Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Issues-setting-rtabmap-parameters-libpng-warning-iCCP-tp8186p8309.html
Hi,
I tried your command and it seems to work as expected (the database is deleted, and you can see messages with "from arguments"), see below. What rtabmap version are you using, on which system?
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 "
... logging to /home/mathieu/.ros/log/55a0a740-e4be-11eb-a0c5-4ddeac5f7919/roslaunch-mathieu-XPS-15-7590-27585.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/mathieu/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://mathieu-XPS-15-7590:36885/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.9
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: False
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: D435_link
* /rtabmap/rtabmap/gen_depth: False
* /rtabmap/rtabmap/gen_depth_decimation: 1
* /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
* /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
* /rtabmap/rtabmap/gen_depth_fill_iterations: 1
* /rtabmap/rtabmap/gen_scan: False
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_frame_id_init:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmapviz/approx_sync: False
* /rtabmap/rtabmapviz/frame_id: D435_link
* /rtabmap/rtabmapviz/odom_frame_id:
* /rtabmap/rtabmapviz/queue_size: 10
* /rtabmap/rtabmapviz/subscribe_depth: False
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_rgb: False
* /rtabmap/rtabmapviz/subscribe_rgbd: False
* /rtabmap/rtabmapviz/subscribe_scan: False
* /rtabmap/rtabmapviz/subscribe_scan_cloud: False
* /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
* /rtabmap/rtabmapviz/subscribe_stereo: True
* /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/approx_sync: False
* /rtabmap/stereo_odometry/config_path:
* /rtabmap/stereo_odometry/expected_update_rate: 0.0
* /rtabmap/stereo_odometry/frame_id: D435_link
* /rtabmap/stereo_odometry/ground_truth_base_frame_id:
* /rtabmap/stereo_odometry/ground_truth_frame_id:
* /rtabmap/stereo_odometry/guess_frame_id: velo_odom
* /rtabmap/stereo_odometry/guess_min_rotation: 0.0
* /rtabmap/stereo_odometry/guess_min_translation: 0.0
* /rtabmap/stereo_odometry/keep_color: False
* /rtabmap/stereo_odometry/max_update_rate: 0.0
* /rtabmap/stereo_odometry/odom_frame_id: odom
* /rtabmap/stereo_odometry/publish_tf: True
* /rtabmap/stereo_odometry/queue_size: 10
* /rtabmap/stereo_odometry/subscribe_rgbd: False
* /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/wait_imu_to_init: False
* /use_sim_time: True
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:11311
process[rtabmap/republish_left-1]: started with pid [27601]
process[rtabmap/republish_right-2]: started with pid [27602]
process[rtabmap/stereo_odometry-3]: started with pid [27603]
process[rtabmap/rtabmap-4]: started with pid [27608]
process[rtabmap/rtabmapviz-5]: started with pid [27615]
[ INFO] [1626282308.442154745]: Starting node...
[ INFO] [1626282308.459579355]: Initializing nodelet with 12 worker threads.
[ INFO] [1626282308.491849139]: Initializing nodelet with 12 worker threads.
[ INFO] [1626282308.517782272]: Odometry: frame_id = D435_link
[ INFO] [1626282308.517804268]: Odometry: odom_frame_id = odom
[ INFO] [1626282308.517815492]: Odometry: publish_tf = true
[ INFO] [1626282308.517825627]: Odometry: wait_for_transform = true
[ INFO] [1626282308.517840508]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1626282308.517865462]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1626282308.517876182]: Odometry: ground_truth_frame_id =
[ INFO] [1626282308.517885728]: Odometry: ground_truth_base_frame_id =
[ INFO] [1626282308.517895549]: Odometry: config_path =
[ INFO] [1626282308.517907627]: Odometry: publish_null_when_lost = true
[ INFO] [1626282308.517918197]: Odometry: guess_frame_id = velo_odom
[ INFO] [1626282308.517929070]: Odometry: guess_min_translation = 0.000000
[ INFO] [1626282308.517939536]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1626282308.517949168]: Odometry: guess_min_time = 0.000000
[ INFO] [1626282308.517958763]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1626282308.517968290]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1626282308.517977896]: Odometry: wait_imu_to_init = false
[ INFO] [1626282308.517997779]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1626282308.546898489]: Starting node...
[ INFO] [1626282308.641458739]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1626282308.641495087]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1626282308.641514430]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1626282308.641530755]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1626282308.641546960]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1626282308.641562210]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1626282308.641577812]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1626282308.641594652]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1626282308.641812385]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1626282308.670451862]: rtabmap: frame_id = D435_link
[ INFO] [1626282308.670490821]: rtabmap: map_frame_id = map
[ INFO] [1626282308.670511421]: rtabmap: use_action_for_goal = false
[ INFO] [1626282308.670531616]: rtabmap: tf_delay = 0.050000
[ INFO] [1626282308.670550277]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1626282308.670566882]: rtabmap: odom_sensor_sync = false
[ INFO] [1626282308.671370796]: rtabmap: stereo_to_depth = false
[ INFO] [1626282308.671389309]: rtabmap: gen_scan = false
[ INFO] [1626282308.671401935]: rtabmap: gen_depth = false
[ INFO] [1626282308.748329140]: rtabmapviz: Using configuration from "/home/mathieu/.ros/rtabmap_gui.ini"
[ INFO] [1626282308.771581340, 4432.620000000]: Odometry: Ignored parameter "Kp/DetectorStrategy"="0" from arguments
[ INFO] [1626282308.771610525, 4432.620000000]: Odometry: Ignored parameter "Kp/MaxFeatures"="1000" from arguments
[ INFO] [1626282308.771619682, 4432.620000000]: Odometry: Ignored parameter "Kp/NndrRatio"="0.8" from arguments
[ INFO] [1626282308.771629935, 4432.620000000]: Update odometry parameter "Odom/Strategy"="0" from arguments
[ INFO] [1626282308.771639501, 4432.620000000]: Odometry: Ignored parameter "RGBD/LoopClosureReextractFeatures"="true" from arguments
[ INFO] [1626282308.771652257, 4432.620000000]: Odometry: Ignored parameter "RGBD/NeighborLinkRefining"="true" from arguments
[ INFO] [1626282308.771660171, 4432.620000000]: Odometry: Ignored parameter "RGBD/OptimizeMaxError"="5.0" from arguments
[ INFO] [1626282308.771667518, 4432.620000000]: Update odometry parameter "Reg/Strategy"="0" from arguments
[ INFO] [1626282308.771674388, 4432.620000000]: Odometry: Ignored parameter "Rtabmap/DetectionRate"="5" from arguments
[ INFO] [1626282308.771684596, 4432.620000000]: Update odometry parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1626282308.771696874, 4432.620000000]: Update odometry parameter "Vis/CorType"="0" from arguments
[ INFO] [1626282308.771703839, 4432.620000000]: Update odometry parameter "Vis/EstimationType"="1" from arguments
[ INFO] [1626282308.771714231, 4432.620000000]: Update odometry parameter "Vis/FeatureType"="0" from arguments
[ INFO] [1626282308.771721252, 4432.620000000]: Update odometry parameter "Vis/MaxFeatures"="1000" from arguments
[ INFO] [1626282308.771727720, 4432.620000000]: Update odometry parameter "Vis/MinInliers"="10" from arguments
[ WARN] (2021-07-14 13:05:08.819) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:08.820) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1626282308.829762135, 4432.680000000]: StereoOdometry: approx_sync = false
[ INFO] [1626282308.829791254, 4432.680000000]: StereoOdometry: queue_size = 10
[ INFO] [1626282308.829818612, 4432.680000000]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1626282308.829834376, 4432.680000000]: StereoOdometry: keep_color = false
[ INFO] [1626282308.843848712, 4432.690000000]:
/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
[ INFO] [1626282308.873734571, 4432.720000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1626282308.873996020, 4432.720000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1626282309.020019701, 4432.870000000]: Update RTAB-Map parameter "Kp/DetectorStrategy"="0" from arguments
[ INFO] [1626282309.020050322, 4432.870000000]: Update RTAB-Map parameter "Kp/MaxFeatures"="1000" from arguments
[ INFO] [1626282309.020064596, 4432.870000000]: Update RTAB-Map parameter "Kp/NndrRatio"="0.8" from arguments
[ INFO] [1626282309.020077199, 4432.870000000]: Update RTAB-Map parameter "Odom/Strategy"="0" from arguments
[ INFO] [1626282309.020091416, 4432.870000000]: Update RTAB-Map parameter "RGBD/LoopClosureReextractFeatures"="true" from arguments
[ INFO] [1626282309.020119868, 4432.870000000]: Update RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" from arguments
[ INFO] [1626282309.020139381, 4432.870000000]: Update RTAB-Map parameter "RGBD/OptimizeMaxError"="5.0" from arguments
[ INFO] [1626282309.020173216, 4432.870000000]: Update RTAB-Map parameter "Reg/Strategy"="0" from arguments
[ INFO] [1626282309.020193792, 4432.870000000]: Update RTAB-Map parameter "Rtabmap/DetectionRate"="5" from arguments
[ INFO] [1626282309.020241317, 4432.870000000]: Update RTAB-Map parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1626282309.020261105, 4432.870000000]: Update RTAB-Map parameter "Vis/CorType"="0" from arguments
[ INFO] [1626282309.020278228, 4432.870000000]: Update RTAB-Map parameter "Vis/EstimationType"="1" from arguments
[ INFO] [1626282309.020300313, 4432.870000000]: Update RTAB-Map parameter "Vis/FeatureType"="0" from arguments
[ INFO] [1626282309.020321084, 4432.870000000]: Update RTAB-Map parameter "Vis/MaxFeatures"="1000" from arguments
[ INFO] [1626282309.020341202, 4432.870000000]: Update RTAB-Map parameter "Vis/MinInliers"="10" from arguments
[ INFO] [1626282309.131558537, 4432.980000000]: RTAB-Map detection rate = 5.000000 Hz
[ INFO] [1626282309.132015496, 4432.980000000]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1626282309.132044268, 4432.980000000]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db" (0 MB).
[ WARN] (2021-07-14 13:05:09.132) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.133) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.133) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.134) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.135) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.135) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.136) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.137) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.137) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.289) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.290) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2021-07-14 13:05:09.291) Features2d.cpp:529::create() SURF and SIFT features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1626282309.292104696, 4433.140000000]: rtabmap: Database version = "0.20.13".
[ INFO] [1626282309.292146067, 4433.140000000]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1626282309.314066743, 4433.160000000]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1626282309.314114250, 4433.160000000]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1626282309.314144740, 4433.160000000]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1626282309.314156473, 4433.160000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1626282309.314169566, 4433.160000000]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1626282309.314180359, 4433.160000000]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1626282309.314195514, 4433.160000000]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1626282309.314211021, 4433.160000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1626282309.314223209, 4433.160000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1626282309.314236348, 4433.160000000]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1626282309.314253868, 4433.160000000]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1626282309.318654543, 4433.170000000]: Setup stereo callback
[ INFO] [1626282309.332608605, 4433.180000000]:
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom \
/D435/infra1/image_rect_raw_relay \
/D435/infra2/image_rect_raw_relay \
/D435/infra1/camera_info \
/D435/infra2/camera_info \
/rtabmap/odom_info
[ INFO] [1626282309.438416126, 4433.290000000]: rtabmap 0.20.13 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1626282309.718161827, 4433.570000000]: rtabmapviz: Reading parameters from the ROS server...
[ WARN] (2021-07-14 13:05:09.754) PreferencesDialog.cpp:4396::setParameter() Trying to set "Kp/DetectorStrategy" to SURF but RTAB-Map isn't built with the nonfree module from OpenCV. Keeping default combo value: GFTT+ORB.
[ WARN] (2021-07-14 13:05:09.823) PreferencesDialog.cpp:4396::setParameter() Trying to set "Vis/FeatureType" to SURF but RTAB-Map isn't built with the nonfree module from OpenCV. Keeping default combo value: GFTT+ORB.
[ INFO] [1626282309.828950126, 4433.680000000]: rtabmapviz: Parameters read = 352
[ INFO] [1626282309.828970907, 4433.680000000]: rtabmapviz: Parameters successfully read.
[ INFO] [1626282310.223618745, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_depth = false
[ INFO] [1626282310.223644315, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1626282310.223653458, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_stereo = true
[ INFO] [1626282310.223662170, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1626282310.223669919, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1626282310.223678110, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1626282310.223686096, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1626282310.223693529, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1626282310.223701048, 4434.070000000]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1626282310.223711259, 4434.070000000]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1626282310.223721426, 4434.070000000]: /rtabmap/rtabmapviz: approx_sync = false
[ INFO] [1626282310.223747595, 4434.070000000]: Setup stereo callback
[ INFO] [1626282310.264048078, 4434.110000000]:
/rtabmap/rtabmapviz subscribed to (exact sync):
/rtabmap/odom \
/D435/infra1/image_rect_raw_relay \
/D435/infra2/image_rect_raw_relay \
/D435/infra1/camera_info \
/D435/infra2/camera_info \
/rtabmap/odom_info
[ INFO] [1626282310.264202263, 4434.110000000]: rtabmapviz started.