Posted by
VK on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Issues-setting-rtabmap-parameters-libpng-warning-iCCP-tp8186.html
Hi,
I have been using rtabmap_ros with no problems for the last few months, but recently I'm facing some issues with the database and the default parameters.
The first thing I noticed is that even if I set the --delete_database_on_start argument when launching rtabmap_ros, the database is not empty (previous session is kept, so I have to deleted manually).
The most important issue is that I am unable to pass parameters to rtabmap...for example when I run the following:
roslaunch rtabmap_ros rtabmap.launch \
stereo:=true \
rtabmapviz:=true \
approx_sync:=false \
use_sim_time:=true \
frame_id:=D435_link \
left_camera_info_topic:=/D435/infra1/camera_info \
right_camera_info_topic:=/D435/infra2/camera_info \
left_image_topic:=/D435/infra1/image_rect_raw \
right_image_topic:=/D435/infra2/image_rect_raw \
odom_guess_frame_id:=velo_odom \
compressed:=true \
args:="-d \
--Odom/Strategy 0 \
--Vis/MinInliers 10 \
--Vis/FeatureType 0 \
--Vis/MaxFeatures 1000 \
--Vis/CorType 0 \
--Vis/EstimationType 1 \
--Rtabmap/DetectionRate 5 \
--Rtabmap/ImagesAlreadyRectified false \
--RGBD/OptimizeMaxError 5.0 \
--RGBD/LoopClosureReextractFeatures true \
--Kp/DetectorStrategy 0 \
--RGBD/NeighborLinkRefining true \
--Kp/MaxFeatures 1000 \
--Kp/NndrRatio 0.8 \
--
Reg/Strategy 0 "
I receive:
NODES
/rtabmap/
republish_left (image_transport/republish)
republish_right (image_transport/republish)
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
stereo_odometry (rtabmap_ros/stereo_odometry)
ROS_MASTER_URI=
http://localhost:11311process[rtabmap/republish_left-1]: started with pid [16071]
process[rtabmap/republish_right-2]: started with pid [16072]
process[rtabmap/stereo_odometry-3]: started with pid [16079]
process[rtabmap/rtabmap-4]: started with pid [16084]
process[rtabmap/rtabmapviz-5]: started with pid [16085]
[ INFO] [1623667876.777199252]: Starting node...
[ INFO] [1623667876.777711746]: Starting node...
[ INFO] [1623667876.834376630]: Initializing nodelet with 4 worker threads.
[ INFO] [1623667876.849985841]: Initializing nodelet with 4 worker threads.
[ INFO] [1623667877.040969101]: Odometry: frame_id = D435_link
[ INFO] [1623667877.041098594]: Odometry: odom_frame_id = odom
[ INFO] [1623667877.041196382]: Odometry: publish_tf = true
[ INFO] [1623667877.041290058]: Odometry: wait_for_transform = true
[ INFO] [1623667877.041389233]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1623667877.041504337]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1623667877.041587795]: Odometry: ground_truth_frame_id =
[ INFO] [1623667877.041668670]: Odometry: ground_truth_base_frame_id =
[ INFO] [1623667877.041747893]: Odometry: config_path =
[ INFO] [1623667877.041830215]: Odometry: publish_null_when_lost = true
[ INFO] [1623667877.041908561]: Odometry: guess_frame_id = velo_odom
[ INFO] [1623667877.041989057]: Odometry: guess_min_translation = 0.000000
[ INFO] [1623667877.042067898]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1623667877.042114421]: Odometry: guess_min_time = 0.000000
[ INFO] [1623667877.042161004]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1623667877.042206390]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1623667877.042249622]: Odometry: wait_imu_to_init = false
[ INFO] [1623667877.042315609]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1623667877.093701786]: rtabmapviz: Using configuration from "/home/skiparissi/.ros/rtabmap_gui.ini"
[ INFO] [1623667877.125994051]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1623667877.126084263]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1623667877.126142535]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1623667877.126190984]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1623667877.126240106]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1623667877.126284324]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1623667877.126323857]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1623667877.126365402]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1623667877.131652501]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1623667877.207878540]: rtabmap: frame_id = D435_link
[ INFO] [1623667877.207988749]: rtabmap: map_frame_id = map
[ INFO] [1623667877.208056120]: rtabmap: use_action_for_goal = false
[ INFO] [1623667877.208116884]: rtabmap: tf_delay = 0.050000
[ INFO] [1623667877.208164838]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1623667877.208211015]: rtabmap: odom_sensor_sync = false
[ INFO] [1623667877.210345424]: rtabmap: stereo_to_depth = false
[ INFO] [1623667877.210409313]: rtabmap: gen_scan = false
[ INFO] [1623667877.210469141]: rtabmap: gen_depth = false
[ INFO] [1623667877.860299709]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1623667877.861265474]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1623667878.137779824]: StereoOdometry: approx_sync = false
[ INFO] [1623667878.137928974]: StereoOdometry: queue_size = 10
[ INFO] [1623667878.138011834]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1623667878.138082100]: StereoOdometry: keep_color = false
[ INFO] [1623667878.190579238]:
/rtabmap/stereo_odometry subscribed to (exact sync):
/D435/infra1/image_rect_raw_relay \
/D435/infra2/image_rect_raw_relay \
/D435/infra1/camera_info \
/D435/infra2/camera_info
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1623667878.666241380]: Update RTAB-Map parameter "Grid/FromDepth"="false" from database
[ INFO] [1623667878.666488935]: Update RTAB-Map parameter "Grid/RangeMax"="0" from database
[ INFO] [1623667878.666595319]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.05" from database
[ INFO] [1623667878.666662847]: Update RTAB-Map parameter "Icp/Epsilon"="0.0001" from database
[ INFO] [1623667878.666710933]: Update RTAB-Map parameter "Icp/Iterations"="25" from database
[ INFO] [1623667878.666769172]: Update RTAB-Map parameter "Icp/MaxTranslation"="2" from database
[ INFO] [1623667878.666823145]: Update RTAB-Map parameter "Icp/PMMatcherEpsilon"="1" from database
[ INFO] [1623667878.666858159]: Update RTAB-Map parameter "Icp/PMMatcherIntensity"="true" from database
[ INFO] [1623667878.666896921]: Update RTAB-Map parameter "Icp/PMMatcherKnn"="25" from database
[ INFO] [1623667878.666942836]: Update RTAB-Map parameter "Icp/PMOutlierRatio"="0.7" from database
[ INFO] [1623667878.666995876]: Update RTAB-Map parameter "Icp/PointToPlaneK"="25" from database
[ INFO] [1623667878.667042439]: Update RTAB-Map parameter "Icp/PointToPlaneRadius"="0" from database
......
[ WARN] (2021-06-14 14:04:26.214) SensorData.cpp:718::uncompressDataConst() Requested laser scan data, but the sensor data (41) doesn't have laser scan.
[ WARN] (2021-06-14 14:04:26.214) SensorData.cpp:718::uncompressDataConst() Requested laser scan data, but the sensor data (42) doesn't have laser scan.
[ERROR] (2021-06-14 14:04:26.214) RegistrationIcp.cpp:1479::computeTransformationImpl() Laser scans empty?!? (new[42]=0 old[41]=0)
It seems that rtabmap is looking for laser scans and I noticed that even if I set Reg/Strategy 0 \, I receive the following:
[ INFO] [1623667878.667670879]: Update RTAB-Map parameter "Reg/Strategy"="1" from database
I guess that something is wrong with the database, the default parameters stored and my issue has to do with the warning message
libpng warning: iCCP: known incorrect sRGB profile ??
Has anyone run into similar problems?
Thanks in advance