rtabmap with orbslam3 #1477

tuo-153 · 2025-03-30T21:45:17Z

tuo-153
Mar 30, 2025

I used opencv4.9.0 for orbslam3 and also used it for rtabmap but when I try to compile ros rtabmap this problem happen.
/usr/bin/ld: warning: libopencv_stitching.so.409, needed by /home/han/rtabmap/build/bin/librtabmap_core.so.0.21.12, may conflict with libopencv_stitching.so.4.2
/usr/bin/ld: warning: libopencv_photo.so.409, needed by /home/han/rtabmap/build/bin/librtabmap_core.so.0.21.12, may conflict with libopencv_photo.so.4.2
/usr/bin/ld: warning: libopencv_video.so.409, needed by /home/han/rtabmap/build/bin/librtabmap_core.so.0.21.12, may conflict with libopencv_video.so.4.2
/usr/bin/ld: warning: libopencv_videoio.so.409, needed by /home/han/rtabmap/build/bin/librtabmap_core.so.0.21.12, may conflict with libopencv_videoio.so.4.2
/usr/bin/ld: warning: libopencv_aruco.so.409, needed by /home/han/rtabmap/build/bin/librtabmap_core.so.0.21.12, may conflict with libopencv_aruco.so.4.2
/usr/bin/ld: warning: libopencv_calib3d.so.409, needed by /home/han/rtabmap/build/bin/librtabmap_core.so.0.21.12, may conflict with libopencv_calib3d.so.4.2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0, may conflict with libopencv_core.so.409
[ 68%] Built target rtabmap_wifi_signal_sub

matlabbe · 2025-03-31T02:43:27Z

matlabbe
Mar 31, 2025
Maintainer

Options:

Rebuild orbslam3 with same version used in ROS's cv_bridge, which would be 4.2.
Uninstall opencv 4.2 completly. This will obviously uninstall a bunch of ros packages, which would need to be rebuilt from source.

The reason is that rtabmap_ros links on both rtabmap library (which is built with opencv 4.9 in your case) and cv_bridge library (which is built with opencv 4.2). Running any node would likely crashes as soon as an opencv function/object is called/used.

3 replies

tuo-153 Mar 31, 2025
Author

Thanks a lot for your reply! After I trying to test MH_01_easy.bag dataset. I get this problem.
[ WARN] [1743420002.210090164, 1403636578.949240881]: /rtabmap/stereo_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/stereo_camera/left/image_rect
/stereo_camera/right/image_rect
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
[ WARN] [1743420002.210694551, 1403636578.949240881]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom
/stereo_camera/left/image_rect
/stereo_camera/right/image_rect
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ WARN] [1743420002.211133782, 1403636578.949240881]: /rtabmap/rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap_viz subscribed to (exact sync):
/rtabmap/odom
/stereo_camera/left/image_rect
/stereo_camera/right/image_rect
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ WARN] (2025-03-31 13:20:03.106) Odometry.cpp:324::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=0.050821,0.290262,-3.090772 with IMU orientation
[ INFO] [1743420003.134055516, 1403636579.863901964]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.027476s, delay=0.100346s
[ INFO] [1743420003.358485269, 1403636580.091760221]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0042s, RTAB-Map=0.1901s, Maps update=0.0006s pub=0.0260s (local map=1, WM=1)
[FATAL] (2025-03-31 13:20:03.417) OptimizerG2O.cpp:1926::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!
[FATAL] [1743420003.417808681, 1403636580.154516388]: [FATAL] (2025-03-31 13:20:03.417) OptimizerG2O.cpp:1926::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2025-03-31 13:20:03.417) OptimizerG2O.cpp:1926::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!
[rtabmap/stereo_odometry-12] process has died [pid 28732, exit code -6, cmd /home/han/catkin_ws/devel/lib/rtabmap_odom/stereo_odometry -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType 6 --Kp/DetectorStrategy 6 left/image_rect:=/stereo_camera/left/image_rect right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/imu/data __name:=stereo_odometry __log:=/home/han/.ros/log/0d368010-0e22-11f0-9f51-cf5a08a23f8d/rtabmap-stereo_odometry-12.log].
log file: /home/han/.ros/log/0d368010-0e22-11f0-9f51-cf5a08a23f8d/rtabmap-stereo_odometry-12*.log

matlabbe Apr 6, 2025
Maintainer

Some related issues:

Is rtabmap built with ORB_SLAM3 as dependency? Is g2o built from source? Is PCL built from source? Make sure they are built without -march=native?

tuo-153 Apr 9, 2025
Author

Thanks for your reply again.
I built rtabmap with orbslam3 and no errors occur.
With FOVIS: false
With Viso2: false
With DVO: false
With ORB_SLAM3: true
With OKVIS: false
With MSCKF_VIO: false
With VINS-Fusion: false
With OpenVINS: false

I used sudo apt to install g2o and pcl

I've rebuilt again and new errors have occured. I found the same error “[ERROR] (2025-04-09 18:01:42.131) Rtabmap.cpp:1406::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 2 is ignored!”
occured when people used realsense D435i camera. But i don't know why I get this problem in moment situation.
han@han-virtual-machine:~$ roslaunch rtabmap_examples euroc_datasets.launch args:="Odom/Strategy 5 OdomORBSLAM/VocPath /home/han/ORB_SLAM3/Vocabulary/ORBvoc.txt" MH_seq:=true raw_images_for_odom:=true
... logging to /home/han/.ros/log/cd979232-155b-11f0-8306-b7fde46a9700/roslaunch-han-virtual-machine-18284.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.227.128:40371/

SUMMARY

CLEAR PARAMETERS

/rtabmap/rtabmap/
/rtabmap/rtabmap_viz/
/rtabmap/stereo_odometry/

PARAMETERS

/imu_filter/publish_tf: False
/imu_filter/use_mag: False
/imu_filter/world_frame: enu
/point_to_tf/fixed_frame_id: world
/point_to_tf/frame_id: leica
/rosdistro: noetic
/rosversion: 1.17.0
/rtabmap/rtabmap/Mem/IncrementalMemory: true
/rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
/rtabmap/rtabmap/approx_sync: False
/rtabmap/rtabmap/config_path:
/rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
/rtabmap/rtabmap/frame_id: base_link
/rtabmap/rtabmap/gen_depth: False
/rtabmap/rtabmap/gen_depth_decimation: 1
/rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
/rtabmap/rtabmap/gen_depth_fill_holes_size: 0
/rtabmap/rtabmap/gen_depth_fill_iterations: 1
/rtabmap/rtabmap/gen_scan: False
/rtabmap/rtabmap/ground_truth_base_frame_id:
/rtabmap/rtabmap/ground_truth_frame_id:
/rtabmap/rtabmap/initial_pose:
/rtabmap/rtabmap/landmark_angular_variance: 9999.0
/rtabmap/rtabmap/landmark_linear_variance: 0.0001
/rtabmap/rtabmap/loc_thr: 0.0
/rtabmap/rtabmap/map_frame_id: map
/rtabmap/rtabmap/odom_frame_id:
/rtabmap/rtabmap/odom_frame_id_init:
/rtabmap/rtabmap/odom_sensor_sync: False
/rtabmap/rtabmap/odom_tf_angular_variance: 0.001
/rtabmap/rtabmap/odom_tf_linear_variance: 0.001
/rtabmap/rtabmap/publish_tf: True
/rtabmap/rtabmap/scan_cloud_max_points: 0
/rtabmap/rtabmap/subscribe_depth: False
/rtabmap/rtabmap/subscribe_odom_info: True
/rtabmap/rtabmap/subscribe_rgb: False
/rtabmap/rtabmap/subscribe_rgbd: False
/rtabmap/rtabmap/subscribe_scan: False
/rtabmap/rtabmap/subscribe_scan_cloud: False
/rtabmap/rtabmap/subscribe_scan_descriptor: False
/rtabmap/rtabmap/subscribe_stereo: True
/rtabmap/rtabmap/subscribe_user_data: False
/rtabmap/rtabmap/sync_queue_size: 10
/rtabmap/rtabmap/topic_queue_size: 1
/rtabmap/rtabmap/wait_for_transform_duration: 0.1
/rtabmap/rtabmap_viz/approx_sync: False
/rtabmap/rtabmap_viz/frame_id: base_link
/rtabmap/rtabmap_viz/odom_frame_id:
/rtabmap/rtabmap_viz/subscribe_depth: False
/rtabmap/rtabmap_viz/subscribe_odom_info: True
/rtabmap/rtabmap_viz/subscribe_rgb: False
/rtabmap/rtabmap_viz/subscribe_rgbd: False
/rtabmap/rtabmap_viz/subscribe_scan: False
/rtabmap/rtabmap_viz/subscribe_scan_cloud: False
/rtabmap/rtabmap_viz/subscribe_scan_descriptor: False
/rtabmap/rtabmap_viz/subscribe_stereo: True
/rtabmap/rtabmap_viz/sync_queue_size: 10
/rtabmap/rtabmap_viz/topic_queue_size: 1
/rtabmap/rtabmap_viz/wait_for_transform_duration: 0.1
/rtabmap/stereo_odometry/approx_sync: False
/rtabmap/stereo_odometry/approx_sync_max_interval: 0.0
/rtabmap/stereo_odometry/config_path:
/rtabmap/stereo_odometry/expected_update_rate: 0.0
/rtabmap/stereo_odometry/frame_id: base_link
/rtabmap/stereo_odometry/ground_truth_base_frame_id:
/rtabmap/stereo_odometry/ground_truth_frame_id:
/rtabmap/stereo_odometry/guess_frame_id:
/rtabmap/stereo_odometry/guess_min_rotation: 0.0
/rtabmap/stereo_odometry/guess_min_translation: 0.0
/rtabmap/stereo_odometry/keep_color: False
/rtabmap/stereo_odometry/max_update_rate: 0.0
/rtabmap/stereo_odometry/odom_frame_id: odom
/rtabmap/stereo_odometry/publish_tf: True
/rtabmap/stereo_odometry/subscribe_rgbd: False
/rtabmap/stereo_odometry/sync_queue_size: 10
/rtabmap/stereo_odometry/topic_queue_size: 1
/rtabmap/stereo_odometry/wait_for_transform_duration: 0.1
/rtabmap/stereo_odometry/wait_imu_to_init: True
/stereo_camera/yaml_to_camera_info_left/yaml_path: /home/han/catkin_...
/stereo_camera/yaml_to_camera_info_right/frame_id: cam1
/stereo_camera/yaml_to_camera_info_right/yaml_path: /home/han/catkin_...
/use_sim_time: True

NODES
/
cam0_imu_link (tf/static_transform_publisher)
cam1_imu_link (tf/static_transform_publisher)
imu_base_link (tf/static_transform_publisher)
imu_filter (imu_complementary_filter/complementary_filter_node)
leica_base_link (tf/static_transform_publisher)
point_to_tf (rtabmap_util/point_to_tf.py)
world_to_map (tf/static_transform_publisher)
/rtabmap/
rtabmap (rtabmap_slam/rtabmap)
rtabmap_viz (rtabmap_viz/rtabmap_viz)
stereo_odometry (rtabmap_odom/stereo_odometry)
/stereo_camera/
yaml_to_camera_info_left (rtabmap_util/yaml_to_camera_info.py)
yaml_to_camera_info_right (rtabmap_util/yaml_to_camera_info.py)

auto-starting new master
process[master]: started with pid [18299]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cd979232-155b-11f0-8306-b7fde46a9700
process[rosout-1]: started with pid [18316]
started core service [/rosout]
process[stereo_camera/yaml_to_camera_info_left-2]: started with pid [18324]
process[stereo_camera/yaml_to_camera_info_right-3]: started with pid [18325]
process[imu_base_link-4]: started with pid [18326]
process[cam0_imu_link-5]: started with pid [18327]
process[cam1_imu_link-6]: started with pid [18328]
process[leica_base_link-7]: started with pid [18329]
process[point_to_tf-8]: started with pid [18336]
process[world_to_map-9]: started with pid [18344]
process[imu_filter-10]: started with pid [18346]
process[rtabmap/stereo_odometry-11]: started with pid [18372]
[ INFO] [1744214448.875005932]: Starting ComplementaryFilterROS
process[rtabmap/rtabmap-12]: started with pid [18378]
process[rtabmap/rtabmap_viz-13]: started with pid [18379]
[ INFO] [1744214449.200315490]: Starting node...
[ INFO] [1744214449.203100177]: Initializing nodelet with 8 worker threads.
[ INFO] [1744214449.218192477]: Starting node...
[ INFO] [1744214449.246855345]: Odometry: frame_id = base_link
[ INFO] [1744214449.246935890]: Odometry: odom_frame_id = odom
[ INFO] [1744214449.246963726]: Odometry: publish_tf = true
[ INFO] [1744214449.247050072]: Odometry: wait_for_transform = true
[ INFO] [1744214449.247124263]: Odometry: wait_for_transform_duration = 0.100000
[ INFO] [1744214449.247173961]: Odometry: log_to_rosout_level = 4
[ INFO] [1744214449.247228238]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1744214449.247266593]: Odometry: ground_truth_frame_id =
[ INFO] [1744214449.247304208]: Odometry: ground_truth_base_frame_id =
[ INFO] [1744214449.247341425]: Odometry: config_path =
[ INFO] [1744214449.247381735]: Odometry: publish_null_when_lost = true
[ INFO] [1744214449.247418386]: Odometry: publish_compressed_sensor_data = false
[ INFO] [1744214449.247455708]: Odometry: guess_frame_id =
[ INFO] [1744214449.247493250]: Odometry: guess_min_translation = 0.000000
[ INFO] [1744214449.247521905]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1744214449.247552612]: Odometry: guess_min_time = 0.000000
[ INFO] [1744214449.247579629]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1744214449.247608551]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1744214449.247650730]: Odometry: min_update_rate = 0.000000 Hz
[ INFO] [1744214449.247678818]: Odometry: wait_imu_to_init = true
[ INFO] [1744214449.247708672]: Odometry: sensor_data_compression_format = .jpg
[ INFO] [1744214449.247735175]: Odometry: sensor_data_parallel_compression = true
[ INFO] [1744214449.247775612]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1744214449.259756533]: Initializing nodelet with 8 worker threads.
[ INFO] [1744214449.309707276]: rtabmap_viz: Using configuration from "/home/han/.ros/rtabmap_gui.ini"
[ INFO] [1744214449.344213521]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1744214449.344250277]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1744214449.344259680]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1744214449.344264285]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1744214449.344268867]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1744214449.344272423]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1744214449.344276116]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1744214449.344291080]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1744214449.344445655]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1744214449.365777916]: rtabmap: frame_id = base_link
[ INFO] [1744214449.365811735]: rtabmap: map_frame_id = map
[ INFO] [1744214449.365818806]: rtabmap: log_to_rosout_level = 4
[ INFO] [1744214449.365822806]: rtabmap: initial_pose =
[ INFO] [1744214449.365830886]: rtabmap: use_action_for_goal = false
[ INFO] [1744214449.365836923]: rtabmap: tf_delay = 0.050000
[ INFO] [1744214449.365842074]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1744214449.365845827]: rtabmap: odom_sensor_sync = false
[ INFO] [1744214449.365850579]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1744214449.366330233]: rtabmap: stereo_to_depth = false
[ INFO] [1744214449.366358654]: rtabmap: gen_scan = false
[ INFO] [1744214449.366364974]: rtabmap: gen_depth = false
[ WARN] (2025-04-09 18:00:49.510) Parameters.cpp:1176::parseArguments() Parameter migration from "Odom/FeatureType" to "Vis/FeatureType" (value=6).
[ INFO] [1744214449.510560392]: Odometry: Ignored parameter "Kp/DetectorStrategy"="6" from arguments
[ INFO] [1744214449.510620468]: Update odometry parameter "Odom/Strategy"="5" from arguments
[ INFO] [1744214449.510637123]: Update odometry parameter "OdomORBSLAM/VocPath"="/home/han/ORB_SLAM3/Vocabulary/ORBvoc.txt" from arguments
[ INFO] [1744214449.510696578]: Odometry: Ignored parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[ INFO] [1744214449.510745833]: Update odometry parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1744214449.510811010]: Update odometry parameter "Vis/FeatureType"="6" from arguments
[ INFO] [1744214449.518607067]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1744214449.518905169]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1744214449.633573794]: odometry: Subscribing to IMU topic /imu/data
[ INFO] [1744214449.636539619]: StereoOdometry: approx_sync = false
[ INFO] [1744214449.636602547]: StereoOdometry: topic_queue_size = 1
[ INFO] [1744214449.636630333]: StereoOdometry: sync_queue_size = 10
[ INFO] [1744214449.636654743]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1744214449.636680951]: StereoOdometry: keep_color = false
[ INFO] [1744214449.646053347]:
/rtabmap/stereo_odometry subscribed to (exact sync):
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
[ WARN] (2025-04-09 18:00:49.685) Parameters.cpp:1176::parseArguments() Parameter migration from "Odom/FeatureType" to "Vis/FeatureType" (value=6).
[ INFO] [1744214449.685559897]: Update RTAB-Map parameter "Kp/DetectorStrategy"="6" from arguments
[ INFO] [1744214449.685620576]: Update RTAB-Map parameter "Odom/Strategy"="5" from arguments
[ INFO] [1744214449.685628974]: Update RTAB-Map parameter "OdomORBSLAM/VocPath"="/home/han/ORB_SLAM3/Vocabulary/ORBvoc.txt" from arguments
[ INFO] [1744214449.685635816]: Update RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[ INFO] [1744214449.685654470]: Update RTAB-Map parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1744214449.685662658]: Update RTAB-Map parameter "Vis/FeatureType"="6" from arguments
[ INFO] [1744214449.757138458]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1744214449.757425284]: rtabmap: Deleted database "/home/han/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1744214449.757471522]: rtabmap: Using database from "/home/han/.ros/rtabmap.db" (0 MB).
[ WARN] (2025-04-09 18:00:49.768) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.768) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.769) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.772) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.772) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.772) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.773) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.773) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.774) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.808) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.808) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2025-04-09 18:00:49.809) Features2d.cpp:658::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1744214449.809782952]: rtabmap: Database version = "0.21.12".
[ INFO] [1744214449.809888683]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1744214449.832018739]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1744214449.832064825]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1744214449.832087816]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1744214449.832107487]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1744214449.832129155]: /rtabmap/rtabmap: subscribe_sensor_data = false
[ INFO] [1744214449.832149896]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1744214449.832167865]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1744214449.832177108]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1744214449.832203181]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1744214449.832229520]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1744214449.832259325]: /rtabmap/rtabmap: topic_queue_size = 1
[ INFO] [1744214449.832288589]: /rtabmap/rtabmap: sync_queue_size = 10
[ INFO] [1744214449.832308475]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1744214449.832361229]: Setup stereo callback
[ INFO] [1744214449.843137431]:
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ INFO] [1744214449.926049296]: rtabmap 0.21.12 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1744214450.064523299]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1744214450.202522423]: rtabmap_viz: Parameters read = 387
[ INFO] [1744214450.202559299]: rtabmap_viz: Parameters successfully read.
[ INFO] [1744214450.338245804]: /rtabmap/rtabmap_viz: subscribe_depth = false
[ INFO] [1744214450.338281671]: /rtabmap/rtabmap_viz: subscribe_rgb = false
[ INFO] [1744214450.338291116]: /rtabmap/rtabmap_viz: subscribe_stereo = true
[ INFO] [1744214450.338296287]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1744214450.338303497]: /rtabmap/rtabmap_viz: subscribe_sensor_data = false
[ INFO] [1744214450.338307862]: /rtabmap/rtabmap_viz: subscribe_odom_info = true
[ INFO] [1744214450.338323103]: /rtabmap/rtabmap_viz: subscribe_user_data = false
[ INFO] [1744214450.338330993]: /rtabmap/rtabmap_viz: subscribe_scan = false
[ INFO] [1744214450.338342618]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false
[ INFO] [1744214450.338347002]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false
[ INFO] [1744214450.338354076]: /rtabmap/rtabmap_viz: topic_queue_size = 1
[ INFO] [1744214450.338375720]: /rtabmap/rtabmap_viz: sync_queue_size = 10
[ INFO] [1744214450.338400492]: /rtabmap/rtabmap_viz: approx_sync = false
[ INFO] [1744214450.338459815]: Setup stereo callback
[ INFO] [1744214450.365964479]:
/rtabmap/rtabmap_viz subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ INFO] [1744214450.367160978]: rtabmap_viz started.
[ WARN] [1744214500.293120651, 1403715271.716921626]: /rtabmap/rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap_viz subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ WARN] [1744214500.293270146, 1403715271.716921626]: /rtabmap/stereo_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
[ WARN] [1744214500.293360159, 1403715271.716921626]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ WARN] [1744214502.017307205, 1403715273.300788690]: Make sure IMU is published faster than data rate! (last image stamp=1403715273.312143 and last imu stamp received=1403715273.307143). Buffering the image until an imu with same or greater stamp is received.
[ WARN] (2025-04-09 18:01:42.036) Odometry.cpp:324::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=-0.008123,0.387323,3.133470 with IMU orientation
[ WARN] (2025-04-09 18:01:42.124) Odometry.cpp:389::process() Rtabmap/ImagesAlreadyRectified parameter is set to false but the selected odometry approach cannot process raw stereo images. We will rectify them for convenience.
[ INFO] [1744214502.128163305, 1403715273.473146107]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.091985s, delay=0.161003s
[ERROR] (2025-04-09 18:01:42.131) Rtabmap.cpp:1406::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 2 is ignored!
[ INFO] [1744214502.131949708, 1403715273.473146107]: rtabmap (0): Rate=1.00s, Limit=0.000s, Conversion=0.0020s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ WARN] [1744214502.157693301, 1403715273.473146107]: Make sure IMU is published faster than data rate! (last image stamp=1403715273.462143 and last imu stamp received=1403715273.457143). Buffering the image until an imu with same or greater stamp is received.
[ WARN] [1744214502.204027078, 1403715273.620952928]: Could not get transform from odom to base_link after 0,100000 seconds (for stamp=1403715273,312143)! Error="canTransform: target_frame odom does not exist.. canTransform returned after 0.147807 timeout was 0.1.".
[ WARN] (2025-04-09 18:01:42.206) MainWindow.cpp:1180::processOdometry() Initializing rectification maps for stereo camera 0 (only done for the first image received)...
[ WARN] (2025-04-09 18:01:42.207) OdometryORBSLAM3.cpp:119::init() Loading ORB Vocabulary: "/home/han/ORB_SLAM3/Vocabulary/ORBvoc.txt". This could take a while...
[ WARN] (2025-04-09 18:01:42.207) OdometryORBSLAM3.cpp:217::init() Camera FPS estimated at 7 Hz. If this doesn't look good, set explicitly parameter OdomORBSLAM/Fps to expected frequency.

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo
Loading settings from ./rtabmap_orbslam.yaml
-Loaded camera 1
-Loaded camera 2
Camera.newHeight optional parameter does not exist...
Camera.newWidth optional parameter does not exist...
-Loaded image info
-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
-Loaded misc parameters
-Computed rectification maps

SLAM settings:
-Camera 1 parameters (Pinhole): [ 436.235 436.235 364.445 256.952 ]
-Camera 1 distortion parameters: [ 0 0 0 0 0 ]
-Camera 2 parameters (Pinhole: [ 436.235 436.235 364.445 256.952 ]
-Camera 1 distortion parameters: [ 0 0 0 0 0 ]
-Original image size: [ 752 , 480 ]
-Current image size: [ 752 , 480 ]
-Camera 1 parameters after rectification: [ 436.235 436.235 364.445 256.952 ]
-Sequence FPS: 7
-Stereo baseline: 0.110078
-Stereo depth threshold : 40
-Features per image: 1000
-ORB scale factor: 2
-ORB number of scales: 3
-Initial FAST threshold: 20
-Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while...
[ WARN] (2025-04-09 18:01:42.211) MainWindow.cpp:1183::processOdometry() Initializing rectification maps for stereo camera 0 (only done for the first image received)... done!
[ WARN] [1744214505.300455431, 1403715276.725043767]: /rtabmap/rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap_viz subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
[ WARN] [1744214505.300494945, 1403715276.725043767]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info
Vocabulary loaded!

Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
[rtabmap/stereo_odometry-11] process has died [pid 18372, exit code -11, cmd /home/han/catkin_ws/devel/lib/rtabmap_odom/stereo_odometry -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType 6 --Kp/DetectorStrategy 6 Odom/Strategy 5 OdomORBSLAM/VocPath /home/han/ORB_SLAM3/Vocabulary/ORBvoc.txt --Rtabmap/ImagesAlreadyRectified false --Rtabmap/ImagesAlreadyRectified false left/image_rect:=/cam0/image_raw right/image_rect:=/cam1/image_raw left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/imu/data __name:=stereo_odometry __log:=/home/han/.ros/log/cd979232-155b-11f0-8306-b7fde46a9700/rtabmap-stereo_odometry-11.log].
log file: /home/han/.ros/log/cd979232-155b-11f0-8306-b7fde46a9700/rtabmap-stereo_odometry-11.log*
[ WARN] [1744214510.301178671, 1403715281.726596178]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom
/cam0/image_raw
/cam1/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/camera_info
/rtabmap/odom_info

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