Posted by
jinjo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-ORBSLAM3-tp10153p10159.html
In DEBUG mode I get:
[DEBUG] (2024-05-22 15:36:09.146) Odometry.cpp:68::create() type=5
root@jetson-orin:/rtabmap/catkin_ws# roslaunch rtabmap_demos pohang_orb.launch
... logging to /root/.ros/log/0199a902-1851-11ef-ac37-3c18a0d4bc69/roslaunch-jetson-orin-3461.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server
http://jetson-orin:43115/SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
* /rtabmap/rtabmap/Grid/DepthDecimation: 4
* /rtabmap/rtabmap/Grid/FlatObstacleDetected: true
* /rtabmap/rtabmap/Kp/DetectorStrategy: 2
* /rtabmap/rtabmap/Kp/MaxDepth: 0
* /rtabmap/rtabmap/Odom/Strategy: 5
* /rtabmap/rtabmap/OdomORBSLAM/AccNoise: 0.01
* /rtabmap/rtabmap/OdomORBSLAM/AccWalk: 0.0002
* /rtabmap/rtabmap/OdomORBSLAM/GyroNoise: 0.005
* /rtabmap/rtabmap/OdomORBSLAM/GyroWalk: 4e-06
* /rtabmap/rtabmap/OdomORBSLAM/Inertial: True
* /rtabmap/rtabmap/OdomORBSLAM/MaxFeatures: 2000
* /rtabmap/rtabmap/OdomORBSLAM/SamplingRate: 100.0
* /rtabmap/rtabmap/OdomORBSLAM/ThDepth: 200.0
* /rtabmap/rtabmap/OdomORBSLAM/VocPath: /rtabmap/ORB_SLAM...
* /rtabmap/rtabmap/RGBD/CreateOccupancyGrid: false
* /rtabmap/rtabmap/Rtabmap/TimeThr: 700
* /rtabmap/rtabmap/Stereo/MaxDisparity: 5000
* /rtabmap/rtabmap/Vis/EstimationType: 1
* /rtabmap/rtabmap/Vis/FeatureType: 2
* /rtabmap/rtabmap/Vis/MaxDepth: 0
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/frame_id: stereo_left_link
* /rtabmap/rtabmap/map_negative_poses_ignored: True
* /rtabmap/rtabmap/queue_size: 30
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap_viz/frame_id: stereo_left_link
* /rtabmap/rtabmap_viz/queue_size: 10
* /rtabmap/rtabmap_viz/subscribe_odom_info: True
* /rtabmap/rtabmap_viz/subscribe_rgbd: False
* /rtabmap/rtabmap_viz/subscribe_stereo: True
* /rtabmap/stereo_odometry/GFTT/MinDistance: 10
* /rtabmap/stereo_odometry/GFTT/QualityLevel: 0.00001
* /rtabmap/stereo_odometry/Kp/DetectorStrategy: 2
* /rtabmap/stereo_odometry/Odom/GuessMotion: true
* /rtabmap/stereo_odometry/Odom/Strategy: 5
* /rtabmap/stereo_odometry/OdomF2M/MaxSize: 1000
* /rtabmap/stereo_odometry/OdomORBSLAM/ GyroWalk: 4e-06
* /rtabmap/stereo_odometry/OdomORBSLAM/AccNoise: 0.01
* /rtabmap/stereo_odometry/OdomORBSLAM/AccWalk: 0.0002
* /rtabmap/stereo_odometry/OdomORBSLAM/GyroNoise: 0.005
* /rtabmap/stereo_odometry/OdomORBSLAM/Inertial: True
* /rtabmap/stereo_odometry/OdomORBSLAM/MaxFeatures: 2000
* /rtabmap/stereo_odometry/OdomORBSLAM/SamplingRate: 100.0
* /rtabmap/stereo_odometry/OdomORBSLAM/ThDepth: 200.0
* /rtabmap/stereo_odometry/OdomORBSLAM/VocPath: /rtabmap/ORB_SLAM...
* /rtabmap/stereo_odometry/Stereo/MaxDisparity: 5000
* /rtabmap/stereo_odometry/Vis/EstimationType: 1
* /rtabmap/stereo_odometry/Vis/FeatureType: 2
* /rtabmap/stereo_odometry/Vis/MaxDepth: 0
* /rtabmap/stereo_odometry/Vis/MinInliers: 10
* /rtabmap/stereo_odometry/approx_sync: True
* /rtabmap/stereo_odometry/frame_id: stereo_left_link
* /rtabmap/stereo_odometry/odom_frame_id: odom
* /rtabmap/stereo_odometry/subscribe_rgbd: False
* /rtabmap/stereo_odometry/subscribe_stereo: True
* /use_sim_time: True
* /yaml_to_camera_info_left/frame_id: stereo_left_link
* /yaml_to_camera_info_left/yaml_path: /rtabmap/catkin_w...
* /yaml_to_camera_info_right/frame_id: stereo_right_link
* /yaml_to_camera_info_right/yaml_path: /rtabmap/catkin_w...
NODES
/
republish_left (image_transport/republish)
republish_right (image_transport/republish)
yaml_to_camera_info_left (rtabmap_util/yaml_to_camera_info.py)
yaml_to_camera_info_right (rtabmap_util/yaml_to_camera_info.py)
/rtabmap/
link1_broadcaster (tf/static_transform_publisher)
link2_broadcaster (tf/static_transform_publisher)
rtabmap (rtabmap_slam/rtabmap)
rtabmap_viz (rtabmap_viz/rtabmap_viz)
stereo_odometry (rtabmap_odom/stereo_odometry)
auto-starting new master
process[master]: started with pid [3469]
ROS_MASTER_URI=
http://localhost:11311setting /run_id to 0199a902-1851-11ef-ac37-3c18a0d4bc69
process[rosout-1]: started with pid [3479]
started core service [/rosout]
process[republish_left-2]: started with pid [3486]
process[republish_right-3]: started with pid [3487]
process[yaml_to_camera_info_left-4]: started with pid [3488]
process[yaml_to_camera_info_right-5]: started with pid [3490]
process[rtabmap/link1_broadcaster-6]: started with pid [3499]
process[rtabmap/link2_broadcaster-7]: started with pid [3501]
process[rtabmap/stereo_odometry-8]: started with pid [3503]
process[rtabmap/rtabmap-9]: started with pid [3508]
process[rtabmap/rtabmap_viz-10]: started with pid [3514]
INFO: cannot create a symlink to latest log directory: [Errno 17] File exists: '/root/.ros/log/0199a902-1851-11ef-ac37-3c18a0d4bc69' -> '/root/.ros/log/latest'
/rtabmap/catkin_ws/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py:10: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read
https://msg.pyyaml.org/load for full details.
calib_data = yaml.load(file_handle)
/rtabmap/catkin_ws/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py:10: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read
https://msg.pyyaml.org/load for full details.
calib_data = yaml.load(file_handle)
[ INFO] (2024-05-22 15:36:08.521) PythonInterface.cpp:17::PythonInterface() Initialize python interpreter
[ INFO] [1716392168.596635867]: Initializing nodelet with 12 worker threads.
[ INFO] [1716392168.685229394]: Starting node...
[ INFO] [1716392168.686958503]: Odometry: frame_id = stereo_left_link
[ INFO] [1716392168.687048200]: Odometry: odom_frame_id = odom
[ INFO] [1716392168.687070600]: Odometry: publish_tf = true
[ INFO] [1716392168.687084872]: Odometry: wait_for_transform = true
[ INFO] [1716392168.687106761]: Odometry: wait_for_transform_duration = 0.100000
[ INFO] [1716392168.687124937]: Odometry: log_to_rosout_level = 4
[ INFO] [1716392168.687200650]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1716392168.687225802]: Odometry: ground_truth_frame_id =
[ INFO] [1716392168.687245802]: Odometry: ground_truth_base_frame_id = stereo_left_link
[ INFO] [1716392168.687260010]: Odometry: config_path =
[ INFO] [1716392168.687276235]: Odometry: publish_null_when_lost = true
[ INFO] [1716392168.687289387]: Odometry: publish_compressed_sensor_data = false
[ INFO] [1716392168.687302635]: Odometry: guess_frame_id =
[ INFO] [1716392168.687316555]: Odometry: guess_min_translation = 0.000000
[ INFO] [1716392168.687332299]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1716392168.687349035]: Odometry: guess_min_time = 0.000000
[ INFO] [1716392168.687364684]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1716392168.687379820]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1716392168.687394572]: Odometry: min_update_rate = 0.000000 Hz
[ INFO] [1716392168.687409580]: Odometry: wait_imu_to_init = false
[ INFO] [1716392168.687424172]: Odometry: sensor_data_compression_format = .jpg
[ INFO] [1716392168.687438412]: Odometry: sensor_data_parallel_compression = true
[ INFO] [1716392168.687476717]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1716392168.710077880]: Setting odometry parameter "GFTT/MinDistance"="10"
[ INFO] [1716392168.710445788]: Setting odometry parameter "GFTT/QualityLevel"="0.00001"
[ INFO] [1716392168.744420558]: rtabmap_viz: Using configuration from "/rtabmap/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/rgbd_gui.ini"
[ INFO] [1716392168.752842930]: Setting odometry parameter "Odom/GuessMotion"="true"
[ INFO] [1716392168.767205947]: Setting odometry parameter "Odom/Strategy"="5"
[ INFO] [1716392168.771491854]: Setting odometry parameter "OdomF2M/MaxSize"="1000"
[ INFO] [1716392168.840100249]: Setting odometry parameter "OdomORBSLAM/AccNoise"="0.01"
[ INFO] [1716392168.841001636]: Setting odometry parameter "OdomORBSLAM/AccWalk"="0.0002"
[ INFO] [1716392168.843972551]: Setting odometry parameter "OdomORBSLAM/GyroNoise"="0.005"
[ INFO] [1716392168.845674235]: Setting odometry parameter "OdomORBSLAM/Inertial"="true"
[ INFO] [1716392168.847542577]: Setting odometry parameter "OdomORBSLAM/MaxFeatures"="2000"
[ INFO] [1716392168.848487996]: Setting odometry parameter "OdomORBSLAM/SamplingRate"="100"
[ INFO] [1716392168.849375335]: Setting odometry parameter "OdomORBSLAM/ThDepth"="200"
[ INFO] [1716392168.849742155]: Setting odometry parameter "OdomORBSLAM/VocPath"="/rtabmap/ORB_SLAM3/Vocabulary/ORBvoc.txt"
[ INFO] [1716392168.954225534]: Setting odometry parameter "Stereo/MaxDisparity"="5000"
[ INFO] [1716392168.977519378]: Setting odometry parameter "Vis/EstimationType"="1"
[ INFO] [1716392168.977924663]: Setting odometry parameter "Vis/FeatureType"="2"
[ INFO] [1716392168.983392471]: Setting odometry parameter "Vis/MaxDepth"="0"
[ INFO] [1716392168.986875744]: Setting odometry parameter "Vis/MinInliers"="10"
[DEBUG] (2024-05-22 15:36:09.146) Odometry.cpp:68::create() type=5
[ INFO] [1716392169.154955683]: StereoOdometry: approx_sync = true
[ INFO] [1716392169.155017092]: StereoOdometry: approx_sync_max_interval = 0.000000
[ INFO] [1716392169.155038500]: StereoOdometry: queue_size = 5
[ INFO] [1716392169.155058501]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1716392169.155076389]: StereoOdometry: keep_color = false
[ INFO] [1716392169.197461274]:
/rtabmap/stereo_odometry subscribed to (approx sync):
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1716392169.897607726]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1716392169.898693435]: rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.
[ WARN] [1716392174.929189367]: rtabmap_viz: rtabmap's parameters seem not all there yet! continuing with those there if some...
[ WARN] [1716392174.929771486]: rtabmap_viz: Parameter BRIEF/Bytes not found
[ WARN] [1716392174.930285380]: rtabmap_viz: Parameter BRISK/Octaves not found
[ WARN] [1716392174.930727018]: rtabmap_viz: Parameter BRISK/PatternScale not found
[ WARN] [1716392174.931111406]: rtabmap_viz: Parameter BRISK/Thresh not found
[ WARN] [1716392174.931471666]: rtabmap_viz: Parameter Bayes/FullPredictionUpdate not found
[ WARN] [1716392174.931820215]: rtabmap_viz: Parameter Bayes/PredictionLC not found
[ WARN] [1716392174.932161691]: rtabmap_viz: Parameter Bayes/VirtualPlacePriorThr not found
[ WARN] [1716392174.932503039]: rtabmap_viz: Parameter Db/TargetVersion not found
[ WARN] [1716392174.932839075]: rtabmap_viz: Parameter DbSqlite3/CacheSize not found
[ WARN] [1716392174.933189031]: rtabmap_viz: Parameter DbSqlite3/InMemory not found
[ WARN] [1716392174.933531659]: rtabmap_viz: Parameter DbSqlite3/JournalMode not found
[ WARN] [1716392174.933852367]: rtabmap_viz: Parameter DbSqlite3/Synchronous not found
[ WARN] [1716392174.934190355]: rtabmap_viz: Parameter DbSqlite3/TempStore not found
[ WARN] [1716392174.934573303]: rtabmap_viz: Parameter FAST/CV not found
[ WARN] [1716392174.934957276]: rtabmap_viz: Parameter FAST/Gpu not found
[ WARN] [1716392174.935298976]: rtabmap_viz: Parameter FAST/GpuKeypointsRatio not found
[ WARN] [1716392174.935657828]: rtabmap_viz: Parameter FAST/GridCols not found
[ WARN] [1716392174.935999208]: rtabmap_viz: Parameter FAST/GridRows not found
[ WARN] [1716392174.936337164]: rtabmap_viz: Parameter FAST/MaxThreshold not found
[ WARN] [1716392174.936668816]: rtabmap_viz: Parameter FAST/MinThreshold not found
[ WARN] [1716392174.937000500]: rtabmap_viz: Parameter FAST/NonmaxSuppression not found
[ WARN] [1716392174.937333048]: rtabmap_viz: Parameter FAST/Threshold not found
[ WARN] [1716392174.937661244]: rtabmap_viz: Parameter FREAK/NOctaves not found
[ WARN] [1716392174.937986751]: rtabmap_viz: Parameter FREAK/OrientationNormalized not found
[ WARN] [1716392174.938321315]: rtabmap_viz: Parameter FREAK/PatternScale not found
[ WARN] [1716392174.938659015]: rtabmap_viz: Parameter FREAK/ScaleNormalized not found
[ WARN] [1716392174.938980555]: rtabmap_viz: Parameter GFTT/BlockSize not found
[ WARN] [1716392174.939302799]: rtabmap_viz: Parameter GFTT/K not found
[ WARN] [1716392174.939636755]: rtabmap_viz: Parameter GFTT/MinDistance not found
[ WARN] [1716392174.939970071]: rtabmap_viz: Parameter GFTT/QualityLevel not found
[ WARN] [1716392174.940292731]: rtabmap_viz: Parameter GFTT/UseHarrisDetector not found
[ WARN] [1716392174.940622815]: rtabmap_viz: Parameter GMS/ThresholdFactor not found
[ WARN] [1716392174.940948226]: rtabmap_viz: Parameter GMS/WithRotation not found
[ WARN] [1716392174.941267110]: rtabmap_viz: Parameter GMS/WithScale not found
[ WARN] [1716392174.941589930]: rtabmap_viz: Parameter GTSAM/IncRelinearizeSkip not found
[ WARN] [1716392174.941919278]: rtabmap_viz: Parameter GTSAM/IncRelinearizeThreshold not found
[ WARN] [1716392174.942236530]: rtabmap_viz: Parameter GTSAM/Incremental not found
[ WARN] [1716392174.942576502]: rtabmap_viz: Parameter GTSAM/Optimizer not found
[ WARN] [1716392174.942902361]: rtabmap_viz: Parameter Grid/3D not found
[ WARN] [1716392174.943225789]: rtabmap_viz: Parameter Grid/CellSize not found
[ WARN] [1716392174.943551681]: rtabmap_viz: Parameter Grid/ClusterRadius not found
[ WARN] [1716392174.945256085]: rtabmap_viz: Parameter Grid/DepthRoiRatios not found
[ WARN] [1716392174.946649574]: rtabmap_viz: Parameter Grid/FootprintHeight not found
[ WARN] [1716392174.946983978]: rtabmap_viz: Parameter Grid/FootprintLength not found
[ WARN] [1716392174.947306382]: rtabmap_viz: Parameter Grid/FootprintWidth not found
[ WARN] [1716392174.947626961]: rtabmap_viz: Parameter Grid/GroundIsObstacle not found
[ WARN] [1716392174.947942773]: rtabmap_viz: Parameter Grid/MapFrameProjection not found
[ WARN] [1716392174.948264121]: rtabmap_viz: Parameter Grid/MaxGroundAngle not found
[ WARN] [1716392174.948586685]: rtabmap_viz: Parameter Grid/MaxGroundHeight not found
[ WARN] [1716392174.948907296]: rtabmap_viz: Parameter Grid/MaxObstacleHeight not found
[ WARN] [1716392174.949228036]: rtabmap_viz: Parameter Grid/MinClusterSize not found
[ WARN] [1716392174.949542376]: rtabmap_viz: Parameter Grid/MinGroundHeight not found
[ WARN] [1716392174.949869932]: rtabmap_viz: Parameter Grid/NoiseFilteringMinNeighbors not found
[ WARN] [1716392174.950185744]: rtabmap_viz: Parameter Grid/NoiseFilteringRadius not found
[ WARN] [1716392174.950526964]: rtabmap_viz: Parameter Grid/NormalK not found
[ WARN] [1716392174.950861336]: rtabmap_viz: Parameter Grid/NormalsSegmentation not found
[ WARN] [1716392174.951175067]: rtabmap_viz: Parameter Grid/PreVoxelFiltering not found
[ WARN] [1716392174.951495391]: rtabmap_viz: Parameter Grid/RangeMax not found
[ WARN] [1716392174.951816739]: rtabmap_viz: Parameter Grid/RangeMin not found
[ WARN] [1716392174.952146343]: rtabmap_viz: Parameter Grid/RayTracing not found
[ WARN] [1716392174.952481547]: rtabmap_viz: Parameter Grid/Scan2dUnknownSpaceFilled not found
[ WARN] [1716392174.952809295]: rtabmap_viz: Parameter Grid/ScanDecimation not found
[ WARN] [1716392174.953129618]: rtabmap_viz: Parameter Grid/Sensor not found
[ WARN] [1716392174.953448662]: rtabmap_viz: Parameter GridGlobal/AltitudeDelta not found
[ WARN] [1716392174.953794874]: rtabmap_viz: Parameter GridGlobal/Eroded not found
[ WARN] [1716392174.954111102]: rtabmap_viz: Parameter GridGlobal/FloodFillDepth not found
[ WARN] [1716392174.954443426]: rtabmap_viz: Parameter GridGlobal/FootprintRadius not found
[ WARN] [1716392174.954777382]: rtabmap_viz: Parameter GridGlobal/MaxNodes not found
[ WARN] [1716392174.955107786]: rtabmap_viz: Parameter GridGlobal/MinSize not found
[ WARN] [1716392174.955432046]: rtabmap_viz: Parameter GridGlobal/OccupancyThr not found
[ WARN] [1716392174.955756113]: rtabmap_viz: Parameter GridGlobal/ProbClampingMax not found
[ WARN] [1716392174.956079445]: rtabmap_viz: Parameter GridGlobal/ProbClampingMin not found
[ WARN] [1716392174.956404281]: rtabmap_viz: Parameter GridGlobal/ProbHit not found
[ WARN] [1716392174.956716029]: rtabmap_viz: Parameter GridGlobal/ProbMiss not found
[ WARN] [1716392174.957056257]: rtabmap_viz: Parameter GridGlobal/UpdateError not found
[ WARN] [1716392174.957364420]: rtabmap_viz: Parameter Icp/CCFilterOutFarthestPoints not found
[ WARN] [1716392174.957666664]: rtabmap_viz: Parameter Icp/CCMaxFinalRMS not found
[ WARN] [1716392174.957983404]: rtabmap_viz: Parameter Icp/CCSamplingLimit not found
[ WARN] [1716392174.958305935]: rtabmap_viz: Parameter Icp/CorrespondenceRatio not found
[ WARN] [1716392174.958655764]: rtabmap_viz: Parameter Icp/DebugExportFormat not found
[ WARN] [1716392174.958980247]: rtabmap_viz: Parameter Icp/DownsamplingStep not found
[ WARN] [1716392174.959297851]: rtabmap_viz: Parameter Icp/Epsilon not found
[ WARN] [1716392174.959618591]: rtabmap_viz: Parameter Icp/FiltersEnabled not found
[ WARN] [1716392174.959930467]: rtabmap_viz: Parameter Icp/Force4DoF not found
[ WARN] [1716392174.960231590]: rtabmap_viz: Parameter Icp/Iterations not found
[ WARN] [1716392174.960531658]: rtabmap_viz: Parameter Icp/MaxCorrespondenceDistance not found
[ WARN] [1716392174.960845902]: rtabmap_viz: Parameter Icp/MaxRotation not found
[ WARN] [1716392174.961167793]: rtabmap_viz: Parameter Icp/MaxTranslation not found
[ WARN] [1716392174.961465301]: rtabmap_viz: Parameter Icp/OutlierRatio not found
[ WARN] [1716392174.961767928]: rtabmap_viz: Parameter Icp/PMConfig not found
[ WARN] [1716392174.962070364]: rtabmap_viz: Parameter Icp/PMMatcherEpsilon not found
[ WARN] [1716392174.962369472]: rtabmap_viz: Parameter Icp/PMMatcherIntensity not found
[ WARN] [1716392174.962681283]: rtabmap_viz: Parameter Icp/PMMatcherKnn not found
[ WARN] [1716392174.962984679]: rtabmap_viz: Parameter Icp/PointToPlane not found
[ WARN] [1716392174.963353451]: rtabmap_viz: Parameter Icp/PointToPlaneGroundNormalsUp not found
[ WARN] [1716392174.963654543]: rtabmap_viz: Parameter Icp/PointToPlaneK not found
[ WARN] [1716392174.963952114]: rtabmap_viz: Parameter Icp/PointToPlaneLowComplexityStrategy not found
[ WARN] [1716392174.964250198]: rtabmap_viz: Parameter Icp/PointToPlaneMinComplexity not found
[ WARN] [1716392174.964553145]: rtabmap_viz: Parameter Icp/PointToPlaneRadius not found
[ WARN] [1716392174.964879005]: rtabmap_viz: Parameter Icp/RangeMax not found
[ WARN] [1716392174.965191137]: rtabmap_viz: Parameter Icp/RangeMin not found
[ WARN] [1716392174.965558629]: rtabmap_viz: Parameter Icp/ReciprocalCorrespondences not found
[ WARN] [1716392174.965884489]: rtabmap_viz: Parameter Icp/Strategy not found
[ WARN] [1716392174.966222765]: rtabmap_viz: Parameter Icp/VoxelSize not found
[ WARN] [1716392174.966568785]: rtabmap_viz: Parameter ImuFilter/ComplementaryBiasAlpha not found
[ WARN] [1716392174.966883029]: rtabmap_viz: Parameter ImuFilter/ComplementaryDoAdpativeGain not found
[ WARN] [1716392174.967204345]: rtabmap_viz: Parameter ImuFilter/ComplementaryDoBiasEstimation not found
[ WARN] [1716392174.967539869]: rtabmap_viz: Parameter ImuFilter/ComplementaryGainAcc not found
[ WARN] [1716392174.967866016]: rtabmap_viz: Parameter ImuFilter/MadgwickGain not found
[ WARN] [1716392174.968171396]: rtabmap_viz: Parameter ImuFilter/MadgwickZeta not found
[ WARN] [1716392174.968487944]: rtabmap_viz: Parameter KAZE/Diffusivity not found
[ WARN] [1716392174.968794251]: rtabmap_viz: Parameter KAZE/Extended not found
[ WARN] [1716392174.969099535]: rtabmap_viz: Parameter KAZE/NOctaveLayers not found
[ WARN] [1716392174.969414931]: rtabmap_viz: Parameter KAZE/NOctaves not found
[ WARN] [1716392174.969720214]: rtabmap_viz: Parameter KAZE/Threshold not found
[ WARN] [1716392174.970048218]: rtabmap_viz: Parameter KAZE/Upright not found
[ WARN] [1716392174.970422303]: rtabmap_viz: Parameter Kp/BadSignRatio not found
[ WARN] [1716392174.970800643]: rtabmap_viz: Parameter Kp/ByteToFloat not found
[ WARN] [1716392174.972781723]: rtabmap_viz: Parameter Kp/DictionaryPath not found
[ WARN] [1716392174.973106686]: rtabmap_viz: Parameter Kp/FlannRebalancingFactor not found
[ WARN] [1716392174.973464739]: rtabmap_viz: Parameter Kp/GridCols not found
[ WARN] [1716392174.973774246]: rtabmap_viz: Parameter Kp/GridRows not found
[ WARN] [1716392174.974119146]: rtabmap_viz: Parameter Kp/IncrementalDictionary not found
[ WARN] [1716392174.974410446]: rtabmap_viz: Parameter Kp/IncrementalFlann not found
[ WARN] [1716392174.976114690]: rtabmap_viz: Parameter Kp/MaxFeatures not found
[ WARN] [1716392174.976410501]: rtabmap_viz: Parameter Kp/MinDepth not found
[ WARN] [1716392174.976709161]: rtabmap_viz: Parameter Kp/NNStrategy not found
[ WARN] [1716392174.976995148]: rtabmap_viz: Parameter Kp/NewWordsComparedTogether not found
[ WARN] [1716392174.977274960]: rtabmap_viz: Parameter Kp/NndrRatio not found
[ WARN] [1716392174.977547795]: rtabmap_viz: Parameter Kp/Parallelized not found
[ WARN] [1716392174.977826742]: rtabmap_viz: Parameter Kp/RoiRatios not found
[ WARN] [1716392174.978104729]: rtabmap_viz: Parameter Kp/SSC not found
[ WARN] [1716392174.978379549]: rtabmap_viz: Parameter Kp/SubPixEps not found
[ WARN] [1716392174.978678400]: rtabmap_viz: Parameter Kp/SubPixIterations not found
[ WARN] [1716392174.978956291]: rtabmap_viz: Parameter Kp/SubPixWinSize not found
[ WARN] [1716392174.979229863]: rtabmap_viz: Parameter Kp/TfIdfLikelihoodUsed not found
[ WARN] [1716392174.979503210]: rtabmap_viz: Parameter Marker/CornerRefinementMethod not found
[ WARN] [1716392174.979776717]: rtabmap_viz: Parameter Marker/Dictionary not found
[ WARN] [1716392174.980051728]: rtabmap_viz: Parameter Marker/Length not found
[ WARN] [1716392174.980324852]: rtabmap_viz: Parameter Marker/MaxDepthError not found
[ WARN] [1716392174.980595415]: rtabmap_viz: Parameter Marker/MaxRange not found
[ WARN] [1716392174.980864730]: rtabmap_viz: Parameter Marker/MinRange not found
[ WARN] [1716392174.981136061]: rtabmap_viz: Parameter Marker/Priors not found
[ WARN] [1716392174.981405696]: rtabmap_viz: Parameter Marker/PriorsVarianceAngular not found
[ WARN] [1716392174.981675748]: rtabmap_viz: Parameter Marker/PriorsVarianceLinear not found
[ WARN] [1716392174.981946759]: rtabmap_viz: Parameter Marker/VarianceAngular not found
[ WARN] [1716392174.982218634]: rtabmap_viz: Parameter Marker/VarianceLinear not found
[ WARN] [1716392174.982513614]: rtabmap_viz: Parameter Mem/BadSignaturesIgnored not found
[ WARN] [1716392174.982789009]: rtabmap_viz: Parameter Mem/BinDataKept not found
[ WARN] [1716392174.983062068]: rtabmap_viz: Parameter Mem/CompressionParallelized not found
[ WARN] [1716392174.983337463]: rtabmap_viz: Parameter Mem/CovOffDiagIgnored not found
[ WARN] [1716392174.983612315]: rtabmap_viz: Parameter Mem/DepthAsMask not found
[ WARN] [1716392174.983882974]: rtabmap_viz: Parameter Mem/GenerateIds not found
[ WARN] [1716392174.984156065]: rtabmap_viz: Parameter Mem/GlobalDescriptorStrategy not found
[ WARN] [1716392174.984431620]: rtabmap_viz: Parameter Mem/ImageCompressionFormat not found
[ WARN] [1716392174.984701383]: rtabmap_viz: Parameter Mem/ImageKept not found
[ WARN] [1716392174.984971755]: rtabmap_viz: Parameter Mem/ImagePostDecimation not found
[ WARN] [1716392174.985244334]: rtabmap_viz: Parameter Mem/ImagePreDecimation not found
[ WARN] [1716392174.985516273]: rtabmap_viz: Parameter Mem/IncrementalMemory not found
[ WARN] [1716392174.985786292]: rtabmap_viz: Parameter Mem/InitWMWithAllNodes not found
[ WARN] [1716392174.986055191]: rtabmap_viz: Parameter Mem/IntermediateNodeDataKept not found
[ WARN] [1716392174.986381051]: rtabmap_viz: Parameter Mem/LaserScanDownsampleStepSize not found
[ WARN] [1716392174.986698431]: rtabmap_viz: Parameter Mem/LaserScanNormalK not found
[ WARN] [1716392174.987003587]: rtabmap_viz: Parameter Mem/LaserScanNormalRadius not found
[ WARN] [1716392174.987309286]: rtabmap_viz: Parameter Mem/LaserScanVoxelSize not found
[ WARN] [1716392174.987619754]: rtabmap_viz: Parameter Mem/LocalizationDataSaved not found
[ WARN] [1716392174.987927021]: rtabmap_viz: Parameter Mem/MapLabelsAdded not found
[ WARN] [1716392174.988239057]: rtabmap_viz: Parameter Mem/NotLinkedNodesKept not found
[ WARN] [1716392174.988550805]: rtabmap_viz: Parameter Mem/RawDescriptorsKept not found
[ WARN] [1716392174.988860217]: rtabmap_viz: Parameter Mem/RecentWmRatio not found
[ WARN] [1716392174.989166460]: rtabmap_viz: Parameter Mem/ReduceGraph not found
[ WARN] [1716392174.989472096]: rtabmap_viz: Parameter Mem/RehearsalIdUpdatedToNewOne not found
[ WARN] [1716392174.989772643]: rtabmap_viz: Parameter Mem/RehearsalSimilarity not found
[ WARN] [1716392174.990072391]: rtabmap_viz: Parameter Mem/RehearsalWeightIgnoredWhileMoving not found
[ WARN] [1716392174.990371018]: rtabmap_viz: Parameter Mem/RotateImagesUpsideUp not found
[ WARN] [1716392174.990692878]: rtabmap_viz: Parameter Mem/STMSize not found
[ WARN] [1716392174.990996018]: rtabmap_viz: Parameter Mem/SaveDepth16Format not found
[ WARN] [1716392174.991295189]: rtabmap_viz: Parameter Mem/StereoFromMotion not found
[ WARN] [1716392174.991595033]: rtabmap_viz: Parameter Mem/TransferSortingByWeightId not found
[ WARN] [1716392174.991893628]: rtabmap_viz: Parameter Mem/UseOdomFeatures not found
[ WARN] [1716392174.992193312]: rtabmap_viz: Parameter Mem/UseOdomGravity not found
[ WARN] [1716392174.992493923]: rtabmap_viz: Parameter ORB/EdgeThreshold not found
[ WARN] [1716392174.992776871]: rtabmap_viz: Parameter ORB/FirstLevel not found
[ WARN] [1716392174.993066858]: rtabmap_viz: Parameter ORB/Gpu not found
[ WARN] [1716392174.993358286]: rtabmap_viz: Parameter ORB/NLevels not found
[ WARN] [1716392174.993650033]: rtabmap_viz: Parameter ORB/PatchSize not found
[ WARN] [1716392174.993944501]: rtabmap_viz: Parameter ORB/ScaleFactor not found
[ WARN] [1716392174.994243416]: rtabmap_viz: Parameter ORB/ScoreType not found
[ WARN] [1716392174.994554428]: rtabmap_viz: Parameter ORB/WTA_K not found
[ WARN] [1716392174.994860959]: rtabmap_viz: Parameter Optimizer/Epsilon not found
[ WARN] [1716392174.995217764]: rtabmap_viz: Parameter Optimizer/GravitySigma not found
[ WARN] [1716392174.995536647]: rtabmap_viz: Parameter Optimizer/Iterations not found
[ WARN] [1716392174.995865675]: rtabmap_viz: Parameter Optimizer/LandmarksIgnored not found
[ WARN] [1716392174.996257456]: rtabmap_viz: Parameter Optimizer/PriorsIgnored not found
[ WARN] [1716392174.996630164]: rtabmap_viz: Parameter Optimizer/Robust not found
[ WARN] [1716392174.996956344]: rtabmap_viz: Parameter Optimizer/Strategy not found
[ WARN] [1716392174.997267804]: rtabmap_viz: Parameter Optimizer/VarianceIgnored not found
[ WARN] [1716392174.997576384]: rtabmap_viz: Parameter PyDescriptor/Dim not found
[ WARN] [1716392174.997880291]: rtabmap_viz: Parameter PyDescriptor/Path not found
[ WARN] [1716392174.998188167]: rtabmap_viz: Parameter PyDetector/Cuda not found
[ WARN] [1716392174.998502634]: rtabmap_viz: Parameter PyDetector/Path not found
[ WARN] [1716392174.998853167]: rtabmap_viz: Parameter PyMatcher/Cuda not found
[ WARN] [1716392174.999157106]: rtabmap_viz: Parameter PyMatcher/Iterations not found
[ WARN] [1716392174.999473078]: rtabmap_viz: Parameter PyMatcher/Model not found
[ WARN] [1716392174.999769241]: rtabmap_viz: Parameter PyMatcher/Path not found
[ WARN] [1716392175.000071101]: rtabmap_viz: Parameter PyMatcher/Threshold not found
[ WARN] [1716392175.000407617]: rtabmap_viz: Parameter RGBD/AngularSpeedUpdate not found
[ WARN] [1716392175.000712325]: rtabmap_viz: Parameter RGBD/AngularUpdate not found
[ WARN] [1716392175.002289431]: rtabmap_viz: Parameter RGBD/Enabled not found
[ WARN] [1716392175.002600059]: rtabmap_viz: Parameter RGBD/ForceOdom3DoF not found
[ WARN] [1716392175.002879934]: rtabmap_viz: Parameter RGBD/GoalReachedRadius not found
[ WARN] [1716392175.003155489]: rtabmap_viz: Parameter RGBD/GoalsSavedInUserData not found
[ WARN] [1716392175.003456293]: rtabmap_viz: Parameter RGBD/InvertedReg not found
[ WARN] [1716392175.003771369]: rtabmap_viz: Parameter RGBD/LinearSpeedUpdate not found
[ WARN] [1716392175.004057196]: rtabmap_viz: Parameter RGBD/LinearUpdate not found
[ WARN] [1716392175.004372400]: rtabmap_viz: Parameter RGBD/LocalBundleOnLoopClosure not found
[ WARN] [1716392175.004657235]: rtabmap_viz: Parameter RGBD/LocalImmunizationRatio not found
[ WARN] [1716392175.004937014]: rtabmap_viz: Parameter RGBD/LocalRadius not found
[ WARN] [1716392175.005230650]: rtabmap_viz: Parameter RGBD/LocalizationPriorError not found
[ WARN] [1716392175.005538046]: rtabmap_viz: Parameter RGBD/LocalizationSmoothing not found
[ WARN] [1716392175.005840481]: rtabmap_viz: Parameter RGBD/LoopClosureIdentityGuess not found
[ WARN] [1716392175.006123429]: rtabmap_viz: Parameter RGBD/LoopClosureReextractFeatures not found
[ WARN] [1716392175.006400840]: rtabmap_viz: Parameter RGBD/LoopCovLimited not found
[ WARN] [1716392175.006690699]: rtabmap_viz: Parameter RGBD/MarkerDetection not found
[ WARN] [1716392175.006965454]: rtabmap_viz: Parameter RGBD/MaxLocalRetrieved not found
[ WARN] [1716392175.007243762]: rtabmap_viz: Parameter RGBD/MaxLoopClosureDistance not found
[ WARN] [1716392175.007553365]: rtabmap_viz: Parameter RGBD/MaxOdomCacheSize not found
[ WARN] [1716392175.007832697]: rtabmap_viz: Parameter RGBD/NeighborLinkRefining not found
[ WARN] [1716392175.008164605]: rtabmap_viz: Parameter RGBD/NewMapOdomChangeDistance not found
[ WARN] [1716392175.008500865]: rtabmap_viz: Parameter RGBD/OptimizeFromGraphEnd not found
[ WARN] [1716392175.008829828]: rtabmap_viz: Parameter RGBD/OptimizeMaxError not found
[ WARN] [1716392175.009157288]: rtabmap_viz: Parameter RGBD/PlanAngularVelocity not found
[ WARN] [1716392175.009483948]: rtabmap_viz: Parameter RGBD/PlanLinearVelocity not found
[ WARN] [1716392175.009807696]: rtabmap_viz: Parameter RGBD/PlanStuckIterations not found
[ WARN] [1716392175.010129108]: rtabmap_viz: Parameter RGBD/ProximityAngle not found
[ WARN] [1716392175.010476984]: rtabmap_viz: Parameter RGBD/ProximityBySpace not found
[ WARN] [1716392175.010797884]: rtabmap_viz: Parameter RGBD/ProximityByTime not found
[ WARN] [1716392175.011124864]: rtabmap_viz: Parameter RGBD/ProximityGlobalScanMap not found
[ WARN] [1716392175.011450115]: rtabmap_viz: Parameter RGBD/ProximityMaxGraphDepth not found
[ WARN] [1716392175.011784071]: rtabmap_viz: Parameter RGBD/ProximityMaxPaths not found
[ WARN] [1716392175.012108715]: rtabmap_viz: Parameter RGBD/ProximityMergedScanCovFactor not found
[ WARN] [1716392175.012430127]: rtabmap_viz: Parameter RGBD/ProximityOdomGuess not found
[ WARN] [1716392175.012780275]: rtabmap_viz: Parameter RGBD/ProximityPathFilteringRadius not found
[ WARN] [1716392175.013098487]: rtabmap_viz: Parameter RGBD/ProximityPathMaxNeighbors not found
[ WARN] [1716392175.013422139]: rtabmap_viz: Parameter RGBD/ProximityPathRawPosesUsed not found
[ WARN] [1716392175.013750847]: rtabmap_viz: Parameter RGBD/ScanMatchingIdsSavedInLinks not found
[ WARN] [1716392175.014076770]: rtabmap_viz: Parameter RGBD/StartAtOrigin not found
[ WARN] [1716392175.014391110]: rtabmap_viz: Parameter Reg/Force3DoF not found
[ WARN] [1716392175.014746538]: rtabmap_viz: Parameter Reg/RepeatOnce not found
[ WARN] [1716392175.015074894]: rtabmap_viz: Parameter Reg/Strategy not found
[ WARN] [1716392175.015416690]: rtabmap_viz: Parameter Rtabmap/ComputeRMSE not found
[ WARN] [1716392175.015737462]: rtabmap_viz: Parameter Rtabmap/CreateIntermediateNodes not found
[ WARN] [1716392175.016058170]: rtabmap_viz: Parameter Rtabmap/DetectionRate not found
[ WARN] [1716392175.016398686]: rtabmap_viz: Parameter Rtabmap/ImageBufferSize not found
[ WARN] [1716392175.016727938]: rtabmap_viz: Parameter Rtabmap/ImagesAlreadyRectified not found
[ WARN] [1716392175.017056582]: rtabmap_viz: Parameter Rtabmap/LoopGPS not found
[ WARN] [1716392175.017386058]: rtabmap_viz: Parameter Rtabmap/LoopRatio not found
[ WARN] [1716392175.017706957]: rtabmap_viz: Parameter Rtabmap/LoopThr not found
[ WARN] [1716392175.018025841]: rtabmap_viz: Parameter Rtabmap/MaxRepublished not found
[ WARN] [1716392175.018345269]: rtabmap_viz: Parameter Rtabmap/MaxRetrieved not found
[ WARN] [1716392175.018685529]: rtabmap_viz: Parameter Rtabmap/MemoryThr not found
[ WARN] [1716392175.019008157]: rtabmap_viz: Parameter Rtabmap/PublishLastSignature not found
[ WARN] [1716392175.019330945]: rtabmap_viz: Parameter Rtabmap/PublishLikelihood not found
[ WARN] [1716392175.019648964]: rtabmap_viz: Parameter Rtabmap/PublishPdf not found
[ WARN] [1716392175.019969064]: rtabmap_viz: Parameter Rtabmap/PublishRAMUsage not found
[ WARN] [1716392175.020301964]: rtabmap_viz: Parameter Rtabmap/PublishStats not found
[ WARN] [1716392175.020611600]: rtabmap_viz: Parameter Rtabmap/RectifyOnlyFeatures not found
[ WARN] [1716392175.020913587]: rtabmap_viz: Parameter Rtabmap/SaveWMState not found
[ WARN] [1716392175.021218263]: rtabmap_viz: Parameter Rtabmap/StartNewMapOnGoodSignature not found
[ WARN] [1716392175.021511898]: rtabmap_viz: Parameter Rtabmap/StartNewMapOnLoopClosure not found
[ WARN] [1716392175.021809726]: rtabmap_viz: Parameter Rtabmap/StatisticLogged not found
[ WARN] [1716392175.022103777]: rtabmap_viz: Parameter Rtabmap/StatisticLoggedHeaders not found
[ WARN] [1716392175.022422949]: rtabmap_viz: Parameter Rtabmap/StatisticLogsBufferedInRAM not found
[ WARN] [1716392175.024568862]: rtabmap_viz: Parameter Rtabmap/VirtualPlaceLikelihoodRatio not found
[ WARN] [1716392175.025922318]: rtabmap_viz: Parameter SIFT/ContrastThreshold not found
[ WARN] [1716392175.026257458]: rtabmap_viz: Parameter SIFT/EdgeThreshold not found
[ WARN] [1716392175.026576854]: rtabmap_viz: Parameter SIFT/NFeatures not found
[ WARN] [1716392175.026876986]: rtabmap_viz: Parameter SIFT/NOctaveLayers not found
[ WARN] [1716392175.027159773]: rtabmap_viz: Parameter SIFT/RootSIFT not found
[ WARN] [1716392175.027440960]: rtabmap_viz: Parameter SIFT/Sigma not found
[ WARN] [1716392175.027714884]: rtabmap_viz: Parameter SURF/Extended not found
[ WARN] [1716392175.027999559]: rtabmap_viz: Parameter SURF/GpuKeypointsRatio not found
[ WARN] [1716392175.028280586]: rtabmap_viz: Parameter SURF/GpuVersion not found
[ WARN] [1716392175.028553454]: rtabmap_viz: Parameter SURF/HessianThreshold not found
[ WARN] [1716392175.028825649]: rtabmap_viz: Parameter SURF/OctaveLayers not found
[ WARN] [1716392175.029138036]: rtabmap_viz: Parameter SURF/Octaves not found
[ WARN] [1716392175.029445560]: rtabmap_viz: Parameter SURF/Upright not found
[ WARN] [1716392175.029744220]: rtabmap_viz: Parameter Stereo/DenseStrategy not found
[ WARN] [1716392175.030051071]: rtabmap_viz: Parameter Stereo/Eps not found
[ WARN] [1716392175.030384355]: rtabmap_viz: Parameter Stereo/Iterations not found
[ WARN] [1716392175.031269358]: rtabmap_viz: Parameter Stereo/MaxLevel not found
[ WARN] [1716392175.031570193]: rtabmap_viz: Parameter Stereo/MinDisparity not found
[ WARN] [1716392175.031869365]: rtabmap_viz: Parameter Stereo/OpticalFlow not found
[ WARN] [1716392175.032167000]: rtabmap_viz: Parameter Stereo/SSD not found
[ WARN] [1716392175.032464092]: rtabmap_viz: Parameter Stereo/WinHeight not found
[ WARN] [1716392175.032766527]: rtabmap_viz: Parameter Stereo/WinWidth not found
[ WARN] [1716392175.033064995]: rtabmap_viz: Parameter StereoBM/BlockSize not found
[ WARN] [1716392175.033368742]: rtabmap_viz: Parameter StereoBM/Disp12MaxDiff not found
[ WARN] [1716392175.033659434]: rtabmap_viz: Parameter StereoBM/MinDisparity not found
[ WARN] [1716392175.033952077]: rtabmap_viz: Parameter StereoBM/NumDisparities not found
[ WARN] [1716392175.034261457]: rtabmap_viz: Parameter StereoBM/PreFilterCap not found
[ WARN] [1716392175.034556532]: rtabmap_viz: Parameter StereoBM/PreFilterSize not found
[ WARN] [1716392175.034852248]: rtabmap_viz: Parameter StereoBM/SpeckleRange not found
[ WARN] [1716392175.035143931]: rtabmap_viz: Parameter StereoBM/SpeckleWindowSize not found
[ WARN] [1716392175.035482751]: rtabmap_viz: Parameter StereoBM/TextureThreshold not found
[ WARN] [1716392175.035777539]: rtabmap_viz: Parameter StereoBM/UniquenessRatio not found
[ WARN] [1716392175.036066438]: rtabmap_viz: Parameter StereoSGBM/BlockSize not found
[ WARN] [1716392175.036352298]: rtabmap_viz: Parameter StereoSGBM/Disp12MaxDiff not found
[ WARN] [1716392175.036638381]: rtabmap_viz: Parameter StereoSGBM/MinDisparity not found
[ WARN] [1716392175.036921552]: rtabmap_viz: Parameter StereoSGBM/Mode not found
[ WARN] [1716392175.037466583]: rtabmap_viz: Parameter StereoSGBM/NumDisparities not found
[ WARN] [1716392175.037828571]: rtabmap_viz: Parameter StereoSGBM/P1 not found
[ WARN] [1716392175.038169535]: rtabmap_viz: Parameter StereoSGBM/P2 not found
[ WARN] [1716392175.038502275]: rtabmap_viz: Parameter StereoSGBM/PreFilterCap not found
[ WARN] [1716392175.038827207]: rtabmap_viz: Parameter StereoSGBM/SpeckleRange not found
[ WARN] [1716392175.039146379]: rtabmap_viz: Parameter StereoSGBM/SpeckleWindowSize not found
[ WARN] [1716392175.039453262]: rtabmap_viz: Parameter StereoSGBM/UniquenessRatio not found
[ WARN] [1716392175.039749810]: rtabmap_viz: Parameter SuperPoint/Cuda not found
[ WARN] [1716392175.040060501]: rtabmap_viz: Parameter SuperPoint/ModelPath not found
[ WARN] [1716392175.040362585]: rtabmap_viz: Parameter SuperPoint/NMS not found
[ WARN] [1716392175.040660125]: rtabmap_viz: Parameter SuperPoint/NMSRadius not found
[ WARN] [1716392175.040964288]: rtabmap_viz: Parameter SuperPoint/Threshold not found
[ WARN] [1716392175.041263460]: rtabmap_viz: Parameter VhEp/Enabled not found
[ WARN] [1716392175.041557607]: rtabmap_viz: Parameter VhEp/MatchCountMin not found
[ WARN] [1716392175.041859531]: rtabmap_viz: Parameter VhEp/RansacParam1 not found
[ WARN] [1716392175.042156750]: rtabmap_viz: Parameter VhEp/RansacParam2 not found
[ WARN] [1716392175.042472498]: rtabmap_viz: Parameter Vis/BundleAdjustment not found
[ WARN] [1716392175.042775638]: rtabmap_viz: Parameter Vis/CorFlowEps not found
[ WARN] [1716392175.043071737]: rtabmap_viz: Parameter Vis/CorFlowIterations not found
[ WARN] [1716392175.043366141]: rtabmap_viz: Parameter Vis/CorFlowMaxLevel not found
[ WARN] [1716392175.043660256]: rtabmap_viz: Parameter Vis/CorFlowWinSize not found
[ WARN] [1716392175.043951491]: rtabmap_viz: Parameter Vis/CorGuessMatchToProjection not found
[ WARN] [1716392175.044249095]: rtabmap_viz: Parameter Vis/CorGuessWinSize not found
[ WARN] [1716392175.044540106]: rtabmap_viz: Parameter Vis/CorNNDR not found
[ WARN] [1716392175.044836366]: rtabmap_viz: Parameter Vis/CorNNType not found
[ WARN] [1716392175.045134993]: rtabmap_viz: Parameter Vis/CorType not found
[ WARN] [1716392175.045428373]: rtabmap_viz: Parameter Vis/DepthAsMask not found
[ WARN] [1716392175.045729368]: rtabmap_viz: Parameter Vis/EpipolarGeometryVar not found
[ WARN] [1716392175.047109801]: rtabmap_viz: Parameter Vis/ForwardEstOnly not found
[ WARN] [1716392175.047408332]: rtabmap_viz: Parameter Vis/GridCols not found
[ WARN] [1716392175.047697904]: rtabmap_viz: Parameter Vis/GridRows not found
[ WARN] [1716392175.047984883]: rtabmap_viz: Parameter Vis/InlierDistance not found
[ WARN] [1716392175.048286903]: rtabmap_viz: Parameter Vis/Iterations not found
[ WARN] [1716392175.049004319]: rtabmap_viz: Parameter Vis/MaxFeatures not found
[ WARN] [1716392175.049307555]: rtabmap_viz: Parameter Vis/MeanInliersDistance not found
[ WARN] [1716392175.049623398]: rtabmap_viz: Parameter Vis/MinDepth not found
[ WARN] [1716392175.049935690]: rtabmap_viz: Parameter Vis/MinInliers not found
[ WARN] [1716392175.050245422]: rtabmap_viz: Parameter Vis/MinInliersDistribution not found
[ WARN] [1716392175.050563282]: rtabmap_viz: Parameter Vis/PnPFlags not found
[ WARN] [1716392175.050863029]: rtabmap_viz: Parameter Vis/PnPMaxVariance not found
[ WARN] [1716392175.051253914]: rtabmap_viz: Parameter Vis/PnPRefineIterations not found
[ WARN] [1716392175.051619230]: rtabmap_viz: Parameter Vis/PnPReprojError not found
[ WARN] [1716392175.051973282]: rtabmap_viz: Parameter Vis/PnPSamplingPolicy not found
[ WARN] [1716392175.052331622]: rtabmap_viz: Parameter Vis/PnPSplitLinearCovComponents not found
[ WARN] [1716392175.052642282]: rtabmap_viz: Parameter Vis/PnPVarianceMedianRatio not found
[ WARN] [1716392175.052948750]: rtabmap_viz: Parameter Vis/RefineIterations not found
[ WARN] [1716392175.053253105]: rtabmap_viz: Parameter Vis/RoiRatios not found
[ WARN] [1716392175.053562581]: rtabmap_viz: Parameter Vis/SSC not found
[ WARN] [1716392175.053867513]: rtabmap_viz: Parameter Vis/SubPixEps not found
[ WARN] [1716392175.054171004]: rtabmap_viz: Parameter Vis/SubPixIterations not found
[ WARN] [1716392175.054478016]: rtabmap_viz: Parameter Vis/SubPixWinSize not found
[ WARN] [1716392175.054790020]: rtabmap_viz: Parameter g2o/Baseline not found
[ WARN] [1716392175.055090567]: rtabmap_viz: Parameter g2o/Optimizer not found
[ WARN] [1716392175.055387371]: rtabmap_viz: Parameter g2o/PixelVariance not found
[ WARN] [1716392175.055678798]: rtabmap_viz: Parameter g2o/RobustKernelDelta not found
[ WARN] [1716392175.055971633]: rtabmap_viz: Parameter g2o/Solver not found
[ INFO] [1716392175.056004242]: rtabmap_viz: Parameters read = 10
[ INFO] [1716392175.257528831]: /rtabmap/rtabmap_viz: subscribe_depth = false
[ INFO] [1716392175.257588736]: /rtabmap/rtabmap_viz: subscribe_rgb = false
[ INFO] [1716392175.257607232]: /rtabmap/rtabmap_viz: subscribe_stereo = true
[ INFO] [1716392175.257626048]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1716392175.257643168]: /rtabmap/rtabmap_viz: subscribe_sensor_data = false
[ INFO] [1716392175.257657120]: /rtabmap/rtabmap_viz: subscribe_odom_info = true
[ INFO] [1716392175.257673569]: /rtabmap/rtabmap_viz: subscribe_user_data = false
[ INFO] [1716392175.257688705]: /rtabmap/rtabmap_viz: subscribe_scan = false
[ INFO] [1716392175.257703745]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false
[ INFO] [1716392175.257718593]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false
[ INFO] [1716392175.257733825]: /rtabmap/rtabmap_viz: queue_size = 10
[ INFO] [1716392175.257750306]: /rtabmap/rtabmap_viz: approx_sync = false
[ INFO] [1716392175.257803554]: Setup stereo callback
[ INFO] [1716392175.345201579]:
/rtabmap/rtabmap_viz subscribed to (exact sync):
/stereo_odometry \
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info \
/rtabmap/odom_info
[ INFO] [1716392175.348118829]: rtabmap_viz started.
[DEBUG] (2024-05-22 15:36:23.373) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.380032929]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.006788s
[DEBUG] (2024-05-22 15:36:23.465) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.465709941]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000308s
[DEBUG] (2024-05-22 15:36:23.563) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.563922557]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000342s
[DEBUG] (2024-05-22 15:36:23.662) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.663250322]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000302s
[DEBUG] (2024-05-22 15:36:23.762) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.762613927]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000355s
[DEBUG] (2024-05-22 15:36:23.862) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.862537859]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000335s
[DEBUG] (2024-05-22 15:36:23.961) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392183.962090522]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000335s
[DEBUG] (2024-05-22 15:36:24.061) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.061993494]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000300s
[DEBUG] (2024-05-22 15:36:24.164) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.164968917]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000322s
[DEBUG] (2024-05-22 15:36:24.262) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.262903802]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000304s
[DEBUG] (2024-05-22 15:36:24.366) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.367067303]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000323s
[DEBUG] (2024-05-22 15:36:24.472) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.472899753]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000365s
[DEBUG] (2024-05-22 15:36:24.564) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.565194186]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000331s
[DEBUG] (2024-05-22 15:36:24.667) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.667460802]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000314s
[DEBUG] (2024-05-22 15:36:24.768) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.768549355]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000315s
[DEBUG] (2024-05-22 15:36:24.863) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.864376247]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000449s
[DEBUG] (2024-05-22 15:36:24.964) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392184.965228637]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000306s
[DEBUG] (2024-05-22 15:36:25.065) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392185.066007299]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000448s
[DEBUG] (2024-05-22 15:36:25.165) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392185.165457721]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000337s
[DEBUG] (2024-05-22 15:36:25.266) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392185.266792582]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000336s
[DEBUG] (2024-05-22 15:36:25.365) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392185.365768310]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000318s
[DEBUG] (2024-05-22 15:36:25.465) Odometry.cpp:342::process() Processing image data 2048x1080: rgbd models=0, stereo models=1
[ INFO] [1716392185.466239352]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000336s
^C[rtabmap/rtabmap_viz-10] killing on exit
[rtabmap/rtabmap-9] killing on exit
[rtabmap/stereo_odometry-8] killing on exit
[rtabmap/link2_broadcaster-7] killing on exit
[rtabmap/link1_broadcaster-6] killing on exit
[yaml_to_camera_info_right-5] killing on exit
[ INFO] [1716392185.544508980]: rtabmapviz: ctrl-c catched! Exiting Qt app...
[yaml_to_camera_info_left-4] killing on exit
[republish_right-3] killing on exit
[republish_left-2] killing on exit
[ INFO] (2024-05-22 15:36:25.909) PythonInterface.cpp:25::~PythonInterface() Finalize python interpreter
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done