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

saipuneeth
Thank you for your reply. I tried using your suggestion and it works.

As the stereo_odometry node here does not use SuperGlue, can you tell me which of the rtabmap nodes can give me poses using SuperGlue.

Here are the list of nodes while running demo_stereo_outdoor.launch.
Thanks in advance.

/clock
/diagnostics
/gps/gps_nav
/gps/gps_nav_raw
/gx5/baseline
/gx5/imu/data
/gx5/imu_calib/data
/republish_left/compressed/parameter_descriptions
/republish_left/compressed/parameter_updates
/republish_right/compressed/parameter_descriptions
/republish_right/compressed/parameter_updates
/rosout
/rosout_agg
/rtabmap/cloud_ground
/rtabmap/cloud_map
/rtabmap/cloud_obstacles
/rtabmap/elevation_map
/rtabmap/global_path
/rtabmap/global_path_nodes
/rtabmap/global_pose
/rtabmap/goal
/rtabmap/goal_node
/rtabmap/goal_out
/rtabmap/goal_reached
/rtabmap/gps/fix
/rtabmap/grid_map
/rtabmap/grid_prob_map
/rtabmap/imu
/rtabmap/info
/rtabmap/initialpose
/rtabmap/labels
/rtabmap/landmarks
/rtabmap/local_grid_empty
/rtabmap/local_grid_ground
/rtabmap/local_grid_obstacle
/rtabmap/local_path
/rtabmap/local_path_nodes
/rtabmap/localization_pose
/rtabmap/mapData
/rtabmap/mapGraph
/rtabmap/mapOdomCache
/rtabmap/mapPath
/rtabmap/octomap_binary
/rtabmap/octomap_empty_space
/rtabmap/octomap_full
/rtabmap/octomap_global_frontier_space
/rtabmap/octomap_grid
/rtabmap/octomap_ground
/rtabmap/octomap_obstacles
/rtabmap/octomap_occupied_space
/rtabmap/odom_info
/rtabmap/odom_info_lite
/rtabmap/odom_last_frame
/rtabmap/odom_local_map
/rtabmap/odom_local_scan_map
/rtabmap/odom_rgbd_image
/rtabmap/odom_sensor_data/compressed
/rtabmap/odom_sensor_data/features
/rtabmap/odom_sensor_data/raw
/rtabmap/proj_map
/rtabmap/republish_node_data
/rtabmap/scan_map
/rtabmap/tag_detections
/rtabmap/user_data_async
/stereo_cam/disparity
/stereo_cam/left/camera_info
/stereo_cam/left/image_color
/stereo_cam/left/image_color/compressed
/stereo_cam/left/image_color/compressed/parameter_descriptions
/stereo_cam/left/image_color/compressed/parameter_updates
/stereo_cam/left/image_color/compressedDepth
/stereo_cam/left/image_color/compressedDepth/parameter_descriptions
/stereo_cam/left/image_color/compressedDepth/parameter_updates
/stereo_cam/left/image_color/theora
/stereo_cam/left/image_color/theora/parameter_descriptions
/stereo_cam/left/image_color/theora/parameter_updates
/stereo_cam/left/image_mono
/stereo_cam/left/image_mono/compressed
/stereo_cam/left/image_mono/compressed/parameter_descriptions
/stereo_cam/left/image_mono/compressed/parameter_updates
/stereo_cam/left/image_mono/compressedDepth
/stereo_cam/left/image_mono/compressedDepth/parameter_descriptions
/stereo_cam/left/image_mono/compressedDepth/parameter_updates
/stereo_cam/left/image_mono/theora
/stereo_cam/left/image_mono/theora/parameter_descriptions
/stereo_cam/left/image_mono/theora/parameter_updates
/stereo_cam/left/image_raw_throttle_relay
/stereo_cam/left/image_rect
/stereo_cam/left/image_rect/compressed
/stereo_cam/left/image_rect/compressed/parameter_descriptions
/stereo_cam/left/image_rect/compressed/parameter_updates
/stereo_cam/left/image_rect/compressedDepth
/stereo_cam/left/image_rect/compressedDepth/parameter_descriptions
/stereo_cam/left/image_rect/compressedDepth/parameter_updates
/stereo_cam/left/image_rect/theora
/stereo_cam/left/image_rect/theora/parameter_descriptions
/stereo_cam/left/image_rect/theora/parameter_updates
/stereo_cam/left/image_rect_color
/stereo_cam/left/image_rect_color/compressed
/stereo_cam/left/image_rect_color/compressed/parameter_descriptions
/stereo_cam/left/image_rect_color/compressed/parameter_updates
/stereo_cam/left/image_rect_color/compressedDepth
/stereo_cam/left/image_rect_color/compressedDepth/parameter_descriptions
/stereo_cam/left/image_rect_color/compressedDepth/parameter_updates
/stereo_cam/left/image_rect_color/theora
/stereo_cam/left/image_rect_color/theora/parameter_descriptions
/stereo_cam/left/image_rect_color/theora/parameter_updates
/stereo_cam/left_img/compressed
/stereo_cam/points2
/stereo_cam/right/camera_info
/stereo_cam/right/image_color
/stereo_cam/right/image_color/compressed
/stereo_cam/right/image_color/compressed/parameter_descriptions
/stereo_cam/right/image_color/compressed/parameter_updates
/stereo_cam/right/image_color/compressedDepth
/stereo_cam/right/image_color/compressedDepth/parameter_descriptions
/stereo_cam/right/image_color/compressedDepth/parameter_updates
/stereo_cam/right/image_color/theora
/stereo_cam/right/image_color/theora/parameter_descriptions
/stereo_cam/right/image_color/theora/parameter_updates
/stereo_cam/right/image_mono
/stereo_cam/right/image_mono/compressed
/stereo_cam/right/image_mono/compressed/parameter_descriptions
/stereo_cam/right/image_mono/compressed/parameter_updates
/stereo_cam/right/image_mono/compressedDepth
/stereo_cam/right/image_mono/compressedDepth/parameter_descriptions
/stereo_cam/right/image_mono/compressedDepth/parameter_updates
/stereo_cam/right/image_mono/theora
/stereo_cam/right/image_mono/theora/parameter_descriptions
/stereo_cam/right/image_mono/theora/parameter_updates
/stereo_cam/right/image_raw_throttle_relay
/stereo_cam/right/image_rect
/stereo_cam/right/image_rect/compressed
/stereo_cam/right/image_rect/compressed/parameter_descriptions
/stereo_cam/right/image_rect/compressed/parameter_updates
/stereo_cam/right/image_rect/compressedDepth
/stereo_cam/right/image_rect/compressedDepth/parameter_descriptions
/stereo_cam/right/image_rect/compressedDepth/parameter_updates
/stereo_cam/right/image_rect/theora
/stereo_cam/right/image_rect/theora/parameter_descriptions
/stereo_cam/right/image_rect/theora/parameter_updates
/stereo_cam/right/image_rect_color
/stereo_cam/right/image_rect_color/compressed
/stereo_cam/right/image_rect_color/compressed/parameter_descriptions
/stereo_cam/right/image_rect_color/compressed/parameter_updates
/stereo_cam/right/image_rect_color/compressedDepth
/stereo_cam/right/image_rect_color/compressedDepth/parameter_descriptions
/stereo_cam/right/image_rect_color/compressedDepth/parameter_updates
/stereo_cam/right/image_rect_color/theora
/stereo_cam/right/image_rect_color/theora/parameter_descriptions
/stereo_cam/right/image_rect_color/theora/parameter_updates
/stereo_cam/right_img/compressed
/stereo_cam/stereo_image_proc/parameter_descriptions
/stereo_cam/stereo_image_proc/parameter_updates
/stereo_cam/stereo_image_proc_debayer_left/parameter_descriptions
/stereo_cam/stereo_image_proc_debayer_left/parameter_updates
/stereo_cam/stereo_image_proc_debayer_right/parameter_descriptions
/stereo_cam/stereo_image_proc_debayer_right/parameter_updates
/stereo_cam/stereo_image_proc_rectify_color_left/parameter_descriptions
/stereo_cam/stereo_image_proc_rectify_color_left/parameter_updates
/stereo_cam/stereo_image_proc_rectify_color_right/parameter_descriptions
/stereo_cam/stereo_image_proc_rectify_color_right/parameter_updates
/stereo_cam/stereo_image_proc_rectify_mono_left/parameter_descriptions
/stereo_cam/stereo_image_proc_rectify_mono_left/parameter_updates
/stereo_cam/stereo_image_proc_rectify_mono_right/parameter_descriptions
/stereo_cam/stereo_image_proc_rectify_mono_right/parameter_updates
/stereo_odometry
/tf
/tf_static
matlabbe
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Re: stereo_odometry process has died, exit code -11 , when using Superpoint and Superglue

matlabbe
Administrator
If you use that commit https://github.com/introlab/rtabmap_ros/commit/f07e4f0a718262db9fa66449f260c1cd761d0286, stereo_odometry can run superglue. The pose would be under /stereo_odometry for stereo_odometry, or /rtabmap/localization_pose for rtabmap poses.

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