" />  <!-- SuperGlue -->
<param name="PyMatcher/Path" type="string" value="/workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py" />
<param name="SuperPoint/ModelPath" type="string" value="/workspace/superpoint_v1.pt" />

I tested the workaround with this docker image (mounting the modified demo_stereo_outdoor.launch with changes above in the container): 
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --gpus all -it --rm --ipc=host --runtime=nvidia  \
       --env="DISPLAY=$DISPLAY" \
       --env="QT_X11_NO_MITSHM=1"  \
       --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw"   \
       --env="XAUTHORITY=$XAUTH"  \
       --volume="$XAUTH:$XAUTH"  \
       --network host \
       --privileged \
       -v ~/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch:/opt/ros/noetic/share/rtabmap_demos/launch \
       rtabmap_ros:superpoint roslaunch rtabmap_demos demo_stereo_outdoor.launch rtabmap_viz:=true

rosbag play --clock ~/Downloads/stereo_outdoorA.bag

This also helped me to fix the same issue here: https://github.com/introlab/rtabmap/issues/1273

cheers,
Mathieu
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