Re: RTABMAP to be integrated for two ZED2i cameras

Posted by shruthi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-to-be-integrated-for-two-ZED2i-cameras-tp8976p9011.html

Hi Mathieu,

CAn you please help out with this error as well.  "[ERROR] (2022-03-08 12:19:30.076) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 523 is ignored!
"

started roslaunch server http://haul:39993/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /rtabmap/rgbd_odometry/Odom/FillInfoData: true
 * /rtabmap/rgbd_odometry/Odom/Strategy: 0
 * /rtabmap/rgbd_odometry/OdomF2M/MaxSize: 1000
 * /rtabmap/rgbd_odometry/Vis/CorGuessWinSize: 0
 * /rtabmap/rgbd_odometry/Vis/CorNNType: 3
 * /rtabmap/rgbd_odometry/Vis/EstimationType: 0
 * /rtabmap/rgbd_odometry/Vis/FeatureType: 6
 * /rtabmap/rgbd_odometry/Vis/InlierDistance: 0.02
 * /rtabmap/rgbd_odometry/Vis/MaxDepth: 4.0
 * /rtabmap/rgbd_odometry/Vis/MinInliers: 20
 * /rtabmap/rgbd_odometry/frame_id: base_link
 * /rtabmap/rgbd_odometry/rgbd_cameras: 2
 * /rtabmap/rgbd_odometry/subscribe_rgbd: True
 * /rtabmap/rgbd_odometry/wait_for_transform: True
 * /rtabmap/rtabmap/Grid/FromDepth: false
 * /rtabmap/rtabmap/Vis/CorGuessWinSize: 0
 * /rtabmap/rtabmap/Vis/EstimationType: 0
 * /rtabmap/rtabmap/Vis/InlierDistance: 0.02
 * /rtabmap/rtabmap/Vis/MinInliers: 10
 * /rtabmap/rtabmap/frame_id: base_link
 * /rtabmap/rtabmap/gen_scan: True
 * /rtabmap/rtabmap/map_negative_poses_ignored: False
 * /rtabmap/rtabmap/map_negative_scan_empty_ray_tracing: False
 * /rtabmap/rtabmap/rgbd_cameras: 2
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_rgbd: True
 * /rtabmap/rtabmap/wait_for_transform: True
 * /rtabmap/rtabmapviz/frame_id: base_link
 * /rtabmap/rtabmapviz/rgbd_cameras: 2
 * /rtabmap/rtabmapviz/subscribe_depth: False
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: True
 * /rtabmap/rtabmapviz/wait_for_transform: True
 * /zedA/rgbd_sync/approx_sync: False
 * /zedA/zed_description: <?xml version="1....
 * /zedA/zed_node_A/auto_exposure_gain: True
 * /zedA/zed_node_A/auto_whitebalance: True
 * /zedA/zed_node_A/brightness: 4
 * /zedA/zed_node_A/contrast: 4
 * /zedA/zed_node_A/depth/depth_downsample_factor: 1.0
 * /zedA/zed_node_A/depth/depth_stabilization: 1
 * /zedA/zed_node_A/depth/max_depth: 20.0
 * /zedA/zed_node_A/depth/min_depth: 0.3
 * /zedA/zed_node_A/depth/openni_depth_mode: False
 * /zedA/zed_node_A/depth/quality: 1
 * /zedA/zed_node_A/depth/sensing_mode: 0
 * /zedA/zed_node_A/depth_confidence: 50
 * /zedA/zed_node_A/depth_texture_conf: 100
 * /zedA/zed_node_A/exposure: 100
 * /zedA/zed_node_A/gain: 100
 * /zedA/zed_node_A/gamma: 8
 * /zedA/zed_node_A/general/base_frame: base_link
 * /zedA/zed_node_A/general/camera_flip: False
 * /zedA/zed_node_A/general/camera_model: zed2i
 * /zedA/zed_node_A/general/camera_name: zedA
 * /zedA/zed_node_A/general/gpu_id: -1
 * /zedA/zed_node_A/general/grab_frame_rate: 15
 * /zedA/zed_node_A/general/resolution: 2
 * /zedA/zed_node_A/general/self_calib: True
 * /zedA/zed_node_A/general/serial_number: 0
 * /zedA/zed_node_A/general/stream:
 * /zedA/zed_node_A/general/svo_compression: 1
 * /zedA/zed_node_A/general/svo_file:
 * /zedA/zed_node_A/general/verbose: False
 * /zedA/zed_node_A/general/zed_id: 0
 * /zedA/zed_node_A/hue: 0
 * /zedA/zed_node_A/mapping/fused_pointcloud_freq: 1.0
 * /zedA/zed_node_A/mapping/mapping_enabled: False
 * /zedA/zed_node_A/mapping/max_mapping_range: -1
 * /zedA/zed_node_A/mapping/resolution: 0.05
 * /zedA/zed_node_A/object_detection/body_fitting: False
 * /zedA/zed_node_A/object_detection/confidence_threshold: 50
 * /zedA/zed_node_A/object_detection/max_range: 15.0
 * /zedA/zed_node_A/object_detection/mc_animal: True
 * /zedA/zed_node_A/object_detection/mc_bag: True
 * /zedA/zed_node_A/object_detection/mc_electronics: True
 * /zedA/zed_node_A/object_detection/mc_fruit_vegetable: True
 * /zedA/zed_node_A/object_detection/mc_people: True
 * /zedA/zed_node_A/object_detection/mc_vehicle: True
 * /zedA/zed_node_A/object_detection/model: 3
 * /zedA/zed_node_A/object_detection/object_tracking_enabled: True
 * /zedA/zed_node_A/object_detection/od_enabled: False
 * /zedA/zed_node_A/point_cloud_freq: 100.0
 * /zedA/zed_node_A/pos_tracking/area_memory: True
 * /zedA/zed_node_A/pos_tracking/area_memory_db_path: zed_area_memory.area
 * /zedA/zed_node_A/pos_tracking/fixed_z_value: 0.0
 * /zedA/zed_node_A/pos_tracking/floor_alignment: False
 * /zedA/zed_node_A/pos_tracking/imu_fusion: True
 * /zedA/zed_node_A/pos_tracking/init_odom_with_first_valid_pose: True
 * /zedA/zed_node_A/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zedA/zed_node_A/pos_tracking/map_frame: map
 * /zedA/zed_node_A/pos_tracking/odometry_frame: odom
 * /zedA/zed_node_A/pos_tracking/path_max_count: -1
 * /zedA/zed_node_A/pos_tracking/path_pub_rate: 2.0
 * /zedA/zed_node_A/pos_tracking/pos_tracking_enabled: True
 * /zedA/zed_node_A/pos_tracking/publish_map_tf: True
 * /zedA/zed_node_A/pos_tracking/publish_tf: True
 * /zedA/zed_node_A/pos_tracking/save_area_memory_db_on_exit: False
 * /zedA/zed_node_A/pos_tracking/two_d_mode: False
 * /zedA/zed_node_A/pub_frame_rate: 100.0
 * /zedA/zed_node_A/saturation: 4
 * /zedA/zed_node_A/sensors/publish_imu_tf: True
 * /zedA/zed_node_A/sensors/sensors_timestamp_sync: False
 * /zedA/zed_node_A/sharpness: 4
 * /zedA/zed_node_A/video/extrinsic_in_camera_frame: True
 * /zedA/zed_node_A/video/img_downsample_factor: 1.0
 * /zedA/zed_node_A/whitebalance_temperature: 42
 * /zedB/rgbd_sync/approx_sync: False
 * /zedB/zed_description: <?xml version="1....
 * /zedB/zed_node_B/auto_exposure_gain: True
 * /zedB/zed_node_B/auto_whitebalance: True
 * /zedB/zed_node_B/brightness: 4
 * /zedB/zed_node_B/contrast: 4
 * /zedB/zed_node_B/depth/depth_downsample_factor: 1.0
 * /zedB/zed_node_B/depth/depth_stabilization: 1
 * /zedB/zed_node_B/depth/max_depth: 20.0
 * /zedB/zed_node_B/depth/min_depth: 0.3
 * /zedB/zed_node_B/depth/openni_depth_mode: False
 * /zedB/zed_node_B/depth/quality: 1
 * /zedB/zed_node_B/depth/sensing_mode: 0
 * /zedB/zed_node_B/depth_confidence: 50
 * /zedB/zed_node_B/depth_texture_conf: 100
 * /zedB/zed_node_B/exposure: 100
 * /zedB/zed_node_B/gain: 100
 * /zedB/zed_node_B/gamma: 8
 * /zedB/zed_node_B/general/base_frame: base_link
 * /zedB/zed_node_B/general/camera_flip: False
 * /zedB/zed_node_B/general/camera_model: zed2i
 * /zedB/zed_node_B/general/camera_name: zedB
 * /zedB/zed_node_B/general/gpu_id: -1
 * /zedB/zed_node_B/general/grab_frame_rate: 15
 * /zedB/zed_node_B/general/resolution: 2
 * /zedB/zed_node_B/general/self_calib: True
 * /zedB/zed_node_B/general/serial_number: 0
 * /zedB/zed_node_B/general/stream:
 * /zedB/zed_node_B/general/svo_compression: 1
 * /zedB/zed_node_B/general/svo_file:
 * /zedB/zed_node_B/general/verbose: False
 * /zedB/zed_node_B/general/zed_id: 1
 * /zedB/zed_node_B/hue: 0
 * /zedB/zed_node_B/mapping/fused_pointcloud_freq: 1.0
 * /zedB/zed_node_B/mapping/mapping_enabled: False
 * /zedB/zed_node_B/mapping/max_mapping_range: -1
 * /zedB/zed_node_B/mapping/resolution: 0.05
 * /zedB/zed_node_B/object_detection/body_fitting: False
 * /zedB/zed_node_B/object_detection/confidence_threshold: 50
 * /zedB/zed_node_B/object_detection/max_range: 15.0
 * /zedB/zed_node_B/object_detection/mc_animal: True
 * /zedB/zed_node_B/object_detection/mc_bag: True
 * /zedB/zed_node_B/object_detection/mc_electronics: True
 * /zedB/zed_node_B/object_detection/mc_fruit_vegetable: True
 * /zedB/zed_node_B/object_detection/mc_people: True
 * /zedB/zed_node_B/object_detection/mc_vehicle: True
 * /zedB/zed_node_B/object_detection/model: 3
 * /zedB/zed_node_B/object_detection/object_tracking_enabled: True
 * /zedB/zed_node_B/object_detection/od_enabled: False
 * /zedB/zed_node_B/point_cloud_freq: 100.0
 * /zedB/zed_node_B/pos_tracking/area_memory: True
 * /zedB/zed_node_B/pos_tracking/area_memory_db_path: zed_area_memory.area
 * /zedB/zed_node_B/pos_tracking/fixed_z_value: 0.0
 * /zedB/zed_node_B/pos_tracking/floor_alignment: False
 * /zedB/zed_node_B/pos_tracking/imu_fusion: True
 * /zedB/zed_node_B/pos_tracking/init_odom_with_first_valid_pose: True
 * /zedB/zed_node_B/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zedB/zed_node_B/pos_tracking/map_frame: map
 * /zedB/zed_node_B/pos_tracking/odometry_frame: odom
 * /zedB/zed_node_B/pos_tracking/path_max_count: -1
 * /zedB/zed_node_B/pos_tracking/path_pub_rate: 2.0
 * /zedB/zed_node_B/pos_tracking/pos_tracking_enabled: True
 * /zedB/zed_node_B/pos_tracking/publish_map_tf: False
 * /zedB/zed_node_B/pos_tracking/publish_tf: False
 * /zedB/zed_node_B/pos_tracking/save_area_memory_db_on_exit: False
 * /zedB/zed_node_B/pos_tracking/two_d_mode: False
 * /zedB/zed_node_B/pub_frame_rate: 100.0
 * /zedB/zed_node_B/saturation: 4
 * /zedB/zed_node_B/sensors/publish_imu_tf: True
 * /zedB/zed_node_B/sensors/sensors_timestamp_sync: False
 * /zedB/zed_node_B/sharpness: 4
 * /zedB/zed_node_B/video/extrinsic_in_camera_frame: True
 * /zedB/zed_node_B/video/img_downsample_factor: 1.0
 * /zedB/zed_node_B/whitebalance_temperature: 42

NODES
  /
    rviz (rviz/rviz)
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
  /zedA/
    base_to_camera0_tf (tf/static_transform_publisher)
    camera_nodelet_manager1 (nodelet/nodelet)
    rgbd_sync (nodelet/nodelet)
    zed_node_A (zed_wrapper/zed_wrapper_node)
    zed_state_publisher (robot_state_publisher/robot_state_publisher)
  /zedB/
    base_to_camera1_tf (tf/static_transform_publisher)
    camera_nodelet_manager2 (nodelet/nodelet)
    rgbd_sync (nodelet/nodelet)
    zed_node_B (zed_wrapper/zed_wrapper_node)
    zed_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [71460]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d7049a24-9eab-11ec-87d5-b1a74fcb03e8
process[rosout-1]: started with pid [71477]
started core service [/rosout]
process[zedA/zed_state_publisher-2]: started with pid [71484]
process[zedA/zed_node_A-3]: started with pid [71485]
process[zedA/camera_nodelet_manager1-4]: started with pid [71486]
process[zedA/rgbd_sync-5]: started with pid [71487]
process[zedA/base_to_camera0_tf-6]: started with pid [71492]
process[zedB/zed_state_publisher-7]: started with pid [71494]
process[zedB/zed_node_B-8]: started with pid [71497]
process[zedB/camera_nodelet_manager2-9]: started with pid [71507]
[ INFO] [1646722143.579657309]: Initializing nodelet with 8 worker threads.
process[zedB/rgbd_sync-10]: started with pid [71531]
process[zedB/base_to_camera1_tf-11]: started with pid [71543]
[ INFO] [1646722143.597571580]: ********** Starting nodelet '/zedA/zed_node_A' **********
[ INFO] [1646722143.597768580]: SDK version : 3.7.0
[ INFO] [1646722143.597841495]: *** GENERAL PARAMETERS ***
[ INFO] [1646722143.598217196]:  * Camera Name -> zedA
process[rtabmap/rgbd_odometry-12]: started with pid [71546]
[ INFO] [1646722143.598621303]:  * Camera Resolution -> HD720
[ INFO] [1646722143.599042536]:  * Camera Grab Framerate -> 15
[ INFO] [1646722143.599699471]:  * Gpu ID -> -1
[ INFO] [1646722143.600116291]:  * Camera ID -> -1
[ INFO] [1646722143.600830002]:  * Verbose -> DISABLED
[ INFO] [1646722143.602295735]:  * Camera Flip -> DISABLED
[ INFO] [1646722143.604248740]:  * Self calibration -> ENABLED
[ INFO] [1646722143.605446101]:  * Camera Model by param -> zed2i
[ INFO] [1646722143.605479194]: *** VIDEO PARAMETERS ***
process[rtabmap/rtabmap-13]: started with pid [71556]
[ INFO] [1646722143.606169390]:  * Image resample factor -> 1
[ INFO] [1646722143.607148681]:  * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1646722143.607194903]: *** DEPTH PARAMETERS ***
[ INFO] [1646722143.607736117]:  * Depth quality -> PERFORMANCE
[ INFO] [1646722143.608619694]:  * Depth Sensing mode -> STANDARD
[ INFO] [1646722143.609004793]:  * OpenNI mode -> DISABLED
[ INFO] [1646722143.609665557]:  * Depth Stabilization -> ENABLED
[ INFO] [1646722143.610364398]:  * Minimum depth -> 0.3 m
[ INFO] [1646722143.612234212]:  * Maximum depth -> 20 m
[ INFO] [1646722143.612829135]:  * Depth resample factor -> 1
[ INFO] [1646722143.612874867]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1646722143.613960606]:  * Positional tracking -> ENABLED
process[rtabmap/rtabmapviz-14]: started with pid [71562]
[ INFO] [1646722143.614397175]:  * Path rate -> 2 Hz
[ INFO] [1646722143.615057774]:  * Path history size -> 1
[ INFO] [1646722143.616050561]:  * Odometry DB path -> /home/haul/.ros/zed_area_memory.area
[ INFO] [1646722143.616641012]: Initializing nodelet with 8 worker threads.
[ INFO] [1646722143.616994967]:  * Save Area Memory on closing -> DISABLED
[ INFO] [1646722143.618032535]:  * Area Memory -> ENABLED
[ INFO] [1646722143.619322267]:  * IMU Fusion -> ENABLED
[ INFO] [1646722143.620231263]:  * Floor alignment -> DISABLED
process[rviz-15]: started with pid [71573]
[ INFO] [1646722143.622880484]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1646722143.624270386]:  * Two D mode -> DISABLED
[ INFO] [1646722143.625256228]: *** MAPPING PARAMETERS ***
[ INFO] [1646722143.626229527]:  * Mapping -> DISABLED
[ INFO] [1646722143.626276567]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1646722143.627060629]:  * Object Detection -> DISABLED
[ INFO] [1646722143.627092659]: *** SENSORS PARAMETERS ***
[ INFO] [1646722143.627763333]:  * Sensors timestamp sync -> DISABLED
[ INFO] [1646722143.627792991]: *** SVO PARAMETERS ***
[ INFO] [1646722143.628162968]:  * SVO input file: ->
[ INFO] [1646722143.629048759]:  * SVO REC compression -> H264 (AVCHD)
[ INFO] [1646722143.629620033]: *** COORDINATE FRAMES ***
[ INFO] [1646722143.632167310]:  * map_frame -> map
[ INFO] [1646722143.632202469]:  * odometry_frame -> odom
[ INFO] [1646722143.632218391]:  * base_frame -> base_link
[ INFO] [1646722143.632236048]:  * camera_frame -> zedA_camera_center
[ INFO] [1646722143.632250769]:  * imu_link -> zedA_imu_link
[ INFO] [1646722143.632265569]:  * left_camera_frame -> zedA_left_camera_frame
[ INFO] [1646722143.632280098]:  * left_camera_optical_frame -> zedA_left_camera_optical_frame
[ INFO] [1646722143.632293878]:  * right_camera_frame -> zedA_right_camera_frame
[ INFO] [1646722143.632308599]:  * right_camera_optical_frame -> zedA_right_camera_optical_frame
[ INFO] [1646722143.632326393]:  * depth_frame -> zedA_left_camera_frame
[ INFO] [1646722143.632346180]:  * depth_optical_frame -> zedA_left_camera_optical_frame
[ INFO] [1646722143.632364531]:  * disparity_frame -> zedA_left_camera_frame
[ INFO] [1646722143.632382224]:  * disparity_optical_frame -> zedA_left_camera_optical_frame
[ INFO] [1646722143.632412563]:  * confidence_frame -> zedA_left_camera_frame
[ INFO] [1646722143.632428705]:  * confidence_optical_frame -> zedA_left_camera_optical_frame
[ INFO] [1646722143.633433691]:  * Broadcast odometry TF -> ENABLED
[ INFO] [1646722143.634313211]:  * Broadcast map pose TF -> ENABLED
[ INFO] [1646722143.635095261]:  * Broadcast IMU pose TF -> ENABLED
[ INFO] [1646722143.635130811]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1646722143.635444206]:  * [DYN] Depth confidence -> 50
[ INFO] [1646722143.636014003]:  * [DYN] Depth texture conf. -> 100
[ INFO] [1646722143.636408603]:  * [DYN] pub_frame_rate -> 100 Hz
[ INFO] [1646722143.636746905]: ********** Starting nodelet '/zedB/zed_node_B' **********
[ INFO] [1646722143.636809945]: SDK version : 3.7.0
[ INFO] [1646722143.636837775]: *** GENERAL PARAMETERS ***
[ INFO] [1646722143.637009233]:  * [DYN] point_cloud_freq -> 100 Hz
[ INFO] [1646722143.637258453]:  * Camera Name -> zedB
[ INFO] [1646722143.637544248]:  * [DYN] brightness -> 4
[ INFO] [1646722143.637806639]:  * Camera Resolution -> HD720
[ INFO] [1646722143.638092962]:  * [DYN] contrast -> 4
[ INFO] [1646722143.638346242]:  * Camera Grab Framerate -> 15
[ INFO] [1646722143.638632112]:  * [DYN] hue -> 0
[ INFO] [1646722143.638889242]:  * Gpu ID -> -1
[ INFO] [1646722143.639175568]:  * [DYN] saturation -> 4
[ INFO] [1646722143.639430888]:  * Camera ID -> -1
[ INFO] [1646722143.639695606]:  * [DYN] sharpness -> 4
[ INFO] [1646722143.639945545]:  * Verbose -> DISABLED
[ INFO] [1646722143.640203137]:  * [DYN] gamma -> 8
[ INFO] [1646722143.640775448]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1646722143.641035214]:  * Camera Flip -> DISABLED
[ INFO] [1646722143.642107227]:  * Self calibration -> ENABLED
[ INFO] [1646722143.642371422]:  * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1646722143.642958831]:  * Camera Model by param -> zed2i
[ INFO] [1646722143.642988791]: *** VIDEO PARAMETERS ***
[ INFO] [1646722143.643381151]:  * Image resample factor -> 1
[ INFO] [1646722143.643931070]:  * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1646722143.643957123]: *** DEPTH PARAMETERS ***
[ INFO] [1646722143.644486035]:  * Depth quality -> PERFORMANCE
[ INFO] [1646722143.645036906]:  * Depth Sensing mode -> STANDARD
[ INFO] [1646722143.645550428]:  * OpenNI mode -> DISABLED
[ INFO] [1646722143.646087373]:  * Depth Stabilization -> ENABLED
[ INFO] [1646722143.647933679]:  * Minimum depth -> 0.3 m
[ INFO] [1646722143.648453318]:  * Maximum depth -> 20 m
[ INFO] [1646722143.648896877]:  * Depth resample factor -> 1
[ INFO] [1646722143.648925256]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1646722143.653502199]:  * Positional tracking -> ENABLED
[ INFO] [1646722143.655505146]:  * Path rate -> 2 Hz
[ INFO] [1646722143.655876010]:  * Path history size -> 1
[ INFO] [1646722143.657056623]:  * Odometry DB path -> /home/haul/.ros/zed_area_memory.area
[ INFO] [1646722143.658513369]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1646722143.658604199]:  *** Opening ZED 2i...
[ INFO] [1646722143.658794439]:  * Save Area Memory on closing -> DISABLED
[ INFO] [1646722143.659432503]:  * Area Memory -> ENABLED
[ INFO] [1646722143.660949704]:  * IMU Fusion -> ENABLED
[ INFO] [1646722143.662214483]:  * Floor alignment -> DISABLED
[ INFO] [1646722143.663051131]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1646722143.663990388]:  * Two D mode -> DISABLED
[ INFO] [1646722143.664742611]: *** MAPPING PARAMETERS ***
[ INFO] [1646722143.665677645]:  * Mapping -> DISABLED
[ INFO] [1646722143.665706736]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1646722143.666390855]:  * Object Detection -> DISABLED
[ INFO] [1646722143.666417985]: *** SENSORS PARAMETERS ***
[ INFO] [1646722143.666732463]:  * Sensors timestamp sync -> DISABLED
[ INFO] [1646722143.666755834]: *** SVO PARAMETERS ***
[ INFO] [1646722143.667110843]:  * SVO input file: ->
[ INFO] [1646722143.667472924]:  * SVO REC compression -> H264 (AVCHD)
[ INFO] [1646722143.667796784]: *** COORDINATE FRAMES ***
[ INFO] [1646722143.669586796]:  * map_frame -> map
[ INFO] [1646722143.669616053]:  * odometry_frame -> odom
[ INFO] [1646722143.669635173]:  * base_frame -> base_link
[ INFO] [1646722143.669653347]:  * camera_frame -> zedB_camera_center
[ INFO] [1646722143.669668017]:  * imu_link -> zedB_imu_link
[ INFO] [1646722143.669682693]:  * left_camera_frame -> zedB_left_camera_frame
[ INFO] [1646722143.669698086]:  * left_camera_optical_frame -> zedB_left_camera_optical_frame
[ INFO] [1646722143.669712907]:  * right_camera_frame -> zedB_right_camera_frame
[ INFO] [1646722143.669733317]:  * right_camera_optical_frame -> zedB_right_camera_optical_frame
[ INFO] [1646722143.669747259]:  * depth_frame -> zedB_left_camera_frame
[ INFO] [1646722143.669761291]:  * depth_optical_frame -> zedB_left_camera_optical_frame
[ INFO] [1646722143.669774928]:  * disparity_frame -> zedB_left_camera_frame
[ INFO] [1646722143.669788875]:  * disparity_optical_frame -> zedB_left_camera_optical_frame
[ INFO] [1646722143.669801937]:  * confidence_frame -> zedB_left_camera_frame
[ INFO] [1646722143.669818065]:  * confidence_optical_frame -> zedB_left_camera_optical_frame
[ INFO] [1646722143.670468873]:  * Broadcast odometry TF -> DISABLED
[ INFO] [1646722143.671760946]:  * Broadcast map pose TF -> DISABLED
[ INFO] [1646722143.672402730]:  * Broadcast IMU pose TF -> ENABLED
[ INFO] [1646722143.672429648]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1646722143.672755397]:  * [DYN] Depth confidence -> 50
[ INFO] [1646722143.673081669]:  * [DYN] Depth texture conf. -> 100
[ INFO] [1646722143.673484867]:  * [DYN] pub_frame_rate -> 100 Hz
[ INFO] [1646722143.673986116]:  * [DYN] point_cloud_freq -> 100 Hz
[ INFO] [1646722143.674322878]:  * [DYN] brightness -> 4
[ INFO] [1646722143.674648653]:  * [DYN] contrast -> 4
[ INFO] [1646722143.674976794]:  * [DYN] hue -> 0
[ INFO] [1646722143.675301531]:  * [DYN] saturation -> 4
[ INFO] [1646722143.675632518]:  * [DYN] sharpness -> 4
[ INFO] [1646722143.675969258]:  * [DYN] gamma -> 8
[ INFO] [1646722143.676295455]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1646722143.677201444]:  * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1646722143.684195341]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1646722143.684261674]:  *** Opening ZED 2i...
[ INFO] [1646722143.863828886]: rviz version 1.14.14
[ INFO] [1646722143.863870892]: compiled against Qt version 5.12.8
[ INFO] [1646722143.863881569]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1646722143.879687054]: Forcing OpenGl version 0.
[ INFO] [1646722143.962298776]: Starting node...
[ INFO] [1646722144.036759154]: Initializing nodelet with 8 worker threads.
[ INFO] [1646722144.069731817]: Initializing nodelet with 8 worker threads.
[ INFO] [1646722144.171284273]: Odometry: frame_id               = base_link
[ INFO] [1646722144.171338758]: Odometry: odom_frame_id          = odom
[ INFO] [1646722144.171365445]: Odometry: publish_tf             = true
[ INFO] [1646722144.171389064]: Odometry: wait_for_transform     = true
[ INFO] [1646722144.171424433]: Odometry: wait_for_transform_duration  = 0.100000
[ INFO] [1646722144.171460354]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1646722144.171480784]: Odometry: ground_truth_frame_id  =
[ INFO] [1646722144.171497018]: Odometry: ground_truth_base_frame_id = base_link
[ INFO] [1646722144.171511911]: Odometry: config_path            =
[ INFO] [1646722144.171525022]: Odometry: publish_null_when_lost = true
[ INFO] [1646722144.171538136]: Odometry: guess_frame_id         =
[ INFO] [1646722144.171551901]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1646722144.171565664]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1646722144.171644684]: Odometry: guess_min_time         = 0.000000
[ INFO] [1646722144.171657708]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1646722144.171669375]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1646722144.171680615]: Odometry: wait_imu_to_init       = false
[ INFO] [1646722144.171709609]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1646722144.188499218]: Starting node...
[ INFO] [1646722144.232070708]: Setting odometry parameter "Odom/FillInfoData"="true"
[ INFO] [1646722144.256581097]: Setting odometry parameter "Odom/Strategy"="0"
[ INFO] [1646722144.261484467]: Setting odometry parameter "OdomF2M/MaxSize"="1000"
[ INFO] [1646722144.392482009]: rtabmapviz: Using configuration from "/home/haul/camera_ws/src/slam_2cameras/src/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1646722144.401932737]: Setting odometry parameter "Vis/CorGuessWinSize"="0"
[ INFO] [1646722144.403184679]: Setting odometry parameter "Vis/CorNNType"="3"
[ INFO] [1646722144.406459045]: Setting odometry parameter "Vis/EstimationType"="0"
[ INFO] [1646722144.406732451]: Setting odometry parameter "Vis/FeatureType"="6"
[ INFO] [1646722144.409978444]: Setting odometry parameter "Vis/InlierDistance"="0.02"
[ INFO] [1646722144.411200093]: Setting odometry parameter "Vis/MaxDepth"="4.0"
[ INFO] [1646722144.414300052]: Setting odometry parameter "Vis/MinInliers"="20"
[ WARN] [1646722144.473983127]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead.
[ WARN] [1646722144.476268754]: Parameter "map_negative_scan_empty_ray_tracing" has been removed. Use "map_empty_ray_tracing" instead.
[ INFO] [1646722144.479673764]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1646722144.479698576]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1646722144.479711486]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1646722144.479726833]: /rtabmap/rtabmap(maps): map_always_update          = true
[ INFO] [1646722144.479737688]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = false
[ INFO] [1646722144.479753029]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1646722144.479761712]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1646722144.479770734]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1646722144.480413246]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1646722144.480463270]: Stereo is NOT SUPPORTED
[ INFO] [1646722144.480536368]: OpenGL device: NVIDIA GeForce GTX 1650/PCIe/SSE2
[ INFO] [1646722144.480579617]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1646722144.505677620]: rtabmap: frame_id      = base_link
[ INFO] [1646722144.505719627]: rtabmap: map_frame_id  = map
[ INFO] [1646722144.505742822]: rtabmap: use_action_for_goal  = false
[ INFO] [1646722144.505769450]: rtabmap: tf_delay      = 0.050000
[ INFO] [1646722144.505785732]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1646722144.505806722]: rtabmap: odom_sensor_sync   = false
[ INFO] [1646722144.506219088]: rtabmap: gen_scan  = true
[ INFO] [1646722144.506244240]: rtabmap: gen_scan_max_depth  = 4.000000
[ INFO] [1646722144.506264867]: rtabmap: gen_scan_min_depth  = 0.000000
[ INFO] [1646722144.506279898]: rtabmap: gen_depth  = false
[ INFO] [1646722144.631600782]: RGBDOdometry: approx_sync    = true
[ INFO] [1646722144.631629583]: RGBDOdometry: queue_size     = 5
[ INFO] [1646722144.631642854]: RGBDOdometry: subscribe_rgbd = true
[ INFO] [1646722144.631656126]: RGBDOdometry: rgbd_cameras   = 2
[ INFO] [1646722144.631666377]: RGBDOdometry: keep_color     = false
[ INFO] [1646722144.641261876]:
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /zedA/rgbd_image \
   /zedB/rgbd_image
[ INFO] [1646722144.850287670]: Setting RTAB-Map parameter "Vis/CorGuessWinSize"="0"
[ INFO] [1646722144.854684136]: Setting RTAB-Map parameter "Vis/EstimationType"="0"
[ INFO] [1646722144.857949876]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.02"
[ INFO] [1646722144.862067629]: Setting RTAB-Map parameter "Vis/MinInliers"="10"
[ WARN] [1646722144.883230462]: Rtabmap: Parameter name changed: "Grid/FromDepth" -> "Grid/Sensor". Please update your launch file accordingly. Value "false" is still set to the new parameter name.
[ INFO] [1646722145.010632687]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[ INFO] [1646722145.012204918]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1646722145.012722299]: rtabmap: Deleted database "/home/haul/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1646722145.012763099]: rtabmap: Using database from "/home/haul/.ros/rtabmap.db" (0 MB).
[ INFO] [1646722145.118146808]: rtabmap: Database version = "0.20.18".
[ INFO] [1646722145.118215605]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ WARN] [1646722145.148710187]: rtabmap: Parameters subscribe_rgb and subscribe_rgbd cannot be true at the same time. Parameter subscribe_rgb is set to false.
[ INFO] [1646722145.150088651]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1646722145.150109607]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1646722145.150125774]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1646722145.150142075]: /rtabmap/rtabmap: subscribe_rgbd = true (rgbd_cameras=2)
[ INFO] [1646722145.150159724]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1646722145.150176452]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1646722145.150201366]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1646722145.150217082]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1646722145.150235487]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1646722145.150258330]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1646722145.150279029]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1646722145.150328934]: Setup rgbd2 callback
[ INFO] [1646722145.160805267]:
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /zedA/rgbd_image \
   /zedB/rgbd_image
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1646722145.285683039]: rtabmap 0.20.18 started...
[ INFO] [1646722145.306742181]: ZED connection -> SUCCESS
[ INFO] [1646722145.401795242]: rtabmapviz: Reading parameters from the ROS server...
[ INFO] [1646722145.532951986]: ZED connection -> SUCCESS
[ INFO] [1646722145.572267947]: rtabmapviz: Parameters read = 353
[ INFO] [1646722145.572300449]: rtabmapviz: Parameters successfully read.
[ INFO] [1646722145.744582795]: /rtabmap/rtabmapviz: subscribe_depth = false
[ INFO] [1646722145.744633629]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1646722145.744643663]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1646722145.744658449]: /rtabmap/rtabmapviz: subscribe_rgbd = true (rgbd_cameras=2)
[ INFO] [1646722145.744675116]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1646722145.744690336]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1646722145.744704534]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1646722145.744717676]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1646722145.744729630]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1646722145.744742080]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1646722145.744754468]: /rtabmap/rtabmapviz: approx_sync   = true
[ INFO] [1646722145.744791643]: Setup rgbd2 callback
[ INFO] [1646722145.786082404]:
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /zedA/rgbd_image \
   /zedB/rgbd_image \
   /rtabmap/odom_info
[ INFO] [1646722145.786225382]: rtabmapviz started.
[ INFO] [1646722147.306941636]:  ...  ZED ready
[ INFO] [1646722147.306975137]: ZED SDK running on GPU #0
[ INFO] [1646722147.314603683]: Camera-IMU Transform:
 561D03E815E0
0.999992 -0.002034 -0.003392 -0.002000
0.002036 0.999998 0.000506 -0.023000
0.003391 -0.000513 0.999994 0.000220
0.000000 0.000000 0.000000 1.000000

[ INFO] [1646722147.314643470]:  * CAMERA MODEL -> ZED 2i
[ INFO] [1646722147.314668247]:  * Serial Number -> 32591269
[ INFO] [1646722147.314688948]:  * Camera FW Version -> 1523
[ INFO] [1646722147.314707781]:  * Sensors FW Version -> 778
[ INFO] [1646722147.337902434]: Advertised on topic /zedA/zed_node_A/rgb/image_rect_color
[ INFO] [1646722147.337951690]: Advertised on topic /zedA/zed_node_A/rgb/camera_info
[ INFO] [1646722147.338857481]: Advertised on topic /zedA/zed_node_A/rgb_raw/image_raw_color
[ INFO] [1646722147.338877687]: Advertised on topic /zedA/zed_node_A/rgb_raw/camera_info
[ INFO] [1646722147.339736322]: Advertised on topic /zedA/zed_node_A/left/image_rect_color
[ INFO] [1646722147.339754061]: Advertised on topic /zedA/zed_node_A/left/camera_info
[ INFO] [1646722147.340746655]: Advertised on topic /zedA/zed_node_A/left_raw/image_raw_color
[ INFO] [1646722147.340777679]: Advertised on topic /zedA/zed_node_A/left_raw/camera_info
[ INFO] [1646722147.341651348]: Advertised on topic /zedA/zed_node_A/right/image_rect_color
[ INFO] [1646722147.341672171]: Advertised on topic /zedA/zed_node_A/right/camera_info
[ INFO] [1646722147.342472319]: Advertised on topic /zedA/zed_node_A/right_raw/image_raw_color
[ INFO] [1646722147.342491768]: Advertised on topic /zedA/zed_node_A/right_raw/camera_info
[ INFO] [1646722147.343035915]: Advertised on topic /zedA/zed_node_A/rgb/image_rect_gray
[ INFO] [1646722147.343054946]: Advertised on topic /zedA/zed_node_A/rgb/camera_info
[ INFO] [1646722147.343584799]: Advertised on topic /zedA/zed_node_A/rgb_raw/image_raw_gray
[ INFO] [1646722147.343603393]: Advertised on topic /zedA/zed_node_A/rgb_raw/camera_info
[ INFO] [1646722147.344135703]: Advertised on topic /zedA/zed_node_A/left/image_rect_gray
[ INFO] [1646722147.344155045]: Advertised on topic /zedA/zed_node_A/left/camera_info
[ INFO] [1646722147.344725108]: Advertised on topic /zedA/zed_node_A/left_raw/image_raw_gray
[ INFO] [1646722147.344744407]: Advertised on topic /zedA/zed_node_A/left_raw/camera_info
[ INFO] [1646722147.345277910]: Advertised on topic /zedA/zed_node_A/right/image_rect_gray
[ INFO] [1646722147.345296845]: Advertised on topic /zedA/zed_node_A/right/camera_info
[ INFO] [1646722147.345881518]: Advertised on topic /zedA/zed_node_A/right_raw/image_raw_gray
[ INFO] [1646722147.345905138]: Advertised on topic /zedA/zed_node_A/right_raw/camera_info
[ INFO] [1646722147.346761008]: Advertised on topic /zedA/zed_node_A/depth/depth_registered
[ INFO] [1646722147.346779611]: Advertised on topic /zedA/zed_node_A/depth/camera_info
[ INFO] [1646722147.347301779]: Advertised on topic /zedA/zed_node_A/stereo/image_rect_color
[ INFO] [1646722147.347801846]: Advertised on topic /zedA/zed_node_A/stereo_raw/image_raw_color
[ INFO] [1646722147.348102748]: Advertised on topic /zedA/zed_node_A/confidence/confidence_map
[ INFO] [1646722147.348411602]: Advertised on topic /zedA/zed_node_A/disparity/disparity_image
[ INFO] [1646722147.348721756]: Advertised on topic /zedA/zed_node_A/point_cloud/cloud_registered
[ INFO] [1646722147.349018054]: Advertised on topic /zedA/zed_node_A/pose
[ INFO] [1646722147.349324672]: Advertised on topic /zedA/zed_node_A/pose_with_covariance
[ INFO] [1646722147.349634738]: Advertised on topic /zedA/zed_node_A/odom
[ INFO] [1646722147.349941763]: Advertised on topic /zedA/zed_node_A/path_odom
[ INFO] [1646722147.350247972]: Advertised on topic /zedA/zed_node_A/path_map
[ INFO] [1646722147.350599941]: Advertised on topic /zedA/zed_node_A/imu/data
[ INFO] [1646722147.350910071]: Advertised on topic /zedA/zed_node_A/imu/data_raw
[ INFO] [1646722147.351215007]: Advertised on topic /zedA/zed_node_A/imu/mag
[ INFO] [1646722147.351535569]: Advertised on topic /zedA/zed_node_A/temperature/imu
[ INFO] [1646722147.351832959]: Advertised on topic /zedA/zed_node_A/atm_press
[ INFO] [1646722147.352137679]: Advertised on topic /zedA/zed_node_A/temperature/left
[ INFO] [1646722147.352438822]: Advertised on topic /zedA/zed_node_A/temperature/right
[ INFO] [1646722147.352828402]: Advertised on topic /zedA/zed_node_A/left_cam_imu_transform [LATCHED]
[ INFO] [1646722147.354681116]: Published static transform 'zedA_imu_link' -> 'zedA_left_camera_frame'
[ INFO] [1646722147.356868883]: *** Starting Positional Tracking ***
[ INFO] [1646722147.356889223]:  * Waiting for valid static transformations...
[ INFO] [1646722147.356939901]: Static transform Sensor to Base [zedA_left_camera_frame -> base_link]
[ INFO] [1646722147.356958269]:  * Translation: {0.000,-0.060,-0.015}
[ INFO] [1646722147.356971614]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1646722147.356992433]: Static transform Sensor to Camera Center [zedA_left_camera_frame -> zedA_camera_center]
[ INFO] [1646722147.357005709]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1646722147.357017367]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1646722147.357037404]: Static transform Camera Center to Base [zedA_camera_center -> base_link]
[ INFO] [1646722147.357055466]:  * Translation: {0.000,0.000,-0.015}
[ INFO] [1646722147.357069683]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1646722147.457167409]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1646722147.457234704]:  * T: [0,0.06,0.015]
[ INFO] [1646722147.457257808]:  * Q: [0,0,0,1]
[ WARN] [1646722147.457311773]: area_memory_db_path [/home/haul/.ros/zed_area_memory.area] doesn't exist or is unreachable.
[ INFO] [1646722147.533109725]:  ...  ZED ready
[ INFO] [1646722147.533147720]: ZED SDK running on GPU #0
[ INFO] [1646722147.541031102]: Camera-IMU Transform:
 55D5E2F20360
0.999985 0.003499 -0.004196 -0.002000
-0.003494 0.999993 0.001044 -0.023000
0.004200 -0.001029 0.999991 0.000220
0.000000 0.000000 0.000000 1.000000

[ INFO] [1646722147.541064727]:  * CAMERA MODEL -> ZED 2i
[ INFO] [1646722147.541099972]:  * Serial Number -> 31179479
[ INFO] [1646722147.541129541]:  * Camera FW Version -> 1523
[ INFO] [1646722147.541164141]:  * Sensors FW Version -> 777
[ INFO] [1646722147.569041523]: Advertised on topic /zedB/zed_node_B/rgb/image_rect_color
[ INFO] [1646722147.569068283]: Advertised on topic /zedB/zed_node_B/rgb/camera_info
[ INFO] [1646722147.570003424]: Advertised on topic /zedB/zed_node_B/rgb_raw/image_raw_color
[ INFO] [1646722147.570020102]: Advertised on topic /zedB/zed_node_B/rgb_raw/camera_info
[ INFO] [1646722147.570817843]: Advertised on topic /zedB/zed_node_B/left/image_rect_color
[ INFO] [1646722147.570835213]: Advertised on topic /zedB/zed_node_B/left/camera_info
[ INFO] [1646722147.571614009]: Advertised on topic /zedB/zed_node_B/left_raw/image_raw_color
[ INFO] [1646722147.571629968]: Advertised on topic /zedB/zed_node_B/left_raw/camera_info
[ INFO] [1646722147.572433434]: Advertised on topic /zedB/zed_node_B/right/image_rect_color
[ INFO] [1646722147.572451402]: Advertised on topic /zedB/zed_node_B/right/camera_info
[ INFO] [1646722147.573246677]: Advertised on topic /zedB/zed_node_B/right_raw/image_raw_color
[ INFO] [1646722147.573261686]: Advertised on topic /zedB/zed_node_B/right_raw/camera_info
[ INFO] [1646722147.573769552]: Advertised on topic /zedB/zed_node_B/rgb/image_rect_gray
[ INFO] [1646722147.573795898]: Advertised on topic /zedB/zed_node_B/rgb/camera_info
[ INFO] [1646722147.574320236]: Advertised on topic /zedB/zed_node_B/rgb_raw/image_raw_gray
[ INFO] [1646722147.574341556]: Advertised on topic /zedB/zed_node_B/rgb_raw/camera_info
[ INFO] [1646722147.574847661]: Advertised on topic /zedB/zed_node_B/left/image_rect_gray
[ INFO] [1646722147.574866588]: Advertised on topic /zedB/zed_node_B/left/camera_info
[ INFO] [1646722147.575360721]: Advertised on topic /zedB/zed_node_B/left_raw/image_raw_gray
[ INFO] [1646722147.575376126]: Advertised on topic /zedB/zed_node_B/left_raw/camera_info
[ INFO] [1646722147.575986179]: Advertised on topic /zedB/zed_node_B/right/image_rect_gray
[ INFO] [1646722147.576002043]: Advertised on topic /zedB/zed_node_B/right/camera_info
[ INFO] [1646722147.576820264]: Advertised on topic /zedB/zed_node_B/right_raw/image_raw_gray
[ INFO] [1646722147.576847602]: Advertised on topic /zedB/zed_node_B/right_raw/camera_info
[ INFO] [1646722147.577738735]: Advertised on topic /zedB/zed_node_B/depth/depth_registered
[ INFO] [1646722147.577756456]: Advertised on topic /zedB/zed_node_B/depth/camera_info
[ INFO] [1646722147.578278490]: Advertised on topic /zedB/zed_node_B/stereo/image_rect_color
[ INFO] [1646722147.578783602]: Advertised on topic /zedB/zed_node_B/stereo_raw/image_raw_color
[ INFO] [1646722147.579095513]: Advertised on topic /zedB/zed_node_B/confidence/confidence_map
[ INFO] [1646722147.579393832]: Advertised on topic /zedB/zed_node_B/disparity/disparity_image
[ INFO] [1646722147.579695008]: Advertised on topic /zedB/zed_node_B/point_cloud/cloud_registered
[ INFO] [1646722147.579992503]: Advertised on topic /zedB/zed_node_B/pose
[ INFO] [1646722147.580285328]: Advertised on topic /zedB/zed_node_B/pose_with_covariance
[ INFO] [1646722147.580601218]: Advertised on topic /zedB/zed_node_B/odom
[ INFO] [1646722147.580893808]: Advertised on topic /zedB/zed_node_B/path_odom
[ INFO] [1646722147.581259154]: Advertised on topic /zedB/zed_node_B/path_map
[ INFO] [1646722147.581599740]: Advertised on topic /zedB/zed_node_B/imu/data
[ INFO] [1646722147.581894883]: Advertised on topic /zedB/zed_node_B/imu/data_raw
[ INFO] [1646722147.582192776]: Advertised on topic /zedB/zed_node_B/imu/mag
[ INFO] [1646722147.582487244]: Advertised on topic /zedB/zed_node_B/temperature/imu
[ INFO] [1646722147.582777606]: Advertised on topic /zedB/zed_node_B/atm_press
[ INFO] [1646722147.583073259]: Advertised on topic /zedB/zed_node_B/temperature/left
[ INFO] [1646722147.583365531]: Advertised on topic /zedB/zed_node_B/temperature/right
[ INFO] [1646722147.583696474]: Advertised on topic /zedB/zed_node_B/left_cam_imu_transform [LATCHED]
[ INFO] [1646722147.585544219]: Published static transform 'zedB_imu_link' -> 'zedB_left_camera_frame'
[ INFO] [1646722147.590030887]: *** Starting Positional Tracking ***
[ INFO] [1646722147.590062521]:  * Waiting for valid static transformations...
[ INFO] [1646722147.590149717]: Static transform Sensor to Base [zedB_left_camera_frame -> base_link]
[ INFO] [1646722147.590169160]:  * Translation: {-0.000,-0.340,0.025}
[ INFO] [1646722147.590187157]:  * Rotation: {0.000,-0.000,179.931}
[ INFO] [1646722147.590212106]: Static transform Sensor to Camera Center [zedB_left_camera_frame -> zedB_camera_center]
[ INFO] [1646722147.590229096]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1646722147.590249852]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1646722147.590273241]: Static transform Camera Center to Base [zedB_camera_center -> base_link]
[ INFO] [1646722147.590290831]:  * Translation: {-0.000,-0.280,0.025}
[ INFO] [1646722147.590310061]:  * Rotation: {0.000,-0.000,179.931}
[ INFO] [1646722147.650180242]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722147.650240081]: Odometry aligned to last tracking pose
[ INFO] [1646722147.690481610]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1646722147.690650917]:  * T: [7.24408e-05,-0.34,-0.025]
[ INFO] [1646722147.690694190]:  * Q: [0,0,-1,0.00059802]
[ WARN] [1646722147.690837495]: area_memory_db_path [/home/haul/.ros/zed_area_memory.area] doesn't exist or is unreachable.
[ WARN] [1646722147.731918322]: Messages of type 1 arrived closer (0.066623000) than the lower bound you provided (0.500000000) (will print only once)
[ INFO] [1646722147.779127190]: Positional tracking -> OK [OK]
[ INFO] [1646722147.911109232]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722147.911245911]: Odometry aligned to last tracking pose
[ERROR] (2022-03-08 12:19:07.976) OdometryF2M.cpp:231::computeTransform() Odometry bundle adjustment doesn't work with multi-cameras. It is disabled.
[ WARN] [1646722148.031446234]: Messages of type 0 arrived closer (0.066623000) than the lower bound you provided (0.500000000) (will print only once)
[ INFO] [1646722148.082149048]: Positional tracking -> OK [OK]
[ INFO] [1646722148.115124713]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.138264s
[ WARN] (2022-03-08 12:19:08.420) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=46) between -1 and 2"
[ INFO] [1646722148.422467969]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.142645s
[ INFO] [1646722148.461014122]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0247s, RTAB-Map=0.2749s, Maps update=0.0376s pub=0.0005s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:08.563) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=36) between -1 and 3"
[ INFO] [1646722148.564544489]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.131774s
[ WARN] (2022-03-08 12:19:08.715) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 4"
[ INFO] [1646722148.718164804]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.131489s
[ WARN] (2022-03-08 12:19:08.861) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=59) between -1 and 5"
[ INFO] [1646722148.863378747]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.122304s
[ INFO] [1646722148.951570099]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722149.018500907]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:09.029) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=41) between -1 and 6"
[ INFO] [1646722149.030663009]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.150742s
[ WARN] (2022-03-08 12:19:09.230) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=58) between -1 and 7"
[ INFO] [1646722149.232144383]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.174417s
[ERROR] (2022-03-08 12:19:09.281) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 23 is ignored!
[ INFO] [1646722149.281615977]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0445s, RTAB-Map=0.0004s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:09.439) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=44) between -1 and 8"
[ INFO] [1646722149.441054797]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.170631s
[ INFO] [1646722149.463539977]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722149.536810407]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:09.666) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=53) between -1 and 9"
[ INFO] [1646722149.670321612]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.187659s
[ WARN] (2022-03-08 12:19:09.968) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 10"
[ INFO] [1646722149.970260311]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.221436s
[ INFO] [1646722150.086774312]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:10.186) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=48) between -1 and 11"
[ INFO] [1646722150.189242373]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.151966s
[ERROR] (2022-03-08 12:19:10.212) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 45 is ignored!
[ INFO] [1646722150.212608706]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0232s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ INFO] [1646722150.216288022]: Positional tracking -> OK [OK]
[ INFO] [1646722150.355728582]: Positional tracking -> Searching for a known position [SEARCHING]
[pcl::RandomSampleConsensus::computeModel] RANSAC found no model.
[ WARN] (2022-03-08 12:19:10.411) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 12"
[ INFO] [1646722150.413572072]: Positional tracking -> OK [OK]
[ INFO] [1646722150.416932830]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.183780s
[ INFO] [1646722150.625330739]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:10.683) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=47) between -1 and 13"
[ INFO] [1646722150.688368090]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.225045s
[ INFO] [1646722150.727145272]: Positional tracking -> OK [OK]
[ INFO] [1646722150.815272353]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:10.878) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=48) between -1 and 14"
[ INFO] [1646722150.879431821]: Positional tracking -> OK [OK]
[ INFO] [1646722150.881171287]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.171530s
[ INFO] [1646722150.948677836]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:11.042) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=51) between -1 and 15"
[ INFO] [1646722151.044597596]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.134704s
[ INFO] [1646722151.084864725]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:11.211) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=31) between -1 and 16"
[ INFO] [1646722151.212026127]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.142081s
[ERROR] (2022-03-08 12:19:11.222) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 67 is ignored!
[ INFO] [1646722151.222799642]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0104s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:11.377) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=53) between -1 and 17"
[ INFO] [1646722151.378943168]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.110642s
[ WARN] (2022-03-08 12:19:11.646) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 18"
[ INFO] [1646722151.648500065]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.177344s
[ WARN] (2022-03-08 12:19:11.806) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=45) between -1 and 19"
[ INFO] [1646722151.806971573]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.136674s
[ INFO] [1646722151.882187659]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722151.956825928]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:12.046) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=31) between -1 and 20"
[ INFO] [1646722152.047728306]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.142768s
[ INFO] [1646722152.081585993]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722152.149575262]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:12.193) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=32) between -1 and 21"
[ INFO] [1646722152.195282316]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.129359s
[ INFO] [1646722152.214273645]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:12.351) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=25) between -1 and 22"
[ INFO] [1646722152.351936073]: Positional tracking -> OK [OK]
[ INFO] [1646722152.352920509]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.112187s
[ERROR] (2022-03-08 12:19:12.402) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 91 is ignored!
[ INFO] [1646722152.402716858]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0357s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:12.534) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=37) between -1 and 23"
[ INFO] [1646722152.537133230]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.162657s
[ INFO] [1646722152.629769493]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722152.685869968]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:12.721) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 6/20 (matches=33) between -1 and 24"
[ INFO] [1646722152.725087221]: Odom: quality=6, std dev=0.000000m|0.000000rad, update time=0.153420s
[ WARN] (2022-03-08 12:19:12.919) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=53) between -1 and 25"
[ INFO] [1646722152.921253523]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.125972s
[ WARN] (2022-03-08 12:19:13.059) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=33) between -1 and 26"
[ INFO] [1646722153.060623849]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.118487s
[ WARN] (2022-03-08 12:19:13.259) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 5/20 (matches=45) between -1 and 27"
[ INFO] [1646722153.262178724]: Odom: quality=5, std dev=0.000000m|0.000000rad, update time=0.121773s
[ INFO] [1646722153.383403276]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:13.402) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=23) between -1 and 28"
[ INFO] [1646722153.403602767]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.126449s
[ INFO] [1646722153.451097645]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:13.543) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=51) between -1 and 29"
[ INFO] [1646722153.544510687]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.122489s
[ERROR] (2022-03-08 12:19:13.567) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 125 is ignored!
[ INFO] [1646722153.567328319]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0222s, RTAB-Map=0.0005s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:13.672) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=42) between -1 and 30"
[ INFO] [1646722153.672976020]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.080495s
[ WARN] (2022-03-08 12:19:13.950) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=50) between -1 and 31"
[ INFO] [1646722153.951645859]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.152973s
[ WARN] (2022-03-08 12:19:14.090) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=43) between -1 and 32"
[ INFO] [1646722154.092231327]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.124795s
[ WARN] (2022-03-08 12:19:14.248) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=57) between -1 and 33"
[ INFO] [1646722154.250508354]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.121875s
[ WARN] (2022-03-08 12:19:14.427) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 34"
[ INFO] [1646722154.429777864]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.143967s
[ WARN] (2022-03-08 12:19:14.588) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=43) between -1 and 35"
[ INFO] [1646722154.589843678]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.130845s
[ERROR] (2022-03-08 12:19:14.627) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 149 is ignored!
[ INFO] [1646722154.627829349]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0136s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:14.744) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=22) between -1 and 36"
[ INFO] [1646722154.746389093]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.121177s
[ WARN] (2022-03-08 12:19:15.027) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=51) between -1 and 37"
[ INFO] [1646722155.029187389]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.186374s
[ WARN] (2022-03-08 12:19:15.217) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=31) between -1 and 38"
[ INFO] [1646722155.219618818]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.160533s
[ WARN] (2022-03-08 12:19:15.483) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=49) between -1 and 39"
[ INFO] [1646722155.486089645]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.209157s
[ WARN] (2022-03-08 12:19:15.642) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=36) between -1 and 40"
[ INFO] [1646722155.644308492]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.147301s
[ WARN] (2022-03-08 12:19:15.771) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=47) between -1 and 41"
[ INFO] [1646722155.776766835]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.111808s
[ERROR] (2022-03-08 12:19:15.805) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 173 is ignored!
[ INFO] [1646722155.806094795]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0329s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:15.904) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=51) between -1 and 42"
[ INFO] [1646722155.907011304]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.111949s
[ WARN] (2022-03-08 12:19:16.061) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=39) between -1 and 43"
[ INFO] [1646722156.062568821]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.135240s
[ INFO] [1646722156.150760637]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722156.224562130]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:16.371) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=46) between -1 and 44"
[ INFO] [1646722156.374431449]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.205974s
[ WARN] (2022-03-08 12:19:16.517) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=43) between -1 and 45"
[ INFO] [1646722156.518818951]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.129467s
[ WARN] (2022-03-08 12:19:16.723) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=32) between -1 and 46"
[ INFO] [1646722156.724346967]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.163375s
[ WARN] (2022-03-08 12:19:16.903) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=46) between -1 and 47"
[ INFO] [1646722156.904317049]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.135552s
[ERROR] (2022-03-08 12:19:16.925) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 205 is ignored!
[ INFO] [1646722156.925247420]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0208s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ INFO] [1646722157.143834888]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:17.169) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=45) between -1 and 48"
[ INFO] [1646722157.170550781]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.123813s
[ INFO] [1646722157.216405148]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:17.317) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=56) between -1 and 49"
[ INFO] [1646722157.319592258]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.132910s
[ WARN] (2022-03-08 12:19:17.428) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=35) between -1 and 50"
[ INFO] [1646722157.430868886]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.085638s
[ INFO] [1646722157.614657722]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:17.651) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=35) between -1 and 51"
[ INFO] [1646722157.652632649]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.126672s
[ INFO] [1646722157.692562476]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:17.799) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 52"
[ INFO] [1646722157.801143448]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.125570s
[ERROR] (2022-03-08 12:19:17.822) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 229 is ignored!
[ INFO] [1646722157.822346467]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0210s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:17.983) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=52) between -1 and 53"
[ INFO] [1646722157.985702746]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.131179s
[ WARN] (2022-03-08 12:19:18.196) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=54) between -1 and 54"
[ INFO] [1646722158.198152115]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.146555s
[ WARN] (2022-03-08 12:19:18.441) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=43) between -1 and 55"
[ INFO] [1646722158.444629581]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.175681s
[ WARN] (2022-03-08 12:19:18.647) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=38) between -1 and 56"
[ INFO] [1646722158.648856321]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.129299s
[ WARN] (2022-03-08 12:19:18.837) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=45) between -1 and 57"
[ INFO] [1646722158.838351130]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.162533s
[ WARN] (2022-03-08 12:19:18.956) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=50) between -1 and 58"
[ INFO] [1646722158.958163609]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.100658s
[ WARN] (2022-03-08 12:19:19.111) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=39) between -1 and 59"
[ INFO] [1646722159.111944845]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.093443s
[ERROR] (2022-03-08 12:19:19.132) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 257 is ignored!
[ INFO] [1646722159.132981453]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0208s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:19.248) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=48) between -1 and 60"
[ INFO] [1646722159.250125785]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.122462s
[ WARN] (2022-03-08 12:19:19.401) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=38) between -1 and 61"
[ INFO] [1646722159.402564297]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.134033s
[ WARN] (2022-03-08 12:19:19.598) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=35) between -1 and 62"
[ INFO] [1646722159.600155996]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.162352s
[ WARN] (2022-03-08 12:19:19.819) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=52) between -1 and 63"
[ INFO] [1646722159.821190646]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.152649s
[ WARN] (2022-03-08 12:19:20.085) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=49) between -1 and 64"
[ INFO] [1646722160.087081890]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.139200s
[ERROR] (2022-03-08 12:19:20.124) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 279 is ignored!
[ INFO] [1646722160.124793585]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0280s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:20.240) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=52) between -1 and 65"
[ INFO] [1646722160.240986557]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.127339s
[ WARN] (2022-03-08 12:19:20.419) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=51) between -1 and 66"
[ INFO] [1646722160.420609354]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.155100s
[ WARN] (2022-03-08 12:19:20.644) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=52) between -1 and 67"
[ INFO] [1646722160.646809738]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.185989s
[ WARN] (2022-03-08 12:19:20.933) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=58) between -1 and 68"
[ INFO] [1646722160.935469256]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.180432s
[ WARN] (2022-03-08 12:19:21.084) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 69"
[ INFO] [1646722161.086480190]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.132852s
[ WARN] (2022-03-08 12:19:21.211) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=56) between -1 and 70"
[ INFO] [1646722161.213084446]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.098262s
[ERROR] (2022-03-08 12:19:21.245) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 299 is ignored!
[ INFO] [1646722161.245436934]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0321s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:21.351) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=42) between -1 and 71"
[ INFO] [1646722161.357871802]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.125301s
[ WARN] (2022-03-08 12:19:21.584) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=38) between -1 and 72"
[ INFO] [1646722161.586794215]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.151710s
[ WARN] (2022-03-08 12:19:21.829) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=51) between -1 and 73"
[ INFO] [1646722161.830992975]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.107849s
[ WARN] (2022-03-08 12:19:21.964) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=56) between -1 and 74"
[ INFO] [1646722161.965562966]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.104597s
[ INFO] [1646722162.016073702]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722162.085172790]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:22.099) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=49) between -1 and 75"
[ INFO] [1646722162.100986698]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.118697s
[ WARN] (2022-03-08 12:19:22.254) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=52) between -1 and 76"
[ INFO] [1646722162.255535898]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.119177s
[ERROR] (2022-03-08 12:19:22.272) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 325 is ignored!
[ INFO] [1646722162.272555669]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0166s, RTAB-Map=0.0003s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ INFO] [1646722162.356493218]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:22.412) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=62) between -1 and 77"
[ INFO] [1646722162.413237205]: Positional tracking -> OK [OK]
[ INFO] [1646722162.414760286]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.137103s
[ WARN] (2022-03-08 12:19:22.606) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=37) between -1 and 78"
[ INFO] [1646722162.607829733]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.109132s
[ WARN] (2022-03-08 12:19:22.806) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=53) between -1 and 79"
[ INFO] [1646722162.809032351]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.135626s
[ WARN] (2022-03-08 12:19:22.974) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=42) between -1 and 80"
[ INFO] [1646722162.976155919]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.134429s
[ WARN] (2022-03-08 12:19:23.079) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=39) between -1 and 81"
[ INFO] [1646722163.080200637]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.089161s
[ WARN] (2022-03-08 12:19:23.193) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=38) between -1 and 82"
[ INFO] [1646722163.194018629]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.095893s
[ INFO] [1646722163.252253146]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722163.318576169]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:23.339) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 83"
[ INFO] [1646722163.340594116]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.129125s
[ERROR] (2022-03-08 12:19:23.358) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 359 is ignored!
[ INFO] [1646722163.358593590]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0177s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ INFO] [1646722163.413930045]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722163.488195376]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:23.550) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=51) between -1 and 84"
[ INFO] [1646722163.552867055]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.149949s
[ WARN] (2022-03-08 12:19:23.684) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=56) between -1 and 85"
[ INFO] [1646722163.686397287]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.113175s
[ WARN] (2022-03-08 12:19:23.874) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=48) between -1 and 86"
[ INFO] [1646722163.876239581]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.136907s
[ WARN] (2022-03-08 12:19:24.064) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=55) between -1 and 87"
[ INFO] [1646722164.065618955]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.142429s
[ WARN] (2022-03-08 12:19:24.147) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=51) between -1 and 88"
[ INFO] [1646722164.148538019]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.060078s
[ WARN] (2022-03-08 12:19:24.420) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=35) between -1 and 89"
[ INFO] [1646722164.423438390]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.106460s
[ WARN] (2022-03-08 12:19:24.565) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=59) between -1 and 90"
[ INFO] [1646722164.567189872]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.131606s
[ERROR] (2022-03-08 12:19:24.605) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 389 is ignored!
[ INFO] [1646722164.605816620]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0350s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:24.704) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=50) between -1 and 91"
[ INFO] [1646722164.705449191]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.078647s
[ WARN] (2022-03-08 12:19:24.856) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=49) between -1 and 92"
[ INFO] [1646722164.857419956]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.083685s
[ WARN] (2022-03-08 12:19:25.031) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=34) between -1 and 93"
[ INFO] [1646722165.033154001]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095260s
[ INFO] [1646722165.052188864]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722165.130899398]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:25.189) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=54) between -1 and 94"
[ INFO] [1646722165.190758534]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.141006s
[ WARN] (2022-03-08 12:19:25.316) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=53) between -1 and 95"
[ INFO] [1646722165.317528819]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.090440s
[ INFO] [1646722165.383856999]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1646722165.450559770]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:25.485) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 4/20 (matches=50) between -1 and 96"
[ INFO] [1646722165.486647856]: Odom: quality=4, std dev=0.000000m|0.000000rad, update time=0.115214s
[ERROR] (2022-03-08 12:19:25.506) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 417 is ignored!
[ INFO] [1646722165.506585457]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0173s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:25.655) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=46) between -1 and 97"
[ INFO] [1646722165.657242635]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.133485s
[ WARN] (2022-03-08 12:19:25.784) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=50) between -1 and 98"
[ INFO] [1646722165.785920893]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.107429s
[ WARN] (2022-03-08 12:19:25.892) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=51) between -1 and 99"
[ INFO] [1646722165.893730549]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.050830s
[ INFO] [1646722166.016307808]: Positional tracking -> Searching for a known position [SEARCHING]
[ WARN] (2022-03-08 12:19:26.044) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=54) between -1 and 100"
[ INFO] [1646722166.046890670]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.120755s
[ INFO] [1646722166.078792589]: Positional tracking -> OK [OK]
[ WARN] (2022-03-08 12:19:26.148) util3d_registration.cpp:186::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers!
[ WARN] (2022-03-08 12:19:26.149) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=43) between -1 and 101"
[ INFO] [1646722166.151364172]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.081955s
[ WARN] (2022-03-08 12:19:26.319) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=41) between -1 and 102"
[ INFO] [1646722166.321121294]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.116140s
[ WARN] (2022-03-08 12:19:26.485) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=33) between -1 and 103"
[ INFO] [1646722166.487808222]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.114771s
[ WARN] (2022-03-08 12:19:26.668) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=40) between -1 and 104"
[ INFO] [1646722166.669596654]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.108531s
[ERROR] (2022-03-08 12:19:26.685) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 443 is ignored!
[ INFO] [1646722166.685371754]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0111s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:26.882) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=45) between -1 and 105"
[ INFO] [1646722166.883698248]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.102901s
[ WARN] (2022-03-08 12:19:26.996) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=57) between -1 and 106"
[ INFO] [1646722166.997167840]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.093701s
[ WARN] (2022-03-08 12:19:27.135) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 107"
[ INFO] [1646722167.137014782]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.072633s
[ WARN] (2022-03-08 12:19:27.225) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=43) between -1 and 108"
[ INFO] [1646722167.226502083]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.069486s
[ WARN] (2022-03-08 12:19:27.368) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 109"
[ INFO] [1646722167.369437717]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.085565s
[ WARN] (2022-03-08 12:19:27.517) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=34) between -1 and 110"
[ INFO] [1646722167.519896907]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.117761s
[ WARN] (2022-03-08 12:19:27.704) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=44) between -1 and 111"
[ INFO] [1646722167.707025991]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.158291s
[ WARN] (2022-03-08 12:19:27.914) util3d_registration.cpp:186::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers!
[ WARN] (2022-03-08 12:19:27.915) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=45) between -1 and 112"
[ INFO] [1646722167.917488994]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.167526s
[ERROR] (2022-03-08 12:19:27.934) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 473 is ignored!
[ INFO] [1646722167.938496065]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0130s, RTAB-Map=0.0040s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:28.127) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=35) between -1 and 113"
[ INFO] [1646722168.129645271]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.159369s
[ WARN] (2022-03-08 12:19:28.264) util3d_registration.cpp:186::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers!
[ WARN] (2022-03-08 12:19:28.264) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=60) between -1 and 114"
[ INFO] [1646722168.265792466]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.086479s
[ WARN] (2022-03-08 12:19:28.443) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=47) between -1 and 115"
[ INFO] [1646722168.445117298]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.124011s
[ WARN] (2022-03-08 12:19:28.624) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=54) between -1 and 116"
[ INFO] [1646722168.625877676]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.128980s
[ WARN] (2022-03-08 12:19:28.862) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=51) between -1 and 117"
[ INFO] [1646722168.863944332]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.145066s
[ WARN] (2022-03-08 12:19:29.022) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=33) between -1 and 118"
[ INFO] [1646722169.023859296]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.141222s
[ERROR] (2022-03-08 12:19:29.042) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 499 is ignored!
[ INFO] [1646722169.042913286]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0191s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:29.188) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=42) between -1 and 119"
[ INFO] [1646722169.189619088]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.104939s
[ WARN] (2022-03-08 12:19:29.368) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=40) between -1 and 120"
[ INFO] [1646722169.370661067]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.120095s
[ WARN] (2022-03-08 12:19:29.636) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=33) between -1 and 121"
[ INFO] [1646722169.637901128]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.144325s
[ WARN] (2022-03-08 12:19:29.804) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=33) between -1 and 122"
[ INFO] [1646722169.805900799]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.155377s
[ WARN] (2022-03-08 12:19:30.030) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=42) between -1 and 123"
[ INFO] [1646722170.032187512]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.160413s
[ERROR] (2022-03-08 12:19:30.076) Rtabmap.cpp:1277::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 523 is ignored!
[ INFO] [1646722170.076812517]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0409s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2022-03-08 12:19:30.240) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=45) between -1 and 124"
[ INFO] [1646722170.247755402]: Odom: quality=3, std dev=0.000000m|0.000000rad, update time=0.183734s
[ WARN] (2022-03-08 12:19:30.432) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=48) between -1 and 125"
[ INFO] [1646722170.433512698]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.114305s
[ WARN] (2022-03-08 12:19:30.549) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=44) between -1 and 126"
[ INFO] [1646722170.550210039]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.102671s
[ WARN] (2022-03-08 12:19:30.682) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 127"
[ INFO] [1646722170.683322961]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.113423s
^C[ WARN] (2022-03-08 12:19:30.832) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=46) between -1 and 128"
[ INFO] [1646722170.833461500]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.122666s
[rviz-15] killing on exit
[rtabmap/rtabmapviz-14] killing on exit
[rtabmap/rtabmap-13] killing on exit
[rtabmap/rgbd_odometry-12] killing on exit
[zedB/camera_nodelet_manager2-9] killing on exit
[zedB/base_to_camera1_tf-11] killing on exit
[zedB/rgbd_sync-10] killing on exit
[zedB/zed_node_B-8] killing on exit
[zedB/zed_state_publisher-7] killing on exit
[zedA/base_to_camera0_tf-6] killing on exit
[ INFO] [1646722170.900177508]: rtabmapviz: ctrl-c catched! Exiting Qt app...
[ WARN] (2022-03-08 12:19:30.935) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=45) between -1 and 129"
[ WARN] (2022-03-08 12:19:31.030) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 3/20 (matches=39) between -1 and 130"
rtabmap: Saving database/long-term memory... (located at /home/haul/.ros/rtabmap.db)
[zedA/rgbd_sync-5] killing on exit
[zedA/camera_nodelet_manager1-4] killing on exit
[zedA/zed_node_A-3] killing on exit
[zedA/zed_state_publisher-2] killing on exit
ZED Nodelet destroyed
ZED Nodelet destroyed
rtabmap: Saving database/long-term memory...done! (located at /home/haul/.ros/rtabmap.db, 0 MB)
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done