Error loading rtabmap parameters when opening a database.

Posted by cpsarras on Jun 29, 2017; 7:52am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-loading-rtabmap-parameters-when-opening-a-database-tp3382.html

Hi Mathieu,

I should probably post this as an issue in github, as it is more of a code bug. When I open a database with rtabmap-databaseViewer and the recording had some parameters different from the default I am prompted to change the parameters. When i accept, i get the following error:

[ WARN] (2017-06-29 07:46:48.640) Parameters.cpp:771::readINI() Section "Core" in /home/chris/.rtabmap/rtabmap.ini doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when this node will close.
[ INFO] (2017-06-29 07:46:48.643) DBDriverSqlite3.cpp:343::connectDatabaseQuery() Using database "/home/chris/.ros/rtabmap.db" from the hard drive.
[ INFO] (2017-06-29 07:46:48.643) DBDriverSqlite3.cpp:382::connectDatabaseQuery() Database version = 0.12.5
[ WARN] (2017-06-29 07:46:48.647) DatabaseViewer.cpp:754::openDatabase() Parameter "Optimizer/Robust": database="true" Preferences="false"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Reg/VarianceFromInliersCount": database="true" Preferences="false"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Stereo/MaxDisparity": database="1200" Preferences="128"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Stereo/MaxLevel": database="4" Preferences="3"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Stereo/MinDisparity": database="0" Preferences="1"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Stereo/WinHeight": database="6" Preferences="3"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Stereo/WinWidth": database="30" Preferences="15"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Vis/EstimationType": database="1" Preferences="0"
[ WARN] (2017-06-29 07:46:48.648) DatabaseViewer.cpp:754::openDatabase() Parameter "Vis/FeatureType": database="0" Preferences="6"
ASSERT failure in QList<T>::at: "index out of range", file /usr/include/x86_64-linux-gnu/qt5/QtCore/qlist.h, line 510
[1]    5685 abort (core dumped)  rtabmap-databaseViewer ~/.ros/rtabmap.db


Of course, if I choose not to load the same parameters in rtabmap-databaseViewer the error does not occur, and I can continue viewing the contents of the database. As I have never used this utility before, I am not sure if I am losing something in functionality when i don't load the same parameters that where used when the database was taken.


Thank you,
Chris