Re: KITTI 00 sequence & rtabmap.
Posted by
Mikor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7656.html
This is my output:
$ rtabmap-info ~/.ros/rtabmap.db
Parameters (Yellow=modified, Red=old parameter not used anymore):
BRIEF/Bytes= 32
BRISK/Octaves= 3
BRISK/PatternScale= 1
BRISK/Thresh= 30
Bayes/FullPredictionUpdate= false
Bayes/PredictionLC= 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23
Bayes/VirtualPlacePriorThr= 0.9
DbSqlite3/CacheSize= 10000
DbSqlite3/InMemory= false
DbSqlite3/JournalMode= 3
DbSqlite3/Synchronous= 0
DbSqlite3/TempStore= 2
FAST/CV= 0
FAST/Gpu= false
FAST/GpuKeypointsRatio= 0.05
FAST/GridCols= 0
FAST/GridRows= 0
FAST/MaxThreshold= 200
FAST/MinThreshold= 7
FAST/NonmaxSuppression= true
FAST/Threshold= 20
FREAK/NOctaves= 4
FREAK/OrientationNormalized= true
FREAK/PatternScale= 22
FREAK/ScaleNormalized= true
GFTT/BlockSize= 3
GFTT/K= 0.04
GFTT/MinDistance= 7
GFTT/QualityLevel= 0.001
GFTT/UseHarrisDetector= false
GMS/ThresholdFactor= 6.0
GMS/WithRotation= false
GMS/WithScale= false
GTSAM/Optimizer= 1
Grid/3D= true
Grid/CellSize= 0.05
Grid/ClusterRadius= 0.1
Grid/DepthDecimation= 4
Grid/DepthRoiRatios= 0.0 0.0 0.0 0.0
Grid/FlatObstacleDetected= true
Grid/FootprintHeight= 0.0
Grid/FootprintLength= 0.0
Grid/FootprintWidth= 0.0
Grid/FromDepth= false (default=true)
Grid/GroundIsObstacle= false
Grid/MapFrameProjection= false
Grid/MaxGroundAngle= 45
Grid/MaxGroundHeight= 0.0
Grid/MaxObstacleHeight= 0.0
Grid/MinClusterSize= 10
Grid/MinGroundHeight= 0.0
Grid/NoiseFilteringMinNeighbors= 5
Grid/NoiseFilteringRadius= 0.0
Grid/NormalK= 20
Grid/NormalsSegmentation= true
Grid/PreVoxelFiltering= true
Grid/RangeMax= 0 (default=5.0)
Grid/RangeMin= 0.0
Grid/RayTracing= false
Grid/Scan2dUnknownSpaceFilled= false
Grid/ScanDecimation= 1
GridGlobal/AltitudeDelta= 0
GridGlobal/Eroded= false
GridGlobal/FootprintRadius= 0.0
GridGlobal/FullUpdate= true
GridGlobal/MaxNodes= 0
GridGlobal/MinSize= 0.0
GridGlobal/OccupancyThr= 0.5
GridGlobal/ProbClampingMax= 0.971
GridGlobal/ProbClampingMin= 0.1192
GridGlobal/ProbHit= 0.7
GridGlobal/ProbMiss= 0.4
GridGlobal/UpdateError= 0.01
Icp/CorrespondenceRatio= 0.01 (default=0.1)
Icp/DownsamplingStep= 1
Icp/Epsilon= 0.0001 (default=0)
Icp/Iterations= 10 (default=30)
Icp/MaxCorrespondenceDistance= 1.5 (default=0.1)
Icp/MaxRotation= 0.78
Icp/MaxTranslation= 2 (default=0.2)
Icp/PM= true
Icp/PMForce4DoF= false
Icp/PMMatcherEpsilon= 1 (default=0.0)
Icp/PMMatcherIntensity= false
Icp/PMMatcherKnn= 3 (default=1)
Icp/PMOutlierRatio= 0.7 (default=0.85)
Icp/PointToPlane= false (default=true)
Icp/PointToPlaneGroundNormalsUp= 0.0
Icp/PointToPlaneK= 0 (default=5)
Icp/PointToPlaneLowComplexityStrategy=1
Icp/PointToPlaneMinComplexity= 0.02
Icp/PointToPlaneRadius= 0 (default=1.0)
Icp/RangeMax= 0
Icp/RangeMin= 0
Icp/VoxelSize= 0.5 (default=0.05)
ImuFilter/ComplementaryBiasAlpha= 0.01
ImuFilter/ComplementaryDoAdpativeGain=true
ImuFilter/ComplementaryDoBiasEstimation=true
ImuFilter/ComplementaryGainAcc= 0.01
ImuFilter/MadgwickGain= 0.1
ImuFilter/MadgwickZeta= 0.0
KAZE/Diffusivity= 1
KAZE/Extended= false
KAZE/NOctaveLayers= 4
KAZE/NOctaves= 4
KAZE/Threshold= 0.001
KAZE/Upright= false
Kp/BadSignRatio= 0.5
Kp/ByteToFloat= false
Kp/DetectorStrategy= 8
Kp/FlannRebalancingFactor= 2.0
Kp/GridCols= 1
Kp/GridRows= 1
Kp/IncrementalDictionary= true
Kp/IncrementalFlann= true
Kp/MaxDepth= 0
Kp/MaxFeatures= 500
Kp/MinDepth= 0
Kp/NNStrategy= 1
Kp/NewWordsComparedTogether= true
Kp/NndrRatio= 0.8
Kp/Parallelized= true
Kp/RoiRatios= 0.0 0.0 0.0 0.0
Kp/SubPixEps= 0.02
Kp/SubPixIterations= 0
Kp/SubPixWinSize= 3
Kp/TfIdfLikelihoodUsed= true
Marker/CornerRefinementMethod= 0
Marker/Dictionary= 0
Marker/Length= 0
Marker/MaxDepthError= 0.01
Marker/MaxRange= 0.0
Marker/MinRange= 0.0
Marker/VarianceAngular= 0.01
Marker/VarianceLinear= 0.001
Mem/BadSignaturesIgnored= false
Mem/BinDataKept= true
Mem/CompressionParallelized= true
Mem/CovOffDiagIgnored= true
Mem/DepthAsMask= true
Mem/GenerateIds= true
Mem/ImageCompressionFormat= .jpg
Mem/ImageKept= false
Mem/ImagePostDecimation= 1
Mem/ImagePreDecimation= 1
Mem/IncrementalMemory= true
Mem/InitWMWithAllNodes= false
Mem/IntermediateNodeDataKept= false
Mem/LaserScanDownsampleStepSize= 1
Mem/LaserScanNormalK= 0
Mem/LaserScanNormalRadius= 0.0
Mem/LaserScanVoxelSize= 0.0
Mem/LocalizationDataSaved= false
Mem/MapLabelsAdded= true
Mem/NotLinkedNodesKept= true
Mem/RawDescriptorsKept= true
Mem/RecentWmRatio= 0.2
Mem/ReduceGraph= false
Mem/RehearsalIdUpdatedToNewOne= false
Mem/RehearsalSimilarity= 0.6
Mem/RehearsalWeightIgnoredWhileMoving=false
Mem/STMSize= 10
Mem/SaveDepth16Format= false
Mem/StereoFromMotion= false
Mem/TransferSortingByWeightId= false
Mem/UseOdomFeatures= true
Mem/UseOdomGravity= false
ORB/EdgeThreshold= 19
ORB/FirstLevel= 0
ORB/Gpu= false
ORB/NLevels= 3
ORB/PatchSize= 31
ORB/ScaleFactor= 2
ORB/ScoreType= 0
ORB/WTA_K= 2
Odom/AlignWithGround= false
Odom/FillInfoData= true
Odom/FilteringStrategy= 0
Odom/GuessMotion= true
Odom/GuessSmoothingDelay= 0
Odom/Holonomic= true
Odom/ImageBufferSize= 1
Odom/ImageDecimation= 1
Odom/KalmanMeasurementNoise= 0.01
Odom/KalmanProcessNoise= 0.001
Odom/KeyFrameThr= 0.3
Odom/ParticleLambdaR= 100
Odom/ParticleLambdaT= 100
Odom/ParticleNoiseR= 0.002
Odom/ParticleNoiseT= 0.002
Odom/ParticleSize= 400
Odom/ResetCountdown= 0
Odom/ScanKeyFrameThr= 0.8 (default=0.9)
Odom/Strategy= 0
Odom/VisKeyFrameThr= 150
OdomF2M/BundleAdjustment= 1
OdomF2M/BundleAdjustmentMaxFrames= 10
OdomF2M/MaxNewFeatures= 0
OdomF2M/MaxSize= 2000
OdomF2M/ScanMaxSize= 10000 (default=2000)
OdomF2M/ScanRange= 0
OdomF2M/ScanSubtractAngle= 45
OdomF2M/ScanSubtractRadius= 0.5 (default=0.05)
OdomF2M/ValidDepthRatio= 0.75
OdomFovis/BucketHeight= 80
OdomFovis/BucketWidth= 80
OdomFovis/CliqueInlierThreshold= 0.1
OdomFovis/FastThreshold= 20
OdomFovis/FastThresholdAdaptiveGain=0.005
OdomFovis/FeatureSearchWindow= 25
OdomFovis/FeatureWindowSize= 9
OdomFovis/InlierMaxReprojectionError=1.5
OdomFovis/MaxKeypointsPerBucket= 25
OdomFovis/MaxMeanReprojectionError=10.0
OdomFovis/MaxPyramidLevel= 3
OdomFovis/MinFeaturesForEstimate= 20
OdomFovis/MinPyramidLevel= 0
OdomFovis/StereoMaxDisparity= 128
OdomFovis/StereoMaxDistEpipolarLine=1.5
OdomFovis/StereoMaxRefinementDisplacement=1.0
OdomFovis/StereoRequireMutualMatch=true
OdomFovis/TargetPixelsPerFeature= 250
OdomFovis/UpdateTargetFeaturesWithRefined=false
OdomFovis/UseAdaptiveThreshold= true
OdomFovis/UseBucketing= true
OdomFovis/UseHomographyInitialization=true
OdomFovis/UseImageNormalization= false
OdomFovis/UseSubpixelRefinement= true
OdomLOAM/AngVar= 0.01
OdomLOAM/LinVar= 0.01
OdomLOAM/LocalMapping= true
OdomLOAM/ScanPeriod= 0.1
OdomLOAM/Sensor= 2
OdomMSCKF/FastThreshold= 10
OdomMSCKF/GridCol= 5
OdomMSCKF/GridMaxFeatureNum= 4
OdomMSCKF/GridMinFeatureNum= 3
OdomMSCKF/GridRow= 4
OdomMSCKF/InitCovAccBias= 0.01
OdomMSCKF/InitCovExRot= 0.00030462
OdomMSCKF/InitCovExTrans= 0.000025
OdomMSCKF/InitCovGyroBias= 0.01
OdomMSCKF/InitCovVel= 0.25
OdomMSCKF/MaxCamStateSize= 20
OdomMSCKF/MaxIteration= 30
OdomMSCKF/NoiseAcc= 0.05
OdomMSCKF/NoiseAccBias= 0.01
OdomMSCKF/NoiseFeature= 0.035
OdomMSCKF/NoiseGyro= 0.005
OdomMSCKF/NoiseGyroBias= 0.001
OdomMSCKF/OptTranslationThreshold= 0
OdomMSCKF/PatchSize= 15
OdomMSCKF/PositionStdThreshold= 8.0
OdomMSCKF/PyramidLevels= 3
OdomMSCKF/RansacThreshold= 3
OdomMSCKF/RotationThreshold= 0.2618
OdomMSCKF/StereoThreshold= 5
OdomMSCKF/TrackPrecision= 0.01
OdomMSCKF/TrackingRateThreshold= 0.5
OdomMSCKF/TranslationThreshold= 0.4
OdomMono/InitMinFlow= 100
OdomMono/InitMinTranslation= 0.1
OdomMono/MaxVariance= 0.01
OdomMono/MinTranslation= 0.02
OdomORBSLAM2/Bf= 0.076
OdomORBSLAM2/Fps= 0.0
OdomORBSLAM2/MapSize= 3000
OdomORBSLAM2/MaxFeatures= 1000
OdomORBSLAM2/ThDepth= 40.0
OdomViso2/BucketHeight= 50
OdomViso2/BucketMaxFeatures= 2
OdomViso2/BucketWidth= 50
OdomViso2/InlierThreshold= 2.0
OdomViso2/MatchBinsize= 50
OdomViso2/MatchDispTolerance= 2
OdomViso2/MatchHalfResolution= true
OdomViso2/MatchMultiStage= true
OdomViso2/MatchNmsN= 3
OdomViso2/MatchNmsTau= 50
OdomViso2/MatchOutlierDispTolerance=5
OdomViso2/MatchOutlierFlowTolerance=5
OdomViso2/MatchRadius= 200
OdomViso2/MatchRefinement= 1
OdomViso2/RansacIters= 200
OdomViso2/Reweighting= true
Optimizer/Epsilon= 0.00001
Optimizer/GravitySigma= 0.3
Optimizer/Iterations= 20
Optimizer/LandmarksIgnored= false
Optimizer/PriorsIgnored= true
Optimizer/Robust= false
Optimizer/Strategy= 2
Optimizer/VarianceIgnored= false
PyDetector/Cuda= true
PyMatcher/Cuda= true
PyMatcher/Iterations= 20
PyMatcher/Model= indoor
PyMatcher/Threshold= 0.2
RGBD/AngularSpeedUpdate= 0.0
RGBD/AngularUpdate= 0.1
RGBD/CreateOccupancyGrid= false
RGBD/Enabled= true
RGBD/GoalReachedRadius= 0.5
RGBD/GoalsSavedInUserData= false
RGBD/LinearSpeedUpdate= 0.0
RGBD/LinearUpdate= 0.1
RGBD/LocalBundleOnLoopClosure= false
RGBD/LocalImmunizationRatio= 0.25
RGBD/LocalRadius= 10
RGBD/LoopClosureReextractFeatures= false
RGBD/LoopCovLimited= false
RGBD/MarkerDetection= false
RGBD/MaxLocalRetrieved= 2
RGBD/MaxLoopClosureDistance= 0.0
RGBD/MaxOdomCacheSize= 0
RGBD/NeighborLinkRefining= false
RGBD/NewMapOdomChangeDistance= 0
RGBD/OptimizeFromGraphEnd= false
RGBD/OptimizeMaxError= 3.0
RGBD/PlanAngularVelocity= 0
RGBD/PlanLinearVelocity= 0
RGBD/PlanStuckIterations= 0
RGBD/ProximityAngle= 45
RGBD/ProximityBySpace= true
RGBD/ProximityByTime= false
RGBD/ProximityMaxGraphDepth= 50
RGBD/ProximityMaxPaths= 3
RGBD/ProximityOdomGuess= false
RGBD/ProximityPathFilteringRadius= 1
RGBD/ProximityPathMaxNeighbors= 0
RGBD/ProximityPathRawPosesUsed= true
RGBD/SavedLocalizationIgnored= false
RGBD/ScanMatchingIdsSavedInLinks= true
Reg/Force3DoF= false
Reg/RepeatOnce= true
Reg/Strategy= 0
Rtabmap/ComputeRMSE= true
Rtabmap/CreateIntermediateNodes= false
Rtabmap/DetectionRate= 2 (default=1)
Rtabmap/ImageBufferSize= 1
Rtabmap/ImagesAlreadyRectified= true
Rtabmap/LoopGPS= true
Rtabmap/LoopRatio= 0
Rtabmap/LoopThr= 0.11
Rtabmap/MaxRetrieved= 2
Rtabmap/MemoryThr= 0
Rtabmap/PublishLastSignature= true
Rtabmap/PublishLikelihood= true
Rtabmap/PublishPdf= true
Rtabmap/PublishRAMUsage= false
Rtabmap/PublishStats= true
Rtabmap/RectifyOnlyFeatures= false
Rtabmap/SaveWMState= false
Rtabmap/StartNewMapOnGoodSignature=false
Rtabmap/StartNewMapOnLoopClosure= false
Rtabmap/StatisticLogged= false
Rtabmap/StatisticLoggedHeaders= true
Rtabmap/StatisticLogsBufferedInRAM=true
Rtabmap/TimeThr= 0
SIFT/ContrastThreshold= 0.04
SIFT/EdgeThreshold= 10
SIFT/NFeatures= 0
SIFT/NOctaveLayers= 3
SIFT/RootSIFT= false
SIFT/Sigma= 1.6
SURF/Extended= false
SURF/GpuKeypointsRatio= 0.01
SURF/GpuVersion= false
SURF/HessianThreshold= 500
SURF/OctaveLayers= 2
SURF/Octaves= 4
SURF/Upright= false
Stereo/DenseStrategy= 0
Stereo/Eps= 0.01
Stereo/Iterations= 30
Stereo/MaxDisparity= 128.0
Stereo/MaxLevel= 5
Stereo/MinDisparity= 0.5
Stereo/OpticalFlow= true
Stereo/SSD= true
Stereo/WinHeight= 3
Stereo/WinWidth= 15
StereoBM/BlockSize= 15
StereoBM/Disp12MaxDiff= -1
StereoBM/MinDisparity= 0
StereoBM/NumDisparities= 128
StereoBM/PreFilterCap= 31
StereoBM/PreFilterSize= 9
StereoBM/SpeckleRange= 4
StereoBM/SpeckleWindowSize= 100
StereoBM/TextureThreshold= 10
StereoBM/UniquenessRatio= 15
StereoSGBM/BlockSize= 15
StereoSGBM/Disp12MaxDiff= 1
StereoSGBM/MinDisparity= 0
StereoSGBM/Mode= 2
StereoSGBM/NumDisparities= 128
StereoSGBM/P1= 2
StereoSGBM/P2= 5
StereoSGBM/PreFilterCap= 31
StereoSGBM/SpeckleRange= 4
StereoSGBM/SpeckleWindowSize= 100
StereoSGBM/UniquenessRatio= 20
SuperPoint/Cuda= true
SuperPoint/NMS= true
SuperPoint/NMSRadius= 4
SuperPoint/Threshold= 0.010
VhEp/Enabled= false
VhEp/MatchCountMin= 8
VhEp/RansacParam1= 3
VhEp/RansacParam2= 0.99
Vis/BundleAdjustment= 1
Vis/CorFlowEps= 0.01
Vis/CorFlowIterations= 30
Vis/CorFlowMaxLevel= 3
Vis/CorFlowWinSize= 16
Vis/CorGuessMatchToProjection= false
Vis/CorGuessWinSize= 40
Vis/CorNNDR= 0.8
Vis/CorNNType= 1
Vis/CorType= 0
Vis/DepthAsMask= true
Vis/EpipolarGeometryVar= 0.1
Vis/EstimationType= 1
Vis/FeatureType= 8
Vis/ForwardEstOnly= true
Vis/GridCols= 1
Vis/GridRows= 1
Vis/InlierDistance= 0.1
Vis/Iterations= 300
Vis/MaxDepth= 0
Vis/MaxFeatures= 1000
Vis/MeanInliersDistance= 0.0
Vis/MinDepth= 0
Vis/MinInliers= 20
Vis/MinInliersDistribution= 0.0
Vis/PnPFlags= 0
Vis/PnPRefineIterations= 0
Vis/PnPReprojError= 2
Vis/RefineIterations= 5
Vis/RoiRatios= 0.0 0.0 0.0 0.0
Vis/SubPixEps= 0.02
Vis/SubPixIterations= 0
Vis/SubPixWinSize= 3
g2o/Baseline= 0.075
g2o/Optimizer= 0
g2o/PixelVariance= 1.0
g2o/RobustKernelDelta= 8
g2o/Solver= 0
Info:
Path: /home/antonis/.ros/rtabmap.db
Version: 0.20.9
Sessions: 1
Total odometry length:2894.902588 m
Total time: 470.685171s
LTM: 582 nodes and 0 words (dim=0 type=8U)
WM: 582 nodes and 0 words
Global graph: 582 poses and 605 links
Optimized graph: 0 poses
Maps in graph: 0/1 []
Ground truth: 0 poses
GPS: 0 poses
Links:
Neighbor: 580
GlobalClosure: 0
LocalSpaceClosure:25
LocalTimeClosure: 0
UserClosure: 0
VirtualClosure: 0
NeighborMerged: 0
PosePrior: 0
Landmark: 0
Gravity: 0
Database size: 551 MB
Nodes size: 92 KB (0.02%)
Links size: 208 KB (0.04%)
RGB Images size: 0 Bytes (0.00%)
Depth Images size: 0 Bytes (0.00%)
Calibrations size: 0 Bytes (0.00%)
Grids size: 6 KB (0.00%)
Scans size: 549 MB (99.53%)
User data size: 0 Bytes (0.00%)
Dictionary size: 0 Bytes (0.00%)
Features size: 0 Bytes (0.00%)
Statistics size: 835 KB (0.15%)
Other (indexing, unused):1 MB (0.26%)
It really makes me wonder what is going wrong, I've downloaded again the data and used the kitti2bag to turn them in bagfiles. Using the
kitti2bag -t <date> -r <sequence number> raw_synced
command thinking that my data are problematic because rtab works great with the ouster drive under the rain bag and the other that I shared at this
post but still, the odometry goes wild.