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Failing Localization with Obstructions Present while still

Open jsreveal opened this issue 10 months ago • 4 comments

I am experiencing difficulties with RTAB-Map's localization and loop closure capabilities in scenarios where there are obstructions (specifically, people) between the camera and previously mapped areas, but there are still important scene features visible. In this scenario the camera subject is still. I don't experience these issues if the people are not obstructing the view.

Observations:

  • Failure Modes: RTAB-Map fails to either localize correctly or establish loop closures when obstructions are present in the described scenario. Instead it yields bad loop closures.
  • External SIFT Verification: I have independently tested SIFT feature detection and matching using the same configuration as RTAB-Map's internal implementation (see below). When comparing RGB images from the current scene (with people present) against previously captured map images, SIFT successfully identifies good keypoint matches, not many but feels sufficien. This suggests that the features themselves are detectable and match-able despite the obstructions.
  • Obstruction Removal: When the people are removed from the scene, RTAB-Map is able to localize correctly without issue.

Scenario with occlusion, with bad localization There are some good keypoint matches, despite some bad ones. Image on the right is an rgb exported from the map at a close position. Using distance threshold 0.7 Image

Scenario without occlusion with good localization Good keypoint matches, but again not many.Image on the left is from an rgb exported from the map Image

Expected Behavior:

I would expect RTAB-Map to be more robust to partial occlusions, especially when feature matching (as demonstrated by external SIFT) is still possible. Ideally, it should be able to utilize the available matches to achieve at least a coarse localization or loop closure, even if the accuracy is slightly reduced due to the obstructions.

Question:

What factors within RTAB-Map's processing could be contributing to these failures in the presence of partial occlusions, despite the apparent availability of matching features? Are there specific parameters or configurations that could be adjusted to improve robustness in such scenarios?

jsreveal avatar Jan 29 '25 18:01 jsreveal

Are you using a stereo or RGB-D camera? If a depth image is used, by default features are not extracted when there is no depth. You may disable this by setting Mem/DepthAsMask: false and Vis/DepthAsMask: false. The motion estimation would be accepted only if the number of inliers is above 20 by default, it can be changed with parameter Vis/MinInliers. Also make sure rtabmap is using SIFT: Kp/DetectorStrategy: 1 and Mem/UseOdomFeatures: false.

Note that another way to debug localization is to backup your map database, then restart in localization mode with Mem/LocalizationDataSaved: true. Do the the localization session, then close. The database will contain the data recorded during the localization session. Open the database in rtabmap-databaseViewer, then you can browse one map frame and one localization frame, then with Constraint View, check the checkbox to enable adding loop closures and click Add. You can enable Debug log under Gui settings panel to look at why a new added constraint would fail. It is also possible to change the Core Parameters and re-do Add to see how the parameters affect loop closure transform estimation. Enable RGBD/LoopClosureReextractFeatures under Core parameters to force re-extracting features depending on the current strategy used to test other features for example.

matlabbe avatar Feb 04 '25 04:02 matlabbe

I am using monocular localization. Those configuration changes did not produce better results.

Also tried to use superpoint+superglue but without improvements.

After doing localization with save localization data, I cannot open the database from databaseViewer.

Image

Thank you, João

jsreveal avatar Feb 11 '25 01:02 jsreveal

@matlabbe so I have set the location images with a dummy pose and was able to open the databse in rtabmap-databaseViewer with the location images.

I have ran location, against a map created with superpoint and superglue (complete config end of the comment). The matches I can see in rtabmap-databaseViewer are much less than the onews I obtain when I run superpoint+superglue from the superglue repository. Does location run superglue at all?

Matches shown in databaseViewer: Image

Matches running superpoint+superglue using demo_superglue.py (config identical):

Image

map config: Parameters (Yellow=modified, Red=old parameter not used anymore, NA=not in database): BRIEF/Bytes= 32 BRISK/Octaves= 3 BRISK/PatternScale= 1 BRISK/Thresh= 30 Bayes/FullPredictionUpdate= false Bayes/PredictionLC= 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23 Bayes/VirtualPlacePriorThr= 0.9 DbSqlite3/CacheSize= 10000 DbSqlite3/InMemory= false DbSqlite3/JournalMode= 3 DbSqlite3/Synchronous= 0 DbSqlite3/TempStore= 2 FAST/CV= 0 FAST/Gpu= false FAST/GpuKeypointsRatio= 0.05 FAST/GridCols= 0 FAST/GridRows= 0 FAST/MaxThreshold= 200 FAST/MinThreshold= 7 FAST/NonmaxSuppression= true FAST/Threshold= 20 FREAK/NOctaves= 4 FREAK/OrientationNormalized= true FREAK/PatternScale= 22 FREAK/ScaleNormalized= true GFTT/BlockSize= 3 GFTT/Gpu= false GFTT/K= 0.04 GFTT/MinDistance= 7 GFTT/QualityLevel= 0.001 GFTT/UseHarrisDetector= false GMS/ThresholdFactor= 6 GMS/WithRotation= false GMS/WithScale= false GTSAM/IncRelinearizeSkip= 1 GTSAM/IncRelinearizeThreshold= 0.01 GTSAM/Incremental= false GTSAM/Optimizer= 1 Grid/3D= true Grid/CellSize= 0.05 Grid/ClusterRadius= 0.1 Grid/DepthDecimation= 4 Grid/DepthRoiRatios= 0.0 0.0 0.0 0.0 Grid/FlatObstacleDetected= true Grid/FootprintHeight= 0.0 Grid/FootprintLength= 0.0 Grid/FootprintWidth= 0.0 Grid/GroundIsObstacle= false Grid/MapFrameProjection= false Grid/MaxGroundAngle= 45 Grid/MaxGroundHeight= 0.0 Grid/MaxObstacleHeight= 0.0 Grid/MinClusterSize= 10 Grid/MinGroundHeight= 0 Grid/NoiseFilteringMinNeighbors= 5 Grid/NoiseFilteringRadius= 0.0 Grid/NormalK= 20 Grid/NormalsSegmentation= true Grid/PreVoxelFiltering= true Grid/RangeMax= 5 Grid/RangeMin= 0.0 Grid/RayTracing= false Grid/Scan2dUnknownSpaceFilled= false Grid/ScanDecimation= 1 Grid/Sensor= 1 GridGlobal/AltitudeDelta= 0 GridGlobal/Eroded= false GridGlobal/FloodFillDepth= 0 GridGlobal/FootprintRadius= 0.0 GridGlobal/MaxNodes= 0 GridGlobal/MinSize= 0.0 GridGlobal/OccupancyThr= 0.5 GridGlobal/ProbClampingMax= 0.971 GridGlobal/ProbClampingMin= 0.1192 GridGlobal/ProbHit= 0.7 GridGlobal/ProbMiss= 0.4 GridGlobal/UpdateError= 0.01 Icp/CCFilterOutFarthestPoints= false Icp/CCMaxFinalRMS= 0.2 Icp/CCSamplingLimit= 50000 Icp/CorrespondenceRatio= 0.1 Icp/DownsamplingStep= 1 Icp/Epsilon= 0 Icp/FiltersEnabled= 3 Icp/Force4DoF= false Icp/Iterations= 30 Icp/MaxCorrespondenceDistance= 0.1 Icp/MaxRotation= 0.78 Icp/MaxTranslation= 0.2 Icp/OutlierRatio= 0.85 Icp/PMMatcherEpsilon= 0.0 Icp/PMMatcherIntensity= false Icp/PMMatcherKnn= 1 Icp/PointToPlane= true Icp/PointToPlaneGroundNormalsUp= 0.0 Icp/PointToPlaneK= 5 Icp/PointToPlaneLowComplexityStrategy=1 Icp/PointToPlaneMinComplexity= 0.02 Icp/PointToPlaneRadius= 0.0 Icp/RangeMax= 0 Icp/RangeMin= 0 Icp/ReciprocalCorrespondences= true Icp/Strategy= 1 Icp/VoxelSize= 0.05 ImuFilter/ComplementaryBiasAlpha= 0.01 ImuFilter/ComplementaryDoAdpativeGain=true ImuFilter/ComplementaryDoBiasEstimation=true ImuFilter/ComplementaryGainAcc= 0.01 ImuFilter/MadgwickGain= 0.1 ImuFilter/MadgwickZeta= 0.0 KAZE/Diffusivity= 1 KAZE/Extended= false KAZE/NOctaveLayers= 4 KAZE/NOctaves= 4 KAZE/Threshold= 0.001 KAZE/Upright= false Kp/BadSignRatio= 0.5 Kp/ByteToFloat= false 33mKp/DetectorStrategy= 11 (default=8) Kp/FlannRebalancingFactor= 2.0 Kp/GridCols= 1 Kp/GridRows= 1 Kp/IncrementalDictionary= true Kp/IncrementalFlann= true Kp/MaxDepth= 0 33mKp/MaxFeatures= 0 (default=500) Kp/MinDepth= 0 Kp/NNStrategy= 1 Kp/NewWordsComparedTogether= true Kp/NndrRatio= 0.8 Kp/Parallelized= true Kp/RoiRatios= 0.0 0.0 0.0 0.0 Kp/SSC= false Kp/SubPixEps= 0.02 Kp/SubPixIterations= 0 Kp/SubPixWinSize= 3 Kp/TfIdfLikelihoodUsed= true Marker/CornerRefinementMethod= 0 Marker/Dictionary= 0 Marker/Length= 0 Marker/MaxDepthError= 0.01 Marker/MaxRange= 0.0 Marker/MinRange= 0.0 Marker/PriorsVarianceAngular= 0.001 Marker/PriorsVarianceLinear= 0.001 Marker/VarianceAngular= 0.01 Marker/VarianceLinear= 0.001 Mem/BadSignaturesIgnored= false Mem/BinDataKept= true Mem/CompressionParallelized= true Mem/CovOffDiagIgnored= true 33mMem/DepthAsMask= false (default=true) Mem/DepthCompressionFormat= .rvl Mem/DepthMaskFloorThr= 0.0 Mem/GenerateIds= true Mem/GlobalDescriptorStrategy= 0 Mem/ImageCompressionFormat= .jpg Mem/ImageKept= false Mem/ImagePostDecimation= 1 Mem/ImagePreDecimation= 1 33mMem/IncrementalMemory= false (default=true) Mem/InitWMWithAllNodes= false Mem/IntermediateNodeDataKept= false Mem/LaserScanDownsampleStepSize= 1 Mem/LaserScanNormalK= 0 Mem/LaserScanNormalRadius= 0.0 Mem/LaserScanVoxelSize= 0.0 33mMem/LocalizationDataSaved= true (default=false) Mem/MapLabelsAdded= true Mem/NotLinkedNodesKept= true Mem/RawDescriptorsKept= true Mem/RecentWmRatio= 0.2 Mem/ReduceGraph= false Mem/RehearsalIdUpdatedToNewOne= false Mem/RehearsalSimilarity= 0.6 Mem/RehearsalWeightIgnoredWhileMoving=false Mem/RotateImagesUpsideUp= false 33mMem/STMSize= 40 (default=10) Mem/SaveDepth16Format= false Mem/StereoFromMotion= false Mem/TransferSortingByWeightId= false Mem/UseOdomFeatures= true Mem/UseOdomGravity= false ORB/EdgeThreshold= 19 ORB/FirstLevel= 0 ORB/Gpu= false ORB/NLevels= 3 ORB/PatchSize= 31 ORB/ScaleFactor= 2 ORB/ScoreType= 0 ORB/WTA_K= 2 Odom/AlignWithGround= false Odom/Deskewing= true Odom/FillInfoData= true Odom/FilteringStrategy= 0 Odom/GuessMotion= true Odom/GuessSmoothingDelay= 0 Odom/Holonomic= true Odom/ImageBufferSize= 1 Odom/ImageDecimation= 1 Odom/KalmanMeasurementNoise= 0.01 Odom/KalmanProcessNoise= 0.001 Odom/KeyFrameThr= 0.3 Odom/ParticleLambdaR= 100 Odom/ParticleLambdaT= 100 Odom/ParticleNoiseR= 0.002 Odom/ParticleNoiseT= 0.002 Odom/ParticleSize= 400 Odom/ResetCountdown= 0 Odom/ScanKeyFrameThr= 0.9 Odom/Strategy= 0 Odom/VisKeyFrameThr= 150 OdomF2M/BundleAdjustment= 1 OdomF2M/BundleAdjustmentMaxFrames= 10 OdomF2M/MaxNewFeatures= 0 OdomF2M/MaxSize= 2000 OdomF2M/ScanMaxSize= 2000 OdomF2M/ScanRange= 0 OdomF2M/ScanSubtractAngle= 45 OdomF2M/ScanSubtractRadius= 0.05 OdomF2M/ValidDepthRatio= 0.75 OdomFovis/BucketHeight= 80 OdomFovis/BucketWidth= 80 OdomFovis/CliqueInlierThreshold= 0.1 OdomFovis/FastThreshold= 20 OdomFovis/FastThresholdAdaptiveGain=0.005 OdomFovis/FeatureSearchWindow= 25 OdomFovis/FeatureWindowSize= 9 OdomFovis/InlierMaxReprojectionError=1.5 OdomFovis/MaxKeypointsPerBucket= 25 OdomFovis/MaxMeanReprojectionError=10.0 OdomFovis/MaxPyramidLevel= 3 OdomFovis/MinFeaturesForEstimate= 20 OdomFovis/MinPyramidLevel= 0 OdomFovis/StereoMaxDisparity= 128 OdomFovis/StereoMaxDistEpipolarLine=1.5 OdomFovis/StereoMaxRefinementDisplacement=1.0 OdomFovis/StereoRequireMutualMatch=true OdomFovis/TargetPixelsPerFeature= 250 OdomFovis/UpdateTargetFeaturesWithRefined=false OdomFovis/UseAdaptiveThreshold= true OdomFovis/UseBucketing= true OdomFovis/UseHomographyInitialization=true OdomFovis/UseImageNormalization= false OdomFovis/UseSubpixelRefinement= true OdomLOAM/AngVar= 0.01 OdomLOAM/LinVar= 0.01 OdomLOAM/LocalMapping= true OdomLOAM/Resolution= 0.2 OdomLOAM/ScanPeriod= 0.1 OdomLOAM/Sensor= 2 OdomMSCKF/FastThreshold= 10 OdomMSCKF/GridCol= 5 OdomMSCKF/GridMaxFeatureNum= 4 OdomMSCKF/GridMinFeatureNum= 3 OdomMSCKF/GridRow= 4 OdomMSCKF/InitCovAccBias= 0.01 OdomMSCKF/InitCovExRot= 0.00030462 OdomMSCKF/InitCovExTrans= 2.5e-05 OdomMSCKF/InitCovGyroBias= 0.01 OdomMSCKF/InitCovVel= 0.25 OdomMSCKF/MaxCamStateSize= 20 OdomMSCKF/MaxIteration= 30 OdomMSCKF/NoiseAcc= 0.05 OdomMSCKF/NoiseAccBias= 0.01 OdomMSCKF/NoiseFeature= 0.035 OdomMSCKF/NoiseGyro= 0.005 OdomMSCKF/NoiseGyroBias= 0.001 OdomMSCKF/OptTranslationThreshold= 0 OdomMSCKF/PatchSize= 15 OdomMSCKF/PositionStdThreshold= 8 OdomMSCKF/PyramidLevels= 3 OdomMSCKF/RansacThreshold= 3 OdomMSCKF/RotationThreshold= 0.2618 OdomMSCKF/StereoThreshold= 5 OdomMSCKF/TrackPrecision= 0.01 OdomMSCKF/TrackingRateThreshold= 0.5 OdomMSCKF/TranslationThreshold= 0.4 OdomMono/InitMinFlow= 100 OdomMono/InitMinTranslation= 0.1 OdomMono/MaxVariance= 0.01 OdomMono/MinTranslation= 0.02 OdomORBSLAM/AccNoise= 0.1 OdomORBSLAM/AccWalk= 0.0001 OdomORBSLAM/Bf= 0.076 OdomORBSLAM/Fps= 0 OdomORBSLAM/GyroNoise= 0.01 OdomORBSLAM/GyroWalk= 0.000001 OdomORBSLAM/Inertial= false OdomORBSLAM/MapSize= 3000 OdomORBSLAM/MaxFeatures= 1000 OdomORBSLAM/SamplingRate= 0 OdomORBSLAM/ThDepth= 40.0 OdomOpen3D/MaxDepth= 3.0 OdomOpen3D/Method= 0 OdomOpenVINS/AccelerometerNoiseDensity=0.01 OdomOpenVINS/AccelerometerRandomWalk=0.001 OdomOpenVINS/CalibCamExtrinsics= false OdomOpenVINS/CalibCamIntrinsics= false OdomOpenVINS/CalibCamTimeoffset= false OdomOpenVINS/CalibIMUGSensitivity= false OdomOpenVINS/CalibIMUIntrinsics= false OdomOpenVINS/DtSLAMDelay= 0.0 OdomOpenVINS/FeatRepMSCKF= 0 OdomOpenVINS/FeatRepSLAM= 4 OdomOpenVINS/FiMaxBaseline= 40 OdomOpenVINS/FiMaxCondNumber= 10000 OdomOpenVINS/FiMaxRuns= 5 OdomOpenVINS/FiRefineFeatures= true OdomOpenVINS/FiTriangulate1d= false OdomOpenVINS/GravityMag= 9.81 OdomOpenVINS/GyroscopeNoiseDensity=0.001 OdomOpenVINS/GyroscopeRandomWalk= 0.0001 OdomOpenVINS/InitDynInflationBa= 100.0 OdomOpenVINS/InitDynInflationBg= 10.0 OdomOpenVINS/InitDynInflationOri= 10.0 OdomOpenVINS/InitDynInflationVel= 100.0 OdomOpenVINS/InitDynMLEMaxIter= 50 OdomOpenVINS/InitDynMLEMaxThreads= 6 OdomOpenVINS/InitDynMLEMaxTime= 0.05 OdomOpenVINS/InitDynMLEOptCalib= false OdomOpenVINS/InitDynMinDeg= 10.0 OdomOpenVINS/InitDynMinRecCond= 1e-15 OdomOpenVINS/InitDynNumPose= 6 OdomOpenVINS/InitDynUse= false OdomOpenVINS/InitIMUThresh= 1.0 OdomOpenVINS/InitMaxDisparity= 10.0 OdomOpenVINS/InitMaxFeatures= 50 OdomOpenVINS/InitWindowTime= 2.0 OdomOpenVINS/Integration= 1 OdomOpenVINS/MaxClones= 11 OdomOpenVINS/MaxMSCKFInUpdate= 50 OdomOpenVINS/MaxSLAM= 50 OdomOpenVINS/MaxSLAMInUpdate= 25 OdomOpenVINS/MinPxDist= 15 OdomOpenVINS/NumPts= 200 OdomOpenVINS/TryZUPT= true OdomOpenVINS/UpMSCKFChi2Multiplier=1.0 OdomOpenVINS/UpMSCKFSigmaPx= 1.0 OdomOpenVINS/UpSLAMChi2Multiplier= 1.0 OdomOpenVINS/UpSLAMSigmaPx= 1.0 OdomOpenVINS/UseFEJ= true OdomOpenVINS/UseKLT= true OdomOpenVINS/UseStereo= true OdomOpenVINS/ZUPTChi2Multiplier= 0.0 OdomOpenVINS/ZUPTMaxDisparity= 0.5 OdomOpenVINS/ZUPTMaxVelodicy= 0.1 OdomOpenVINS/ZUPTNoiseMultiplier= 10.0 OdomOpenVINS/ZUPTOnlyAtBeginning= false OdomViso2/BucketHeight= 50 OdomViso2/BucketMaxFeatures= 2 OdomViso2/BucketWidth= 50 OdomViso2/InlierThreshold= 2.0 OdomViso2/MatchBinsize= 50 OdomViso2/MatchDispTolerance= 2 OdomViso2/MatchHalfResolution= true OdomViso2/MatchMultiStage= true OdomViso2/MatchNmsN= 3 OdomViso2/MatchNmsTau= 50 OdomViso2/MatchOutlierDispTolerance=5 OdomViso2/MatchOutlierFlowTolerance=5 OdomViso2/MatchRadius= 200 OdomViso2/MatchRefinement= 1 OdomViso2/RansacIters= 200 OdomViso2/Reweighting= true Optimizer/Epsilon= 1e-05 Optimizer/GravitySigma= 0.3 Optimizer/Iterations= 20 Optimizer/LandmarksIgnored= false Optimizer/PriorsIgnored= true Optimizer/Robust= false Optimizer/Strategy= 2 Optimizer/VarianceIgnored= false PyDescriptor/Dim= 4096 PyDetector/Cuda= true PyMatcher/Cuda= true PyMatcher/Iterations= 20 PyMatcher/Model= indoor 33mPyMatcher/Path= ~/Downloads/SuperGluePretrainedNetwork/rtabmap_superglue.py (default=) PyMatcher/Threshold= 0.2 RGBD/AggressiveLoopThr= 0.05 RGBD/AngularSpeedUpdate= 0.0 RGBD/AngularUpdate= 0.1 33mRGBD/CreateOccupancyGrid= true (default=false) 33mRGBD/Enabled= false (default=true) RGBD/ForceOdom3DoF= true RGBD/GoalReachedRadius= 0.5 RGBD/GoalsSavedInUserData= false RGBD/InvertedReg= false RGBD/LinearSpeedUpdate= 0.0 RGBD/LinearUpdate= 0.1 RGBD/LocalBundleOnLoopClosure= false RGBD/LocalImmunizationRatio= 0.25 RGBD/LocalRadius= 10 RGBD/LocalizationPriorError= 0.001 RGBD/LocalizationSmoothing= true RGBD/LoopClosureIdentityGuess= false 33mRGBD/LoopClosureReextractFeatures= true (default=false) RGBD/LoopCovLimited= false RGBD/MarkerDetection= false RGBD/MaxLocalRetrieved= 2 RGBD/MaxLoopClosureDistance= 0 RGBD/MaxOdomCacheSize= 10 RGBD/NeighborLinkRefining= false RGBD/NewMapOdomChangeDistance= 0 RGBD/OptimizeFromGraphEnd= false RGBD/OptimizeMaxError= 3 RGBD/PlanAngularVelocity= 0 RGBD/PlanLinearVelocity= 0 RGBD/PlanStuckIterations= 0 RGBD/ProximityAngle= 45 RGBD/ProximityBySpace= true RGBD/ProximityByTime= false RGBD/ProximityGlobalScanMap= false RGBD/ProximityMaxGraphDepth= 50 RGBD/ProximityMaxPaths= 3 RGBD/ProximityMergedScanCovFactor= 100.0 RGBD/ProximityOdomGuess= false RGBD/ProximityPathFilteringRadius= 1 RGBD/ProximityPathMaxNeighbors= 0 RGBD/ProximityPathRawPosesUsed= true RGBD/ScanMatchingIdsSavedInLinks= true RGBD/StartAtOrigin= false Reg/Force3DoF= false 33mReg/RepeatOnce= false (default=true) Reg/Strategy= 0 Rtabmap/ComputeRMSE= true Rtabmap/CreateIntermediateNodes= false 33mRtabmap/DetectionRate= 0 (default=1) 33mRtabmap/ImageBufferSize= 0 (default=1) Rtabmap/ImagesAlreadyRectified= true Rtabmap/LoopGPS= true Rtabmap/LoopRatio= 0 Rtabmap/LoopThr= 0.11 Rtabmap/MaxRepublished= 2 Rtabmap/MaxRetrieved= 2 Rtabmap/MemoryThr= 0 Rtabmap/PublishLastSignature= true Rtabmap/PublishLikelihood= true Rtabmap/PublishPdf= true Rtabmap/PublishRAMUsage= false Rtabmap/PublishStats= true Rtabmap/RectifyOnlyFeatures= false Rtabmap/SaveWMState= false Rtabmap/StartNewMapOnGoodSignature=false Rtabmap/StartNewMapOnLoopClosure= false Rtabmap/StatisticLogged= false Rtabmap/StatisticLoggedHeaders= true Rtabmap/StatisticLogsBufferedInRAM=true Rtabmap/TimeThr= 0 Rtabmap/VirtualPlaceLikelihoodRatio=0 SIFT/ContrastThreshold= 0.04 SIFT/EdgeThreshold= 10 SIFT/GaussianThreshold= 2 SIFT/Gpu= false SIFT/NOctaveLayers= 3 SIFT/PreciseUpscale= false SIFT/RootSIFT= false SIFT/Sigma= 1.6 SIFT/Upscale= false SURF/Extended= false SURF/GpuKeypointsRatio= 0.01 SURF/GpuVersion= false SURF/HessianThreshold= 500 SURF/OctaveLayers= 2 SURF/Octaves= 4 SURF/Upright= false Stereo/DenseStrategy= 0 Stereo/Eps= 0.01 Stereo/Gpu= false Stereo/Iterations= 30 Stereo/MaxDisparity= 128 Stereo/MaxLevel= 5 Stereo/MinDisparity= 0.5 Stereo/OpticalFlow= true Stereo/SSD= true Stereo/WinHeight= 3 Stereo/WinWidth= 15 StereoBM/BlockSize= 15 StereoBM/Disp12MaxDiff= -1 StereoBM/MinDisparity= 0 StereoBM/NumDisparities= 128 StereoBM/PreFilterCap= 31 StereoBM/PreFilterSize= 9 StereoBM/SpeckleRange= 4 StereoBM/SpeckleWindowSize= 100 StereoBM/TextureThreshold= 10 StereoBM/UniquenessRatio= 15 StereoSGBM/BlockSize= 15 StereoSGBM/Disp12MaxDiff= 1 StereoSGBM/MinDisparity= 0 StereoSGBM/Mode= 2 StereoSGBM/NumDisparities= 128 StereoSGBM/P1= 2 StereoSGBM/P2= 5 StereoSGBM/PreFilterCap= 31 StereoSGBM/SpeckleRange= 4 StereoSGBM/SpeckleWindowSize= 100 StereoSGBM/UniquenessRatio= 20 SuperPoint/Cuda= true 33mSuperPoint/ModelPath= ~/Downloads/superpoint_v1.pt (default=) SuperPoint/NMS= true SuperPoint/NMSRadius= 4 SuperPoint/Threshold= 0.01 VhEp/Enabled= false VhEp/MatchCountMin= 8 VhEp/RansacParam1= 3 VhEp/RansacParam2= 0.99 Vis/BundleAdjustment= 1 Vis/CorFlowEps= 0.01 Vis/CorFlowGpu= false Vis/CorFlowIterations= 30 Vis/CorFlowMaxLevel= 3 Vis/CorFlowWinSize= 16 Vis/CorGuessMatchToProjection= false 33mVis/CorGuessWinSize= 0 (default=40) Vis/CorNNDR= 0.8 33mVis/CorNNType= 6 (default=1) Vis/CorType= 0 33mVis/DepthAsMask= false (default=true) Vis/DepthMaskFloorThr= 0.0 Vis/EpipolarGeometryVar= 0.1 Vis/EstimationType= 1 33mVis/FeatureType= 11 (default=8) Vis/ForwardEstOnly= true Vis/GridCols= 1 Vis/GridRows= 1 Vis/InlierDistance= 0.1 Vis/Iterations= 300 Vis/MaxDepth= 0 33mVis/MaxFeatures= 0 (default=1000) Vis/MeanInliersDistance= 0.0 Vis/MinDepth= 0 33mVis/MinInliers= 6 (default=20) Vis/MinInliersDistribution= 0.0 Vis/PnPFlags= 0 Vis/PnPMaxVariance= 0.0 Vis/PnPRefineIterations= 0 Vis/PnPReprojError= 2 Vis/PnPSamplingPolicy= 1 Vis/PnPSplitLinearCovComponents= false Vis/PnPVarianceMedianRatio= 4 Vis/RefineIterations= 5 Vis/RoiRatios= 0.0 0.0 0.0 0.0 Vis/SSC= false Vis/SubPixEps= 0.02 Vis/SubPixIterations= 0 Vis/SubPixWinSize= 3 g2o/Baseline= 0.075 g2o/Optimizer= 0 g2o/PixelVariance= 1 g2o/RobustKernelDelta= 8 g2o/Solver= 0 Db/TargetVersion= NA (default="") Icp/DebugExportFormat= NA (default="") Icp/PMConfig= NA (default="") Kp/DictionaryPath= NA (default="") Marker/Priors= NA (default="") OdomOKVIS/ConfigPath= NA (default="") OdomORBSLAM/VocPath= NA (default="") OdomOpenVINS/LeftMaskPath= NA (default="") OdomOpenVINS/RightMaskPath= NA (default="") OdomVINS/ConfigPath= NA (default="") PyDescriptor/Path= NA (default="") PyDetector/Path= NA (default="") Rtabmap/WorkingDirectory= NA (default="")

jsreveal avatar Feb 12 '25 11:02 jsreveal

To verify that superglue is giving similar results on both cases, you can try rtabmap-matcher tool that can be used to test the matching algorithms.

rtabmap-matcher --help
...
rtabmap-matcher \
   --Vis/FeatureType 11 \
   --SuperPoint/ModelPath "superpoint.pt" \
   --Vis/CorNNType 6 \
   --PyMatcher/Path "~/SuperGluePretrainedNetwork/rtabmap_superglue.py" \
   from.png to.png
...

You can post the log here with --udebug for more help.

matlabbe avatar Mar 01 '25 22:03 matlabbe