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[ WARN] Rtabmap.cpp:3067::process() Rejected loop closure 420 -> 2520038: Not enough inliers 0/12 (matches=55)

Open Dreambyland opened this issue 6 months ago • 2 comments

Hello. Does anyone faced this problem? It founded 55 visual feature matches, but only 0 of them were valid geometric inliers after RANSAC verification .

rtabmap_localization.launch.zip

/rtabmap: ros__parameters: 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' Db/TargetVersion: '' 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: '6.0' 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'/rtabmap: ros__parameters: 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' Db/TargetVersion: '' 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: '6.0' 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: '0.0' Grid/NoiseFilteringMinNeighbors: '5' Grid/NoiseFilteringRadius: '0.0' Grid/NormalK: '20' Grid/NormalsSegmentation: 'true' Grid/PreVoxelFiltering: 'true' Grid/RangeMax: '0' Grid/RangeMin: '0.0' Grid/RayTracing: 'false' Grid/Scan2dUnknownSpaceFilled: 'false' Grid/ScanDecimation: '1' Grid/Sensor: '0' 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/DebugExportFormat: '' Icp/DownsamplingStep: '1' Icp/Epsilon: '0' Icp/FiltersEnabled: '3' Icp/Force4DoF: 'false' Icp/Iterations: '30' Icp/MaxCorrespondenceDistance: '0.15' Icp/MaxRotation: '0.78' Icp/MaxTranslation: '0.2' Icp/OutlierRatio: '0.6' Icp/PMConfig: '' Icp/PMMatcherEpsilon: '0.0' Icp/PMMatcherIntensity: 'false' Icp/PMMatcherKnn: '1' Icp/PointToPlane: 'false' 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' Kp/DetectorStrategy: '8' Kp/DictionaryPath: '' Kp/FlannRebalancingFactor: '2.0' Kp/GridCols: '1' Kp/GridRows: '1' Kp/IncrementalDictionary: 'true' Kp/IncrementalFlann: 'true' Kp/MaxDepth: '0' Kp/MaxFeatures: '500' Kp/MinDepth: '0' Kp/NNStrategy: '1' Kp/NewWordsComparedTogether: 'true' Kp/NndrRatio: '0.8' Kp/Parallelized: 'true' Kp/RoiRatios: 0.0 0.0 0.0 0.0 Kp/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/Priors: '' 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' Mem/DepthAsMask: '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' Mem/IncrementalMemory: 'False' Mem/InitWMWithAllNodes: 'True' Mem/IntermediateNodeDataKept: 'false' Mem/LaserScanDownsampleStepSize: '1' Mem/LaserScanNormalK: '0' Mem/LaserScanNormalRadius: '0.0' Mem/LaserScanVoxelSize: '0.0' Mem/LocalizationDataSaved: 'false' Mem/MapLabelsAdded: 'true' Mem/NotLinkedNodesKept: 'true' Mem/RawDescriptorsKept: 'true' Mem/RecentWmRatio: '0.2' Mem/ReduceGraph: 'false' Mem/RehearsalIdUpdatedToNewOne: 'false' Mem/RehearsalSimilarity: '0.6' Mem/RehearsalWeightIgnoredWhileMoving: 'false' Mem/RotateImagesUpsideUp: 'false' Mem/STMSize: '30' 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' Optimizer/Epsilon: '0.00001' Optimizer/GravitySigma: '0.3' Optimizer/Iterations: '20' Optimizer/LandmarksIgnored: 'false' Optimizer/PriorsIgnored: 'true' Optimizer/Robust: 'false' Optimizer/Strategy: '2' Optimizer/VarianceIgnored: 'false' PyDescriptor/Dim: '4096' PyDescriptor/Path: '' PyDetector/Cuda: 'true' PyDetector/Path: '' PyMatcher/Cuda: 'true' PyMatcher/Iterations: '20' PyMatcher/Model: indoor PyMatcher/Path: '' PyMatcher/Threshold: '0.2' RGBD/AggressiveLoopThr: '0.05' RGBD/AngularSpeedUpdate: '0.0' RGBD/AngularUpdate: '0.1' RGBD/CreateOccupancyGrid: 'true' RGBD/Enabled: '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: '5' RGBD/LocalizationPriorError: '0.001' RGBD/LocalizationSmoothing: 'true' RGBD/LoopClosureIdentityGuess: 'false' RGBD/LoopClosureReextractFeatures: 'false' RGBD/LoopCovLimited: 'false' RGBD/MarkerDetection: 'false' RGBD/MaxLocalRetrieved: '2' RGBD/MaxLoopClosureDistance: '0.0' RGBD/MaxOdomCacheSize: '10' RGBD/NeighborLinkRefining: 'true' RGBD/NewMapOdomChangeDistance: '0' RGBD/OptimizeFromGraphEnd: 'false' RGBD/OptimizeMaxError: '4' 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: '10' RGBD/ProximityPathRawPosesUsed: 'true' RGBD/ScanMatchingIdsSavedInLinks: 'true' RGBD/StartAtOrigin: 'false' Reg/Force3DoF: 'true' Reg/RepeatOnce: 'true' Reg/Strategy: '2' Rtabmap/ComputeRMSE: 'true' Rtabmap/CreateIntermediateNodes: 'false' Rtabmap/DetectionRate: '10' Rtabmap/ImageBufferSize: '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' Rtabmap/WorkingDirectory: /home/cmb/.ros SIFT/ContrastThreshold: '0.04' SIFT/EdgeThreshold: '10' SIFT/GaussianThreshold: '2.0' 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: '128.0' Stereo/MaxLevel: '5' Stereo/MinDisparity: '0.5' Stereo/OpticalFlow: 'true' Stereo/SSD: 'true' Stereo/WinHeight: '3' Stereo/WinWidth: '15' StereoBM/BlockSize: '15' StereoBM/Disp12MaxDiff: '-1' StereoBM/MinDisparity: '0' StereoBM/NumDisparities: '128' StereoBM/PreFilterCap: '31' StereoBM/PreFilterSize: '9' StereoBM/SpeckleRange: '4' StereoBM/SpeckleWindowSize: '100' StereoBM/TextureThreshold: '10' StereoBM/UniquenessRatio: '15' StereoSGBM/BlockSize: '15' StereoSGBM/Disp12MaxDiff: '1' StereoSGBM/MinDisparity: '0' StereoSGBM/Mode: '2' StereoSGBM/NumDisparities: '128' StereoSGBM/P1: '2' StereoSGBM/P2: '5' StereoSGBM/PreFilterCap: '31' StereoSGBM/SpeckleRange: '4' StereoSGBM/SpeckleWindowSize: '100' StereoSGBM/UniquenessRatio: '20' SuperPoint/Cuda: 'true' SuperPoint/ModelPath: '' SuperPoint/NMS: 'true' SuperPoint/NMSRadius: '4' SuperPoint/Threshold: '0.010' VhEp/Enabled: 'false' VhEp/MatchCountMin: '8' VhEp/RansacParam1: '3' VhEp/RansacParam2: '0.99' Vis/BundleAdjustment: '1' Vis/CorFlowEps: '0.01' Vis/CorFlowGpu: 'false' Vis/CorFlowIterations: '30' Vis/CorFlowMaxLevel: '3' Vis/CorFlowWinSize: '16' Vis/CorGuessMatchToProjection: 'false' Vis/CorGuessWinSize: '40' Vis/CorNNDR: '0.8' Vis/CorNNType: '1' Vis/CorType: '0' Vis/DepthAsMask: 'true' Vis/DepthMaskFloorThr: '0.0' Vis/EpipolarGeometryVar: '0.1' Vis/EstimationType: '1' Vis/FeatureType: '8' Vis/ForwardEstOnly: 'true' Vis/GridCols: '1' Vis/GridRows: '1' Vis/InlierDistance: '0.1' Vis/Iterations: '300' Vis/MaxDepth: '0' Vis/MaxFeatures: '1000' Vis/MeanInliersDistance: '0.0' Vis/MinDepth: '0' Vis/MinInliers: '12' Vis/MinInliersDistribution: '0.0' Vis/PnPFlags: '0' Vis/PnPMaxVariance: '0.0' Vis/PnPRefineIterations: '0'/rtabmap: ros__parameters: 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' Db/TargetVersion: '' 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: '6.0' 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: '0.0' Grid/NoiseFilteringMinNeighbors: '5' Grid/NoiseFilteringRadius: '0.0' Grid/NormalK: '20' Grid/NormalsSegmentation: 'true' Grid/PreVoxelFiltering: 'true' Grid/RangeMax: '0' Grid/RangeMin: '0.0' Grid/RayTracing: 'false' Grid/Scan2dUnknownSpaceFilled: 'false' Grid/ScanDecimation: '1' Grid/Sensor: '0' 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/DebugExportFormat: '' Icp/DownsamplingStep: '1' Icp/Epsilon: '0' Icp/FiltersEnabled: '3' Icp/Force4DoF: 'false' Icp/Iterations: '30' Icp/MaxCorrespondenceDistance: '0.15' Icp/MaxRotation: '0.78' Icp/MaxTranslation: '0.2' Icp/OutlierRatio: '0.6' Icp/PMConfig: '' Icp/PMMatcherEpsilon: '0.0' Icp/PMMatcherIntensity: 'false' Icp/PMMatcherKnn: '1' Icp/PointToPlane: 'false' 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' Kp/DetectorStrategy: '8' Kp/DictionaryPath: '' Kp/FlannRebalancingFactor: '2.0' Kp/GridCols: '1' Kp/GridRows: '1' Kp/IncrementalDictionary: 'true' Kp/IncrementalFlann: 'true' Kp/MaxDepth: '0' Kp/MaxFeatures: '500' Kp/MinDepth: '0' Kp/NNStrategy: '1' Kp/NewWordsComparedTogether: 'true' Kp/NndrRatio: '0.8' Kp/Parallelized: 'true' Kp/RoiRatios: 0.0 0.0 0.0 0.0 Kp/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/Priors: '' 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' Mem/DepthAsMask: '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' Mem/IncrementalMemory: 'False' Mem/InitWMWithAllNodes: 'True' Mem/IntermediateNodeDataKept: 'false' Mem/LaserScanDownsampleStepSize: '1' Mem/LaserScanNormalK: '0' Mem/LaserScanNormalRadius: '0.0' Mem/LaserScanVoxelSize: '0.0' Mem/LocalizationDataSaved: 'false' Mem/MapLabelsAdded: 'true' Mem/NotLinkedNodesKept: 'true' Mem/RawDescriptorsKept: 'true' Mem/RecentWmRatio: '0.2' Mem/ReduceGraph: 'false' Mem/RehearsalIdUpdatedToNewOne: 'false' Mem/RehearsalSimilarity: '0.6' Mem/RehearsalWeightIgnoredWhileMoving: 'false' Mem/RotateImagesUpsideUp: 'false' Mem/STMSize: '30' 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' Optimizer/Epsilon: '0.00001' Optimizer/GravitySigma: '0.3' Optimizer/Iterations: '20' Optimizer/LandmarksIgnored: 'false' Optimizer/PriorsIgnored: 'true' Optimizer/Robust: 'false' Optimizer/Strategy: '2' Optimizer/VarianceIgnored: 'false' PyDescriptor/Dim: '4096' PyDescriptor/Path: '' PyDetector/Cuda: 'true' PyDetector/Path: '' PyMatcher/Cuda: 'true' PyMatcher/Iterations: '20' PyMatcher/Model: indoor PyMatcher/Path: '' PyMatcher/Threshold: '0.2' RGBD/AggressiveLoopThr: '0.05' RGBD/AngularSpeedUpdate: '0.0' RGBD/AngularUpdate: '0.1' RGBD/CreateOccupancyGrid: 'true' RGBD/Enabled: '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: '5' RGBD/LocalizationPriorError: '0.001' RGBD/LocalizationSmoothing: 'true' RGBD/LoopClosureIdentityGuess: 'false' RGBD/LoopClosureReextractFeatures: 'false' RGBD/LoopCovLimited: 'false' RGBD/MarkerDetection: 'false' RGBD/MaxLocalRetrieved: '2' RGBD/MaxLoopClosureDistance: '0.0' RGBD/MaxOdomCacheSize: '10' RGBD/NeighborLinkRefining: 'true' RGBD/NewMapOdomChangeDistance: '0' RGBD/OptimizeFromGraphEnd: 'false' RGBD/OptimizeMaxError: '4' 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: '10' RGBD/ProximityPathRawPosesUsed: 'true' RGBD/ScanMatchingIdsSavedInLinks: 'true' RGBD/StartAtOrigin: 'false' Reg/Force3DoF: 'true' Reg/RepeatOnce: 'true' Reg/Strategy: '2' Rtabmap/ComputeRMSE: 'true' Rtabmap/CreateIntermediateNodes: 'false' Rtabmap/DetectionRate: '10' Rtabmap/ImageBufferSize: '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' Rtabmap/WorkingDirectory: /home/cmb/.ros SIFT/ContrastThreshold: '0.04' SIFT/EdgeThreshold: '10' SIFT/GaussianThreshold: '2.0' 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: '128.0' Stereo/MaxLevel: '5' Stereo/MinDisparity: '0.5' Stereo/OpticalFlow: 'true' Stereo/SSD: 'true' Stereo/WinHeight: '3' Stereo/WinWidth: '15' StereoBM/BlockSize: '15' StereoBM/Disp12MaxDiff: '-1' StereoBM/MinDisparity: '0' StereoBM/NumDisparities: '128' StereoBM/PreFilterCap: '31' StereoBM/PreFilterSize: '9' StereoBM/SpeckleRange: '4' StereoBM/SpeckleWindowSize: '100' StereoBM/TextureThreshold: '10' StereoBM/UniquenessRatio: '15' StereoSGBM/BlockSize: '15' StereoSGBM/Disp12MaxDiff: '1' StereoSGBM/MinDisparity: '0' StereoSGBM/Mode: '2' StereoSGBM/NumDisparities: '128' StereoSGBM/P1: '2' StereoSGBM/P2: '5' StereoSGBM/PreFilterCap: '31' StereoSGBM/SpeckleRange: '4' StereoSGBM/SpeckleWindowSize: '100' StereoSGBM/UniquenessRatio: '20' SuperPoint/Cuda: 'true' SuperPoint/ModelPath: '' SuperPoint/NMS: 'true' SuperPoint/NMSRadius: '4' SuperPoint/Threshold: '0.010' VhEp/Enabled: 'false' VhEp/MatchCountMin: '8' VhEp/RansacParam1: '3' VhEp/RansacParam2: '0.99' Vis/BundleAdjustment: '1' Vis/CorFlowEps: '0.01' Vis/CorFlowGpu: 'false' Vis/CorFlowIterations: '30' Vis/CorFlowMaxLevel: '3' Vis/CorFlowWinSize: '16' Vis/CorGuessMatchToProjection: 'false' Vis/CorGuessWinSize: '40' Vis/CorNNDR: '0.8' Vis/CorNNType: '1' Vis/CorType: '0' Vis/DepthAsMask: 'true' Vis/DepthMaskFloorThr: '0.0' Vis/EpipolarGeometryVar: '0.1' Vis/EstimationType: '1' Vis/FeatureType: '8' Vis/ForwardEstOnly: 'true' Vis/GridCols: '1' Vis/GridRows: '1' Vis/InlierDistance: '0.1' Vis/Iterations: '300' Vis/MaxDepth: '0' Vis/MaxFeatures: '1000' Vis/MeanInliersDistance: '0.0' Vis/MinDepth: '0' Vis/MinInliers: '12' 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' approx_sync: true cloud_output_voxelized: true cloud_subtract_filtering: false cloud_subtract_filtering_min_neighbors: 2 config_path: '' database_path: /home/cmb/.ros/rtabmap.db diagnostic_updater: period: 2.0 use_fqn: false frame_id: base_footprint g2o/Baseline: '0.075' g2o/Optimizer: '0' g2o/PixelVariance: '1.0' g2o/RobustKernelDelta: '8' g2o/Solver: '0' gen_depth: false gen_depth_decimation: 1 gen_depth_fill_holes_error: 0.1 gen_depth_fill_holes_size: 0 gen_depth_fill_iterations: 1 gen_scan: false gen_scan_max_depth: 4.0 gen_scan_min_depth: 0.0 ground_truth_base_frame_id: base_footprint ground_truth_frame_id: '' initial_pose: '' is_rtabmap_paused: false landmark_angular_variance: 0.001 landmark_linear_variance: 0.001 latch: true loc_thr: 0.0 log_to_rosout_level: 4 map_always_update: false map_cleanup: true map_empty_ray_tracing: true map_filter_angle: 30.0 map_filter_radius: 0.0 map_frame_id: rtabmap octomap_tree_depth: 16 odom_frame_id: odom odom_frame_id_init: '' odom_sensor_sync: false odom_tf_angular_variance: 0.001 odom_tf_linear_variance: 0.001 pub_loc_pose_only_when_localizing: false publish_tf: true qos: 2 qos_camera_info: 2 qos_gps: 0 qos_image: 2 qos_imu: 0 qos_odom: 2 qos_overrides: /parameter_events: publisher: depth: 1000 durability: volatile history: keep_last reliability: reliable /tf: publisher: depth: 100 durability: volatile history: keep_last reliability: reliable qos_scan: 2 qos_sensor_data: 2 qos_user_data: 2 queue_size: -1 rgbd_cameras: 1 scan_cloud_is_2d: false scan_cloud_max_points: 0 stereo_to_depth: false subscribe_depth: true subscribe_odom: true subscribe_odom_info: false subscribe_rgb: true subscribe_rgbd: true subscribe_scan: true subscribe_scan_cloud: false subscribe_scan_descriptor: false subscribe_sensor_data: false subscribe_stereo: false subscribe_user_data: false sync_queue_size: 10 tf_delay: 0.05 tf_tolerance: 0.1 topic_queue_size: 10 use_action_for_goal: false use_saved_map: true use_sim_time: false wait_for_transform: 0.2

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'
approx_sync: true
cloud_output_voxelized: true
cloud_subtract_filtering: false
cloud_subtract_filtering_min_neighbors: 2
config_path: ''
database_path: /home/cmb/.ros/rtabmap.db
diagnostic_updater:
  period: 2.0
  use_fqn: false
frame_id: base_footprint
g2o/Baseline: '0.075'
g2o/Optimizer: '0'
g2o/PixelVariance: '1.0'
g2o/RobustKernelDelta: '8'
g2o/Solver: '0'
gen_depth: false
gen_depth_decimation: 1
gen_depth_fill_holes_error: 0.1
gen_depth_fill_holes_size: 0
gen_depth_fill_iterations: 1
gen_scan: false
gen_scan_max_depth: 4.0
gen_scan_min_depth: 0.0
ground_truth_base_frame_id: base_footprint
ground_truth_frame_id: ''
initial_pose: ''
is_rtabmap_paused: false
landmark_angular_variance: 0.001
landmark_linear_variance: 0.001
latch: true
loc_thr: 0.0
log_to_rosout_level: 4
map_always_update: false
map_cleanup: true
map_empty_ray_tracing: true
map_filter_angle: 30.0
map_filter_radius: 0.0
map_frame_id: rtabmap
octomap_tree_depth: 16
odom_frame_id: odom
odom_frame_id_init: ''
odom_sensor_sync: false
odom_tf_angular_variance: 0.001
odom_tf_linear_variance: 0.001
pub_loc_pose_only_when_localizing: false
publish_tf: true
qos: 2
qos_camera_info: 2
qos_gps: 0
qos_image: 2
qos_imu: 0
qos_odom: 2
qos_overrides:
  /parameter_events:
    publisher:
      depth: 1000
      durability: volatile
      history: keep_last
      reliability: reliable
  /tf:
    publisher:
      depth: 100
      durability: volatile
      history: keep_last
      reliability: reliable
qos_scan: 2
qos_sensor_data: 2
qos_user_data: 2
queue_size: -1
rgbd_cameras: 1
scan_cloud_is_2d: false
scan_cloud_max_points: 0
stereo_to_depth: false
subscribe_depth: true
subscribe_odom: true
subscribe_odom_info: false
subscribe_rgb: true
subscribe_rgbd: true
subscribe_scan: true
subscribe_scan_cloud: false
subscribe_scan_descriptor: false
subscribe_sensor_data: false
subscribe_stereo: false
subscribe_user_data: false
sync_queue_size: 10
tf_delay: 0.05
tf_tolerance: 0.1
topic_queue_size: 10
use_action_for_goal: false
use_saved_map: true
use_sim_time: false
wait_for_transform: 0.2

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: '0.0'
Grid/NoiseFilteringMinNeighbors: '5'
Grid/NoiseFilteringRadius: '0.0'
Grid/NormalK: '20'
Grid/NormalsSegmentation: 'true'
Grid/PreVoxelFiltering: 'true'
Grid/RangeMax: '0'
Grid/RangeMin: '0.0'
Grid/RayTracing: 'false'
Grid/Scan2dUnknownSpaceFilled: 'false'
Grid/ScanDecimation: '1'
Grid/Sensor: '0'
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/DebugExportFormat: ''
Icp/DownsamplingStep: '1'
Icp/Epsilon: '0'
Icp/FiltersEnabled: '3'
Icp/Force4DoF: 'false'
Icp/Iterations: '30'
Icp/MaxCorrespondenceDistance: '0.15'
Icp/MaxRotation: '0.78'
Icp/MaxTranslation: '0.2'
Icp/OutlierRatio: '0.6'
Icp/PMConfig: ''
Icp/PMMatcherEpsilon: '0.0'
Icp/PMMatcherIntensity: 'false'
Icp/PMMatcherKnn: '1'
Icp/PointToPlane: 'false'
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'
Kp/DetectorStrategy: '8'
Kp/DictionaryPath: ''
Kp/FlannRebalancingFactor: '2.0'
Kp/GridCols: '1'
Kp/GridRows: '1'
Kp/IncrementalDictionary: 'true'
Kp/IncrementalFlann: 'true'
Kp/MaxDepth: '0'
Kp/MaxFeatures: '500'
Kp/MinDepth: '0'
Kp/NNStrategy: '1'
Kp/NewWordsComparedTogether: 'true'
Kp/NndrRatio: '0.8'
Kp/Parallelized: 'true'
Kp/RoiRatios: 0.0 0.0 0.0 0.0
Kp/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/Priors: ''
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'
Mem/DepthAsMask: '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'
Mem/IncrementalMemory: 'False'
Mem/InitWMWithAllNodes: 'True'
Mem/IntermediateNodeDataKept: 'false'
Mem/LaserScanDownsampleStepSize: '1'
Mem/LaserScanNormalK: '0'
Mem/LaserScanNormalRadius: '0.0'
Mem/LaserScanVoxelSize: '0.0'
Mem/LocalizationDataSaved: 'false'
Mem/MapLabelsAdded: 'true'
Mem/NotLinkedNodesKept: 'true'
Mem/RawDescriptorsKept: 'true'
Mem/RecentWmRatio: '0.2'
Mem/ReduceGraph: 'false'
Mem/RehearsalIdUpdatedToNewOne: 'false'
Mem/RehearsalSimilarity: '0.6'
Mem/RehearsalWeightIgnoredWhileMoving: 'false'
Mem/RotateImagesUpsideUp: 'false'
Mem/STMSize: '30'
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'
Optimizer/Epsilon: '0.00001'
Optimizer/GravitySigma: '0.3'
Optimizer/Iterations: '20'
Optimizer/LandmarksIgnored: 'false'
Optimizer/PriorsIgnored: 'true'
Optimizer/Robust: 'false'
Optimizer/Strategy: '2'
Optimizer/VarianceIgnored: 'false'
PyDescriptor/Dim: '4096'
PyDescriptor/Path: ''
PyDetector/Cuda: 'true'
PyDetector/Path: ''
PyMatcher/Cuda: 'true'
PyMatcher/Iterations: '20'
PyMatcher/Model: indoor
PyMatcher/Path: ''
PyMatcher/Threshold: '0.2'
RGBD/AggressiveLoopThr: '0.05'
RGBD/AngularSpeedUpdate: '0.0'
RGBD/AngularUpdate: '0.1'
RGBD/CreateOccupancyGrid: 'true'
RGBD/Enabled: '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: '5'
RGBD/LocalizationPriorError: '0.001'
RGBD/LocalizationSmoothing: 'true'
RGBD/LoopClosureIdentityGuess: 'false'
RGBD/LoopClosureReextractFeatures: 'false'
RGBD/LoopCovLimited: 'false'
RGBD/MarkerDetection: 'false'
RGBD/MaxLocalRetrieved: '2'
RGBD/MaxLoopClosureDistance: '0.0'
RGBD/MaxOdomCacheSize: '10'
RGBD/NeighborLinkRefining: 'true'
RGBD/NewMapOdomChangeDistance: '0'
RGBD/OptimizeFromGraphEnd: 'false'
RGBD/OptimizeMaxError: '4'
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: '10'
RGBD/ProximityPathRawPosesUsed: 'true'
RGBD/ScanMatchingIdsSavedInLinks: 'true'
RGBD/StartAtOrigin: 'false'
Reg/Force3DoF: 'true'
Reg/RepeatOnce: 'true'
Reg/Strategy: '2'
Rtabmap/ComputeRMSE: 'true'
Rtabmap/CreateIntermediateNodes: 'false'
Rtabmap/DetectionRate: '10'
Rtabmap/ImageBufferSize: '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'
Rtabmap/WorkingDirectory: /home/cmb/.ros
SIFT/ContrastThreshold: '0.04'
SIFT/EdgeThreshold: '10'
SIFT/GaussianThreshold: '2.0'
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: '128.0'
Stereo/MaxLevel: '5'
Stereo/MinDisparity: '0.5'
Stereo/OpticalFlow: 'true'
Stereo/SSD: 'true'
Stereo/WinHeight: '3'
Stereo/WinWidth: '15'
StereoBM/BlockSize: '15'
StereoBM/Disp12MaxDiff: '-1'
StereoBM/MinDisparity: '0'
StereoBM/NumDisparities: '128'
StereoBM/PreFilterCap: '31'
StereoBM/PreFilterSize: '9'
StereoBM/SpeckleRange: '4'
StereoBM/SpeckleWindowSize: '100'
StereoBM/TextureThreshold: '10'
StereoBM/UniquenessRatio: '15'
StereoSGBM/BlockSize: '15'
StereoSGBM/Disp12MaxDiff: '1'
StereoSGBM/MinDisparity: '0'
StereoSGBM/Mode: '2'
StereoSGBM/NumDisparities: '128'
StereoSGBM/P1: '2'
StereoSGBM/P2: '5'
StereoSGBM/PreFilterCap: '31'
StereoSGBM/SpeckleRange: '4'
StereoSGBM/SpeckleWindowSize: '100'
StereoSGBM/UniquenessRatio: '20'
SuperPoint/Cuda: 'true'
SuperPoint/ModelPath: ''
SuperPoint/NMS: 'true'
SuperPoint/NMSRadius: '4'
SuperPoint/Threshold: '0.010'
VhEp/Enabled: 'false'
VhEp/MatchCountMin: '8'
VhEp/RansacParam1: '3'
VhEp/RansacParam2: '0.99'
Vis/BundleAdjustment: '1'
Vis/CorFlowEps: '0.01'
Vis/CorFlowGpu: 'false'
Vis/CorFlowIterations: '30'
Vis/CorFlowMaxLevel: '3'
Vis/CorFlowWinSize: '16'
Vis/CorGuessMatchToProjection: 'false'
Vis/CorGuessWinSize: '40'
Vis/CorNNDR: '0.8'
Vis/CorNNType: '1'
Vis/CorType: '0'
Vis/DepthAsMask: 'true'
Vis/DepthMaskFloorThr: '0.0'
Vis/EpipolarGeometryVar: '0.1'
Vis/EstimationType: '1'
Vis/FeatureType: '8'
Vis/ForwardEstOnly: 'true'
Vis/GridCols: '1'
Vis/GridRows: '1'
Vis/InlierDistance: '0.1'
Vis/Iterations: '300'
Vis/MaxDepth: '0'
Vis/MaxFeatures: '1000'
Vis/MeanInliersDistance: '0.0'
Vis/MinDepth: '0'
Vis/MinInliers: '12'
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'
approx_sync: true
cloud_output_voxelized: true
cloud_subtract_filtering: false
cloud_subtract_filtering_min_neighbors: 2
config_path: ''
database_path: /home/cmb/.ros/rtabmap.db
diagnostic_updater:
  period: 2.0
  use_fqn: false
frame_id: base_footprint
g2o/Baseline: '0.075'
g2o/Optimizer: '0'
g2o/PixelVariance: '1.0'
g2o/RobustKernelDelta: '8'
g2o/Solver: '0'
gen_depth: false
gen_depth_decimation: 1
gen_depth_fill_holes_error: 0.1
gen_depth_fill_holes_size: 0
gen_depth_fill_iterations: 1
gen_scan: false
gen_scan_max_depth: 4.0
gen_scan_min_depth: 0.0
ground_truth_base_frame_id: base_footprint
ground_truth_frame_id: ''
initial_pose: ''
is_rtabmap_paused: false
landmark_angular_variance: 0.001
landmark_linear_variance: 0.001
latch: true
loc_thr: 0.0
log_to_rosout_level: 4
map_always_update: false
map_cleanup: true
map_empty_ray_tracing: true
map_filter_angle: 30.0
map_filter_radius: 0.0
map_frame_id: rtabmap
octomap_tree_depth: 16
odom_frame_id: odom
odom_frame_id_init: ''
odom_sensor_sync: false
odom_tf_angular_variance: 0.001
odom_tf_linear_variance: 0.001
pub_loc_pose_only_when_localizing: false
publish_tf: true
qos: 2
qos_camera_info: 2
qos_gps: 0
qos_image: 2
qos_imu: 0
qos_odom: 2
qos_overrides:
  /parameter_events:
    publisher:
      depth: 1000
      durability: volatile
      history: keep_last
      reliability: reliable
  /tf:
    publisher:
      depth: 100
      durability: volatile
      history: keep_last
      reliability: reliable
qos_scan: 2
qos_sensor_data: 2
qos_user_data: 2
queue_size: -1
rgbd_cameras: 1
scan_cloud_is_2d: false
scan_cloud_max_points: 0
stereo_to_depth: false
subscribe_depth: true
subscribe_odom: true
subscribe_odom_info: false
subscribe_rgb: true
subscribe_rgbd: true
subscribe_scan: true
subscribe_scan_cloud: false
subscribe_scan_descriptor: false
subscribe_sensor_data: false
subscribe_stereo: false
subscribe_user_data: false
sync_queue_size: 10
tf_delay: 0.05
tf_tolerance: 0.1
topic_queue_size: 10
use_action_for_goal: false
use_saved_map: true
use_sim_time: false
wait_for_transform: 0.2

Dreambyland avatar Jun 09 '25 09:06 Dreambyland

Do you have a database? That warning can be ignored unless it happens all the time and the images compared should be pretty similar. If it is the case, it could be a calibration issue.

matlabbe avatar Jun 13 '25 02:06 matlabbe

Localization is performed based on the db file created with rtabmap slam.

Dreambyland avatar Jun 13 '25 08:06 Dreambyland