introlab / rtabmap Goto Github PK

RTAB-Map library and standalone application

Home Page: https://introlab.github.io/rtabmap

License: Other

MATLAB 1.09% CMake 1.72% C++ 55.87% C 37.50% Java 1.92% Shell 0.42% Dockerfile 0.43% Python 0.05% Swift 1.00% Objective-C 0.01%

slam scanning mapping localization project-tango robotics android ios ros ros2

rtabmap's Introduction

rtabmap

RTAB-Map library and standalone application.

For more information (e.g., papers, major updates), visit RTAB-Map's home page.
For installation instructions and examples, visit RTAB-Map's wiki.

To use RTAB-Map under ROS, visit the rtabmap page on the ROS wiki.

Acknowledgements

This project is supported by IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab, Sherbrooke, Québec, Canada.

CI Latest

Linux
Windows

ROS Binaries

ros-$ROS_DISTRO-rtabmap

ROS 1	Noetic
ROS 2	Humble
	Iron
	Rolling
Docker	rtabmap

rtabmap's People

Contributors

Stargazers

Watchers

Forkers

abdullah38rcc kpykc aballier aloharobotics izikhuang songhyonkim weiziang1 buqing2009 zhukovv hustcalm mryellow nagyistoce v-mehta clearpathrobotics eaa3 bmagyar srmanikandasriram fnicolai huangyan9188 jacksnow00 idontlikelongname tsc21 maskor keithshep jackiecx yuchienhsiao markusgrotz itdonline 392210346 somebodyus dyouakim dachengxiaocheng benjamesbabala takuyani raucha awilliamson daryldeng hephaestus9 silviogiancola sudogroot ustbguan lilimeng konanrobot vadimostanin omair18 yeshbourne xepost ss780217 xuduoxd2345tc mcast75 intermilanforever4 sichitong kanster microcompunics zjulion liyuming1978 raaslab easonweng chiwakii andrii619 janusace rgkoo yuyuyu00 caomw johnjsb hylrh2008 techierajan kangdazhi willdzeng aleem21 grady1006 kamaldsoberoi vbillys mortal2000 animecomico lesterlo berkaydeniz whuwan zhehe bikong2 z3rg whiteliu gameinskysky chiragmajithia melshaer whuczp1234 tomasbedrnik joylim patrickelectric bzdfzfer ygling2008 openslam alexandreborowczyk ncnynl big-bao xm-repo yiiwood isci-nctu thinkerlemon stormtiti

rtabmap's Issues

Add PCL OpenMP support

There are some pcl algorithms like NormalEstimation that can be easily used with OpenMP:
NormalEstimationOMP.

More info: http://official-rtab-map-forum.206.s1.nabble.com/Faster-Normal-Computation-td1020.html

OdometryMono: localize in a pre-loaded local map created by RGB-D mapping

The goal is the create a 3D map with a Kinect, then use it with only a webcam to track the camera. Idea from this post: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-SLAM-and-then-RGB-Localization-td489.html

Can you consider the problem that is updating the point clouds when a new obstacle in font of robot?

Hello,
Thank you this project.
I meet a problem,When robot visted a place which is visted before, There is a new obstacle ,generallly，The researchers increase the point clouds of obstacle on the original slam.Can you give some advice about how to update point cloud in this situation?

Multiple RGBD cameras input sources

Hi Dear rtabmap,

The question is not technically a github issue. Sorry. But i don't know where to ask.
The practice we try to do is use two RGBD cameras. The additional camera's angle is fixed down to ground so as to make robot aware of the the environment of ground.
I looked into the SensorData.h https://github.com/introlab/rtabmap/blob/0.10.5/corelib/include/rtabmap/core/SensorData.h#L86
There is a constructor for multi rgbd cameras but no usage link to it. I am wondering if there is an example of using multi rgbd cameras as input sources.

many thanks

Handling removed obstacles

Hello,

I have tried rtabmap on our Universitys robot and read the “Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM” article, but I haven't found anything about how rtabmap handles changes in the map. Or doesn't it?

I conducted an experiment with XTion rgb-d camera, rtabmap and rtabmapviz. I placed an obstacle into the scene and then removed it. It appeared in the map but sometimes was not removed. I suppose rtabmapviz select only some nodes to show...?

And if rtabmap doesn't remove points from the map, the only changes happening in the map are loop closures. Are they propagated into the online octomap? I think it would require the whole octomap to be rebuilt. Does map_assembler node reflect loop closures in its map?

Thank you!

an error occurs when compiling

OptimizerCVSBA.cpp: In member function ‘virtual std::map<int, rtabmap::Transform> rtabmap::OptimizerCVSBA::optimizeBA(int, const std::map<int, rtabmap::Transform>&, const std::multimap<int, rtabmap::Link>&, const std::map<int, rtabmap::Signature>&)’:

OptimizerCVSBA.cpp:90:138: error: ‘const value_type’ has no member named ‘isValid’

OptimizerCVSBA.cpp:94:72: error: ‘const class rtabmap::StereoCameraModel’ has no member named ‘isValid’
else if(signatures.at(iter->first).sensorData().stereoCameraModel().isValid())

OptimizerCVSBA.cpp:108:12: error: ‘class rtabmap::CameraModel’ has no member named ‘isValid’
if(model.isValid())

I use OpenCV 2.4.12.

Add option to use features extracted from odometry instead of re-extracting them for loop closure detection (if they are the same type)

From http://official-rtab-map-forum.206.s1.nabble.com/Odometry-Features-vs-Visual-Words-td706.html#a718

"I do not know if it's possible because these processes live in different modules, but for further optimization maybe it would be useful to have a flag in Preferences (independent from Re-extract Features in Loop Closure Detection) to set an unique detector/descriptor combination for both Visual Word and Odometry (like in your small space tutorial setup with GFTT+BRIEF) in order to perform an unique pass of features extraction and filter them with two different settings (max number and depth). I think the performance in this case would greatly benefit (almost double speed)."

CameraOpennNI2: Set timestamp and frame id from OpenNI2 frames instead of generating new ones.

Maybe add a parameter to choose generated IDs or those from OpenNI2.

Platform (though the windows manager) errors when opening the preferences dialog

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?
1. On MacOSX, start RTAB-Map from the terminal (not the bundle .APP but the 
executable directly ./bin/rtabmap)
2. Open preferences dialog
3. The errors appear in terminal, but the application doesn't crash

Wed Apr 27 16:23:36 Citron42.local rtabmap[6935] <Error>: 
kCGErrorIllegalArgument: _CGSFindSharedWindow: WID -1
Wed Apr 27 16:23:36 Citron42.local rtabmap[6935] <Error>: kCGErrorFailure: Set 
a breakpoint @ CGErrorBreakpoint() to catch errors as they are logged.
Wed Apr 27 16:23:36 Citron42.local rtabmap[6935] <Error>: 
kCGErrorIllegalArgument: CGSCopyWindowProperty
Wed Apr 27 16:23:36 Citron42.local rtabmap[6935] <Error>: 
kCGErrorIllegalArgument: CGSGetWindowProperty
Wed Apr 27 16:23:36 Citron42.local rtabmap[6935] <Error>: 
kCGErrorIllegalArgument: windowGroup: error getting ordering group property


What is the expected output? What do you see instead?
No error...

Original issue reported on code.google.com by [email protected] on 27 Apr 2011 at 8:29

Copied from original issue: matlabbe/rtabmap#1

Audio issue : mmap() failed: Cannot allocate memory

From @GoogleCodeExporter on May 26, 2015 18:56

System: Ubuntu 12.04 precise 32 bits on Macbook Pro 6.2
Code: branch audio r490

Steps: 
-Start RTAB-Map using Sensorimotor memory and audio source (tested with audio 
only). Note that Audio widgets (ref and loop) are shown.
-Start detection and wait until application crashes with error:

mmap() failed: Cannot allocate memory
Assertion 'b' failed at pulsecore/memblock.c:454, function 
pa_memblock_acquire(). Aborting.
Aborted (core dumped)

May be related to https://bugs.freedesktop.org/show_bug.cgi?id=43269

Original issue reported on code.google.com by [email protected] on 27 Apr 2012 at 8:33

Copied from original issue: matlabbe/rtabmap#3

Problem about results reproduction

Hello:

Thanks for you great package! It is very excellent. I installed it without any problem. After installation, I want to test this package, so I run the results reproduction following your instruction (https://github.com/introlab/rtabmap/wiki/Benchmark).
I tested the loop closure detection on UdeS 1Hz dataset using the same command as you:
$ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 150 -Rtabmap/TimeThr 700 UdeS_1Hz

But my result is not good as yours:
GT_total_positives =
2624
False positive! id=2927 with old=85 (p=0.78605)
False positive accepted! id=2927 with old=85 (p=0.78605)
False positive! id=3221 with old=507 (p=0.27742)
False positive accepted! id=3221 with old=507 (p=0.27742)
False positive! id=3303 with old=3261 (p=0.20176)
False positive accepted! id=3303 with old=3261 (p=0.20176)
False positive! id=3304 with old=3261 (p=0.18977)
False positive accepted! id=3304 with old=3261 (p=0.18977)
False positive! id=3305 with old=3261 (p=0.1824)
False positive accepted! id=3305 with old=3261 (p=0.1824)
False positive! id=508 with old=388 (p=0.18231)
False positive accepted! id=508 with old=388 (p=0.18231)
False positive! id=3306 with old=3261 (p=0.17308)
False positive accepted! id=3306 with old=3261 (p=0.17308)
False positive! id=3222 with old=507 (p=0.12043)
False positive accepted! id=3222 with old=507 (p=0.12043)
False positive! id=509 with old=384 (p=0.10367)
False positive! id=5007 with old=2423 (p=0.096849)
False positive! id=63 with old=15 (p=0.09674)
False positive! id=62 with old=4 (p=0.095517)
False positive! id=85 with old=25 (p=0.093663)
False positive! id=61 with old=4 (p=0.092973)
False positive! id=511 with old=398 (p=0.092742)
False positive! id=4127 with old=1392 (p=0.090118)
False positive! id=5006 with old=2423 (p=0.088463)
False positive! id=60 with old=4 (p=0.08766)
False positive! id=153 with old=47 (p=0.083117)
False positive! id=4270 with old=1554 (p=0.081888)
False positive! id=157 with old=34 (p=0.081526)
False positive! id=2622 with old=90 (p=0.081042)
False positive! id=148 with old=47 (p=0.078752)
False positive! id=152 with old=47 (p=0.078644)
False positive! id=156 with old=34 (p=0.078002)
False positive! id=59 with old=4 (p=0.076487)
False positive! id=3932 with old=1219 (p=0.075674)
False positive! id=149 with old=31 (p=0.075637)
False positive! id=147 with old=35 (p=0.074969)
False positive! id=154 with old=46 (p=0.074458)
False positive! id=5005 with old=2423 (p=0.074371)
False positive! id=1415 with old=190 (p=0.074223)
False positive! id=3836 with old=1178 (p=0.073854)
False positive! id=195 with old=20 (p=0.072997)
False positive! id=186 with old=90 (p=0.072248)
False positive! id=5341 with old=2732 (p=0.072152)
False positive! id=155 with old=46 (p=0.071894)
False positive! id=90 with old=37 (p=0.07122)
False positive! id=2800 with old=2718 (p=0.071138)
False positive! id=3223 with old=507 (p=0.07082)
False positive! id=5339 with old=2731 (p=0.070738)
False positive! id=179 with old=90 (p=0.070554)
False positive! id=151 with old=42 (p=0.070286)
False positive! id=2623 with old=91 (p=0.070054)
Recall max (Precision=100%) = 20.0457% (p=0.78693), accepted=526
Recall max accepted (Precision=100%) = 20.0457% (p=0.78693), accepted=526
ignored = 81

Did I miss something? Please help me find out the problem. Thanks in advance!

Move "Export poses" menu under File menu

For convenience, this menu could be along the Export Clouds/Scans/Grid/Cameras menu actions.

double free or corruption - rtabmap compilation on ARM Ubuntu

Hello Mathieu,

I ran rtabmap successfully on Ubuntu 12.04 Ros Hydro, for my laptop. I am now trying to compile rtabmap on an Odroid XU3, ARM based, though also with Ubuntu 12.04 ROS Hydro.

The cmake command for rtabmap runs fine - these are the last few lines of the output.

-- Info :
-- CMAKE_INSTALL_PREFIX = /home/odroid/catkin_ws/devel
-- CMAKE_BUILD_TYPE = Release
-- BUILD_SHARED_LIBS = ON
-- With OpenCV nonfree module (SIFT/SURF) = YES
-- With Freenect = YES
-- With OpenNI2 = NO (OpenNI2 not found)
-- With Freenect2 = NO (libfreenect2 not found)
-- With dc1394 = YES
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With g2o = NO (g2o not found)
-- With Qt = YES (version 4)

-- Configuring done
-- Generating done
-- Build files have been written to: /home/odroid/rtabmap/build

Now when I run make, there is a memory error somewhere -

Scanning dependencies of target rtabmap_utilite
[ 0%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/UEventsManager.h:27:0,
from /home/odroid/rtabmap/utilite/src/UEventsManager.cpp:20:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/UEventsManager.h:27:0,
from /home/odroid/rtabmap/utilite/src/UEventsHandler.cpp:21:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/UEventsManager.h:27:0,
from /home/odroid/rtabmap/utilite/src/UEventsSender.cpp:21:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
[ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/UDirectory.cpp:43:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
/home/odroid/rtabmap/utilite/src/UConversion.cpp:295:13: note: the mangling of 'va_list' has changed in GCC 4.4
[ 4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/ULogger.cpp:20:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/UThread.cpp:21:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/UTimer.cpp:21:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 6%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
Linking CXX shared library ../../../bin/librtabmap_utilite.so
[ 6%] Built target rtabmap_utilite
Scanning dependencies of target uresourcegenerator
[ 7%] Building CXX object utilite/resource_generator/CMakeFiles/uresourcegenerator.dir/main.cpp.o
In file included from /home/odroid/rtabmap/utilite/resource_generator/../include/rtabmap/utilite/UtiLite.h:241:0,
from /home/odroid/rtabmap/utilite/resource_generator/main.cpp:20:
/home/odroid/rtabmap/utilite/resource_generator/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
Linking CXX executable ../../../bin/uresourcegenerator
[ 7%] Built target uresourcegenerator
[ 8%] [Creating resources]
Using namespace=rtabmap
Using target directory=/home/odroid/rtabmap/build/corelib/src
Input file "/home/odroid/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 3695 bytes
Output file "/home/odroid/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 7605 bytes
Scanning dependencies of target rtabmap_core
[ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
*** glibc detected *** /usr/bin/c++: double free or corruption (top): 0x00054980 ***
Aborted (core dumped)
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o] Error 134
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2

The va_list error may apparently be ignored, as multiple posts on Stack overflow mentioned, but I was unable to find out where memory error was occurring, so I ran valgrind make:

odroid@odroid-desktop:~/rtabmap/build$ valgrind make
==5928== Memcheck, a memory error detector
==5928== Copyright (C) 2002-2011, and GNU GPL'd, by Julian Seward et al.
==5928== Using Valgrind-3.7.0 and LibVEX; rerun with -h for copyright info
==5928== Command: make
==5928==
--5928-- WARNING: unhandled syscall: 369
--5928-- You may be able to write your own handler.
--5928-- Read the file README_MISSING_SYSCALL_OR_IOCTL.
--5928-- Nevertheless we consider this a bug. Please report
--5928-- it at http://valgrind.org/support/bug_reports.html.
--5928-- WARNING: unhandled syscall: 369
--5928-- You may be able to write your own handler.
--5928-- Read the file README_MISSING_SYSCALL_OR_IOCTL.
--5928-- Nevertheless we consider this a bug. Please report
--5928-- it at http://valgrind.org/support/bug_reports.html.
[ 0%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/UEventsManager.h:27:0,
from /home/odroid/rtabmap/utilite/src/UEventsManager.cpp:20:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/UEventsManager.h:27:0,
from /home/odroid/rtabmap/utilite/src/UEventsHandler.cpp:21:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/UEventsManager.h:27:0,
from /home/odroid/rtabmap/utilite/src/UEventsSender.cpp:21:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
[ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/UDirectory.cpp:43:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
/home/odroid/rtabmap/utilite/src/UConversion.cpp:295:13: note: the mangling of 'va_list' has changed in GCC 4.4
[ 4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/ULogger.cpp:20:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/UThread.cpp:21:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
In file included from /home/odroid/rtabmap/utilite/src/UTimer.cpp:21:0:
/home/odroid/rtabmap/utilite/src/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
[ 6%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
Linking CXX shared library ../../../bin/librtabmap_utilite.so
[ 6%] Built target rtabmap_utilite
[ 7%] Building CXX object utilite/resource_generator/CMakeFiles/uresourcegenerator.dir/main.cpp.o
In file included from /home/odroid/rtabmap/utilite/resource_generator/../include/rtabmap/utilite/UtiLite.h:241:0,
from /home/odroid/rtabmap/utilite/resource_generator/main.cpp:20:
/home/odroid/rtabmap/utilite/resource_generator/../include/rtabmap/utilite/ULogger.h:458:18: note: the mangling of 'va_list' has changed in GCC 4.4
Linking CXX executable ../../../bin/uresourcegenerator
[ 7%] Built target uresourcegenerator
[ 8%] [Creating resources]
Using namespace=rtabmap
Using target directory=/home/odroid/rtabmap/build/corelib/src
Input file "/home/odroid/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 3695 bytes
Output file "/home/odroid/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 7605 bytes
[ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
*** glibc detected *** /usr/bin/c++: double free or corruption (top): 0x00054980 ***
Aborted (core dumped)
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o] Error 134
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2
==5928==
==5928== HEAP SUMMARY:
==5928== in use at exit: 55,364 bytes in 1,119 blocks
==5928== total heap usage: 3,139 allocs, 2,020 frees, 144,901 bytes allocated
==5928==
==5928== LEAK SUMMARY:
==5928== definitely lost: 0 bytes in 0 blocks
==5928== indirectly lost: 0 bytes in 0 blocks
==5928== possibly lost: 0 bytes in 0 blocks
==5928== still reachable: 55,364 bytes in 1,119 blocks
==5928== suppressed: 0 bytes in 0 blocks
==5928== Rerun with --leak-check=full to see details of leaked memory
==5928==
==5928== For counts of detected and suppressed errors, rerun with: -v
==5928== ERROR SUMMARY: 0 errors from 0 contexts (suppressed: 0 from 0)

Which wasn't really helpful. Would you have any idea as to what could be going wrong?

Thanks!

Illegal instruction when start rtabmap

From @GoogleCodeExporter on May 26, 2015 18:56


What steps will reproduce the problem?
1. I followed the installation instruction in the wiki page: 
https://code.google.com/p/rtabmap/wiki/Installation.
2. All the compilation went smoothly without any major error pop-up.

What is the expected output? What do you see instead?
But when I try to run the program, following issue curred when rtabmap start...
[output]
[ INFO] (2014-06-15 05:55:16.281) main.cpp:38::main() Program started...
Illegal instruction

and following is what I got when debug in gdb...
[output]
Reading symbols from /home/nhuang/Documents/RTAB-Map/bin/rtabmap...(no 
debugging symbols found)...done.
(gdb) run
Starting program: /home/nhuang/Documents/RTAB-Map/bin/rtabmap 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[ INFO] (2014-06-15 05:59:24.372) main.cpp:38::main() Program started...

Program received signal SIGILL, Illegal instruction.
0x00007ffff7a89291 in rtabmap::Transform::Transform(float, float, float, float, 
float, float, float, float, float, float, float, float) () from 
/home/usrname/Documents/RTAB-Map/bin/librtabmap_core.so

What version of the product are you using? On what operating system?
Ubuntu 12.04 / ROS hydro

Please provide any additional information below.
I have no idea with this issue, but when I attempted with same installation on 
another computer it works fine somehow.

Original issue reported on code.google.com by [email protected] on 14 Jun 2014 at 9:08

Copied from original issue: matlabbe/rtabmap#9

..

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?
1.
2.
3.

What is the expected output? What do you see instead?


What version of the product are you using? On what operating system?


Please provide any additional information below.

Original issue reported on code.google.com by [email protected] on 25 Jul 2014 at 2:59

Copied from original issue: matlabbe/rtabmap#11

can't install the package

hello,

I'm trying to install the rtabmap by following the instructions.Bu ti'm getting the following error
1.
CMake Error at src/rtabmap_ros/CMakeLists.txt:20 (find_package):
Could not find a configuration file for package "RTABMap" that is
compatible with requested version "0.10.5".

The following configuration files were considered but not accepted:

/opt/ros/indigo/lib/x86_64-linux-gnu/rtabmap-0.10/RTABMapConfig.cmake, version: 0.10.4
/opt/ros/indigo/lib/x86_64-linux-gnu/rtabmap-0.10/RTABMapConfig.cmake, version: 0.10.4

2.CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
A required package was not found

Can anyone help me to solve the issue?

Thanks in advance.

Add option to use node timestamps instead of node IDs for x-axis of statistics

This will uniformize x-axis values between Odometry, Camera and RTAB-Map statistics.

Build errors with rtabmap_lib package where OpenCV's methods are not found

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?
1. Checkout the rtabmap_lib package somewhere in your ROS_PACKAGE_PATH
2. rosmake rtabmap_lib

What is the expected output? 
-build success

What do you see instead?
-Build errors

[rosmake-2] Starting >>> rtabmap_lib [ make ]                                   

[ rosmake ] Last 40 linesabmap_lib: 3.0 sec ]                                   
                                    [ 1 Active 29/30 Complete ]
{-------------------------------------------------------------------------------
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:402: error: request for member ‘end’ in ‘((rtabmap::Rtabmap*)this)->rtabmap::Rtabmap::_imagesBuffer’, which is of non-class type ‘int’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:404: error: ‘cvReleaseImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:406: error: request for member ‘clear’ in ‘((rtabmap::Rtabmap*)this)->rtabmap::Rtabmap::_imagesBuffer’, which is of non-class type ‘int’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp: In member function ‘virtual void rtabmap::Rtabmap::handleEvent(UEvent*)’:
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:526: error: ‘IplImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:526: error: ‘img’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:526: error: ‘class rtabmap::CameraEvent’ has no member named ‘getImageOwnership’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp: In member function ‘void rtabmap::Rtabmap::process()’:
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:618: error: ‘IplImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:618: error: ‘image’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:631: error: ‘class rtabmap::Rtabmap’ has no member named ‘getImage’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:637: error: ‘cvReleaseImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:644: error: ‘cvReleaseImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:978: error: request for member ‘size’ in ‘ssRef->rtabmap::KeypointSignature::getWords()’, which is of non-class type ‘const int’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:979: error: no matching function for call to ‘uUniqueKeys(const int&)’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1011: error: ‘cvCloneImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1015: error: expected initializer before ‘*’ token
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1016: error: ‘img’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1021: error: ‘tmp’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1021: error: ‘IplImage’ cannot appear in a constant-expression
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1021: error: parse error in template argument list
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1021: error: no matching function for call to ‘UVariant::takeDataOwnership()’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1034: error: ‘class rtabmap::Statistics’ has no member named ‘setPosterior’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1035: error: ‘class rtabmap::Statistics’ has no member named ‘setLikelihood’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1044: error: ‘class rtabmap::Statistics’ has no member named ‘setWeights’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1051: error: request for member ‘size’ in ‘((rtabmap::Rtabmap*)this)->rtabmap::Rtabmap::_imagesBuffer’, which is of non-class type ‘int’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1075: error: ‘class rtabmap::Statistics’ has no member named ‘setRefWords’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1080: error: ‘class rtabmap::Statistics’ has no member named ‘setLoopWords’
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp: At global scope:
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1228: error: variable or field ‘addImage’ declared void
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1228: error: ‘IplImage’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1228: error: ‘image’ was not declared in this scope
  /home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/corelib/src/Rtabmap.cpp:1601: error: expected ‘}’ at end of input
  make[3]: *** [corelib/src/CMakeFiles/corelib.dir/Rtabmap.cpp.o] Error 1
  make[3]: Leaving directory `/home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/build'
  make[2]: *** [corelib/src/CMakeFiles/corelib.dir/all] Error 2
  make[2]: Leaving directory `/home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/home/matlab/workspace/ros-pkg/rtabmap_lib/build/rtabmap-svn/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package rtabmap_lib written to:
[ rosmake ]    
/home/matlab/.ros/rosmake/rosmake_output-20110524-134157/rtabmap_lib/build_outpu
t.log
[rosmake-2] Finished <<< rtabmap_lib [FAIL] [ 3.04 seconds ]                    

[ rosmake ] Halting due to failure in package rtabmap_lib. 
[ rosmake ] Waiting for other threads to complete.                              

[ rosmake ] Results:                                                            

[ rosmake ] Built 30 packages with 1 failures.                                  

[ rosmake ] Summary output to directory                                  


This problem comes from ROS OpenCV installation : see 
[https://code.ros.org/trac/opencv/ticket/943 ROS Ticket 943]

Original issue reported on code.google.com by [email protected] on 20 Jun 2011 at 6:44

Copied from original issue: matlabbe/rtabmap#2

add labels to rtabmapviz/GUI

Set a label from a menu action "Set label".
Show labels in 3D map and on 2D graph view

Saving the graph outputs only one pixel image

From this post. It happens when there is no grid map added to the Graph view. Maybe it is like the GraphicsScene not resized when only the graph is updated.

Set large odometry variance when odometry is reset by Odom/ResetCountdown

When odometry is automatically reset to last pose when lost, RTAB-Map cannot know there is a discontinuity (it only detects if odometry is reset to Identity, creating a new map). When resetting to previous pose, make sure that on the next odometry update, odometry is sent with large variance.

rtabmap control buttons disabled. why?

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?

1.roslaunch visual_slam standalone_openni.launch


What is the expected output? What do you see instead?
RTAB-MAP control buttons may work. But all those buttons disabled.

What version of the product are you using? On what operating system?
ROS Groovy on Ubuntu 12.04 LTS & rtabmap latest on svn

Please provide any additional information below.

Original issue reported on code.google.com by thamalke.lyrics on 9 Nov 2013 at 4:56

Attachments:

[Screenshot from 2013-11-09 10:22:15.png](https://storage.googleapis.com/google-code-attachments/rtabmap/issue-4/comment-0/Screenshot from 2013-11-09 10:22:15.png)

Copied from original issue: matlabbe/rtabmap#4

Can't locate node [rgbd_odometry] in package [rtabmap_ros]

I've installed rtabmap_ros using apt-get.
After that I tried to launch the mapping, but I got this error:

ERROR: cannot launch node of type [rtabmap_ros/rgbd_odometry]: can't locate node [rgbd_odometry] in package [rtabmap_ros]
ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: can't locate node [rtabmap] in package [rtabmap_ros]
ERROR: cannot launch node of type [rtabmap_ros/rtabmapviz]: can't locate node [rtabmapviz] in package [rtabmap_ros]

Here is the full story:

ilya@workstation:~/catkin_ws$ sudo apt-get install ros-hydro-rtabmap-ros 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following packages were automatically installed and are no longer required:
  python-aptdaemon python-defer aptdaemon xul-ext-ubufox
Use 'apt-get autoremove' to remove them.
The following extra packages will be installed:
  ros-hydro-rtabmap
The following NEW packages will be installed:
  ros-hydro-rtabmap ros-hydro-rtabmap-ros
0 upgraded, 2 newly installed, 0 to remove and 11 not upgraded.
Need to get 0 B/5,573 kB of archives.
After this operation, 15.2 MB of additional disk space will be used.
Do you want to continue [Y/n]? y
Selecting previously unselected package ros-hydro-rtabmap.
(Reading database ... 213152 files and directories currently installed.)
Unpacking ros-hydro-rtabmap (from .../ros-hydro-rtabmap_0.8.3-0precise-20150209-0138-+0000_i386.deb) ...
Selecting previously unselected package ros-hydro-rtabmap-ros.
Unpacking ros-hydro-rtabmap-ros (from .../ros-hydro-rtabmap-ros_0.8.3-0precise-20150214-0413-+0000_i386.deb) ...
Setting up ros-hydro-rtabmap (0.8.3-0precise-20150209-0138-+0000) ...
Setting up ros-hydro-rtabmap-ros (0.8.3-0precise-20150214-0413-+0000) ...
Processing triggers for libc-bin ...
ldconfig deferred processing now taking place
ilya@workstation:~/catkin_ws$ roslaunch rtabmap_ros rgbd_mapping.launch 
... logging to /home/ilya/.ros/log/8ec9a150-d38d-11e4-a2a9-00248c31f50c/roslaunch-workstation-5090.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://workstation:40384/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /rtabmap/rtabmap/LccBow/InlierDistance
 * /rtabmap/rtabmap/LccBow/MinInliers
 * /rtabmap/rtabmap/subscribe_depth
 * /rtabmap/rtabmapviz/subscribe_depth
 * /rtabmap/rtabmapviz/subscribe_odom_info
 * /rtabmap/visual_odometry/Odom/FeatureType
 * /rtabmap/visual_odometry/Odom/FillInfoData
 * /rtabmap/visual_odometry/Odom/InlierDistance
 * /rtabmap/visual_odometry/Odom/MaxDepth
 * /rtabmap/visual_odometry/Odom/MinInliers
 * /rtabmap/visual_odometry/Odom/Strategy
 * /rtabmap/visual_odometry/OdomBow/LocalHistorySize
 * /rtabmap/visual_odometry/OdomBow/NNType

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    visual_odometry (rtabmap_ros/rgbd_odometry)
  /
    base_to_camera_tf (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [5104]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8ec9a150-d38d-11e4-a2a9-00248c31f50c
process[rosout-1]: started with pid [5117]
started core service [/rosout]
process[base_to_camera_tf-2]: started with pid [5129]
ERROR: cannot launch node of type [rtabmap_ros/rgbd_odometry]: can't locate node [rgbd_odometry] in package [rtabmap_ros]
ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: can't locate node [rtabmap] in package [rtabmap_ros]
ERROR: cannot launch node of type [rtabmap_ros/rtabmapviz]: can't locate node [rtabmapviz] in package [rtabmap_ros]

RViz MapCloud plugin does not download existing db

From @GoogleCodeExporter on May 26, 2015 18:56

Thanks for creating this amazing package.  The one problem I have found is as 
follows:

1. I have a differential drive robot using a Kinect and a fake laser 
(depthcloud_to_laser from the Kinect cloud).  I can create a map very nicely 
using rtabmap and the MapCloud data shows up in RViz as I create the map.

2. Now I shut down rtabmap and RViz then bring up rtabmap again but without the 
"--delete_db_on_start" argument so I am reusing my existing database.  (The 
terminal messages verify that I am loading 281 nodes from my previous mapping 
session.) I then bring up RViz and click on the "Download map" checkbox under 
the MapCloud display but only 1 node is downloaded and that is the current view 
of the robot.  I expected all 281 clouds to be downloaded and viewable in RViz.

3. If I then bring up rtabmapviz, I can view all 281 nodes fine and I can see 
the entire 3D map.

Is there a bug in the RViz MapCloud plugin that prevents if from loading 
existing mapdata?

I am using the latest revision (1672) under ROS Hydro and Ubuntu 12.04.

Thank you.

Original issue reported on code.google.com by [email protected] on 8 Sep 2014 at 12:08

Copied from original issue: matlabbe/rtabmap#13

Calibration for Kinect v2 in the main GUI doesn't work

A workaround for now, calibrate from the calibration tool:

$ rtabmap-calibration --driver 5 --stereo

Copy the generated files in a folder called "camera_info" in the RTAB-Map's working directory (default ~/Documents/RTAB-Map). Open RTAB-Map and by selecting the Freenect2 driver, the calibration should be loaded on start.

make error after cmake succeed~~

hi,
i have got a problem when i followed the tutorial-- installation:Build from source.
cmake info is :
-- Info :
-- CMAKE_INSTALL_PREFIX = /home/f2/catkin_ws_h/devel
-- CMAKE_BUILD_TYPE = Release
-- BUILD_SHARED_LIBS = ON
-- With OpenCV nonfree module (SIFT/SURF) = YES
-- With Freenect = YES
-- With OpenNI2 = YES
-- With Freenect2 = NO (libfreenect2 not found)
-- With dc1394 = NO (dc1394 not found)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With g2o = YES
-- With Qt = YES (version 4)
make error is :
[ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
In file included from /home/f2/cmake/rtabmap/corelib/src/CameraThread.cpp:30:0:
/home/f2/cmake/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:146:31: error: ‘openni_wrapper’ was not declared in this scope
/home/f2/cmake/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:146:52: error: template argument 1 is invalid
/home/f2/cmake/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:147:28: error: ‘openni_wrapper’ was not declared in this scope
/home/f2/cmake/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:147:54: error: template argument 1 is invalid
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o] Error 1
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2

how can i solve this problem? thanks for your help~~

Export organized clouds

When exporting 3D clouds (File->Export 3D clouds), if Regenerate clouds=true, Voxel=0, maximum depth=0 and Assemble clouds=false, exported clouds should be organized. This can be done easily by removing removeNaNFromPointCloud() here. Just make sure that other stuff using this method are not assuming that there are no NaN values in the cloud returned.

See this post for the convention about detecting organized/dense clouds: http://www.pcl-users.org/warning-is-dense-misused-td2029417.html

Cannot compile

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?
1.ROS hydro fully installed
2.Follow the installations steps in http://code.google.com/p/rtabmap/wiki/ROS

What is the expected output? What do you see instead?

$ svn checkout http://rtabmap.googlecode.com/svn/trunk/rtabmap rtabmaplib
$ cd rtabmaplib/build

OUTPUT:
dardo@dardo-GP60-2OD:~/rtabmaplib/build$ cmake 
-DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel -DBUILD_LIBS_ONLY=ON
CMake Error: The source directory "/home/dardo/rtabmaplib/build" does not 
appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.

I solve it doing cd rtabmaplib insted of rtabmaplib/build

$ cmake -DCMAKE_INSTALL_PREFIX=~/<YOUR_CATKIN_WORKSPACE>/devel 
-DBUILD_LIBS_ONLY=ON ..
$ make -j4

OUTPUT:
dardo@dardo-GP60-2OD:~/rtabmaplib/build$ make -j4
Scanning dependencies of target rtabmap_utilite
[  2%] [  3%] [  3%] [  3%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o
Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o
[  4%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
[  5%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
[  6%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
[  7%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
[  8%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
[  9%] Building CXX object 
utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
Linking CXX shared library ../../../bin/librtabmap_utilite.so
[  9%] Built target rtabmap_utilite
Scanning dependencies of target imagesJoiner
Scanning dependencies of target uresourcegenerator
[ 10%] Building CXX object 
utilite/resource_generator/CMakeFiles/uresourcegenerator.dir/main.cpp.o
[ 11%] Building CXX object 
tools/ImagesJoiner/CMakeFiles/imagesJoiner.dir/main.cpp.o
Linking CXX executable ../../../bin/uresourcegenerator
Linking CXX executable ../../../bin/rtabmap-imagesJoiner
[ 11%] Built target uresourcegenerator
[ 12%] [Creating resources]
 Using namespace=rtabmap
 Using target directory=/home/dardo/rtabmaplib/build/corelib/src
Input file "/home/dardo/rtabmaplib/corelib/src/resources/DatabaseSchema.sql" 
size = 3209 bytes
Output file "/home/dardo/rtabmaplib/build/corelib/src/DatabaseSchema_sql.h" 
size = 6633 bytes
Scanning dependencies of target rtabmap_core
[ 13%] [ 14%] [ 15%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o
Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o
[ 15%] Built target imagesJoiner
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[ 17%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o
[ 17%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
[ 18%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[ 20%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[ 21%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/CameraOpenni.cpp.o
[ 22%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
[ 23%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o
[ 24%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o
[ 25%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o
[ 26%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o
[ 26%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o
[ 27%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o
[ 28%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/NearestNeighbor.cpp.o
[ 29%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o
[ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o
[ 31%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o
[ 32%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/posegraph3.cpp.o
/home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.cpp: In member function 
‘bool AISNavigation::TreePoseGraph3::load(const char*, bool, bool)’:
/home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.cpp:96:8: warning: 
variable ‘edgesOk’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.cpp: In member function 
‘virtual void 
AISNavigation::TreePoseGraph3::collapseEdge(AISNavigation::TreePoseGraph<AISNavi
gation::Operations3D<double> >::Edge*)’:
/home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.cpp:342:22: warning: 
variable ‘tr’ set but not used [-Wunused-but-set-variable]
In file included from 
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hh:272:0,
                 from /home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.hh:47,
                 from /home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.cpp:42:
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx: In member 
function ‘AISNavigation::Vector3<T> AISNavigation::Quaternion<T>::toAngles() 
const [with T = double]’:
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:397:44:   
instantiated from ‘AISNavigation::Pose3<T> 
AISNavigation::Transformation3<T>::toPoseType() const [with T = double]’
/home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.cpp:191:42:   instantiated 
from here
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:9: warning: 
variable ‘m01’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:14: warning: 
variable ‘m02’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:24: warning: 
variable ‘m11’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:29: warning: 
variable ‘m12’ set but not used [-Wunused-but-set-variable]
[ 33%] Building CXX object 
corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/treeoptimizer3_iteration.cpp.o
/home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3_iteration.cpp: In 
member function ‘void 
AISNavigation::TreeOptimizer3::computePreconditioner()’:
/home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3_iteration.cpp:101:20: 
warning: variable ‘t’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3_iteration.cpp: In 
member function ‘void AISNavigation::TreeOptimizer3::propagateErrors(bool)’:
/home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3_iteration.cpp:192:20: 
warning: variable ‘topTransformation’ set but not used 
[-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3_iteration.cpp:193:20: 
warning: variable ‘topParameters’ set but not used 
[-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3_iteration.cpp:261:17: 
warning: variable ‘topTranslation’ set but not used 
[-Wunused-but-set-variable]
/tmp/ccD5qQbu.s: Assembler messages:
/tmp/ccD5qQbu.s:2956: Error: no such instruction: `vfmadd312sd 
112(%rax),%xmm1,%xmm5'
/tmp/ccD5qQbu.s:2958: Error: no such instruction: `vfmadd312sd 
104(%rax),%xmm3,%xmm6'
/tmp/ccD5qQbu.s:2959: Error: no such instruction: `vfmadd312sd 
96(%rax),%xmm4,%xmm7'
/tmp/ccD5qQbu.s:2991: Error: no such instruction: `vfmadd312sd 
112(%rax),%xmm1,%xmm5'
/tmp/ccD5qQbu.s:2993: Error: no such instruction: `vfmadd312sd 
104(%rax),%xmm3,%xmm6'
/tmp/ccD5qQbu.s:2994: Error: no such instruction: `vfmadd312sd 
96(%rax),%xmm4,%xmm7'
/tmp/ccD5qQbu.s:3220: Error: no such instruction: `vfmadd312sd 
112(%rax),%xmm1,%xmm5'
/tmp/ccD5qQbu.s:3222: Error: no such instruction: `vfmadd312sd 
104(%rax),%xmm3,%xmm6'
/tmp/ccD5qQbu.s:3223: Error: no such instruction: `vfmadd312sd 
96(%rax),%xmm4,%xmm7'
/tmp/ccD5qQbu.s:3254: Error: no such instruction: `vfmadd312sd 
112(%rax),%xmm1,%xmm5'
/tmp/ccD5qQbu.s:3256: Error: no such instruction: `vfmadd312sd 
104(%rax),%xmm3,%xmm6'
/tmp/ccD5qQbu.s:3257: Error: no such instruction: `vfmadd312sd 
96(%rax),%xmm4,%xmm7'
make[2]: *** 
[corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/treeoptimizer3_iteration.cpp.o] 
Error 1
make[2]: *** Waiting for unfinished jobs....
/tmp/ccRAEmI1.s: Assembler messages:
/tmp/ccRAEmI1.s:1807: Error: no such instruction: `vfmadd312sd 
272(%rsp),%xmm5,%xmm4'
/tmp/ccRAEmI1.s:3899: Error: no such instruction: `vfmadd312sd 
240(%rsp),%xmm5,%xmm4'
/tmp/ccRAEmI1.s:4492: Error: no such instruction: `vfmadd312sd 
208(%rsp),%xmm4,%xmm5'
/tmp/ccRAEmI1.s:8841: Error: no such instruction: `vfnmadd312sd 
(%rax,%r9,8),%xmm1,%xmm0'
/tmp/ccRAEmI1.s:8844: Error: no such instruction: `vfnmadd312sd 
(%rdx,%r9,8),%xmm1,%xmm0'
/tmp/ccRAEmI1.s:9922: Error: no such instruction: `vfmadd312sd 
208(%rsp),%xmm2,%xmm1'
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/posegraph3.cpp.o] 
Error 1
/home/dardo/rtabmaplib/corelib/src/Odometry.cpp: In member function ‘virtual 
rtabmap::Transform 
rtabmap::OdometryBinary::computeTransform(rtabmap::Image&)’:
/home/dardo/rtabmaplib/corelib/src/Odometry.cpp:190:73: warning: comparison 
between signed and unsigned integer expressions [-Wsign-compare]
In file included from 
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hh:272:0,
                 from /home/dardo/rtabmaplib/corelib/src/toro3d/posegraph3.hh:47,
                 from /home/dardo/rtabmaplib/corelib/src/toro3d/treeoptimizer3.hh:47,
                 from /home/dardo/rtabmaplib/corelib/src/util3d.cpp:36:
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx: In member 
function ‘AISNavigation::Vector3<T> AISNavigation::Quaternion<T>::toAngles() 
const [with T = double]’:
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:397:44:   
instantiated from ‘AISNavigation::Pose3<T> 
AISNavigation::Transformation3<T>::toPoseType() const [with T = double]’
/home/dardo/rtabmaplib/corelib/src/util3d.cpp:1572:43:   instantiated from here
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:9: warning: 
variable ‘m01’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:14: warning: 
variable ‘m02’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:24: warning: 
variable ‘m11’ set but not used [-Wunused-but-set-variable]
/home/dardo/rtabmaplib/corelib/src/toro3d/transformation3.hxx:219:29: warning: 
variable ‘m12’ set but not used [-Wunused-but-set-variable]
In file included from /usr/include/pcl-1.7/pcl/registration/icp.h:330:0,
                 from /usr/include/pcl-1.7/pcl/registration/icp_nl.h:45,
                 from /home/dardo/rtabmaplib/corelib/src/util3d.cpp:15:
/usr/include/pcl-1.7/pcl/registration/impl/icp.hpp: In member function ‘void 
pcl::IterativeClosestPoint<PointSource, PointTarget, 
Scalar>::computeTransformation(pcl::IterativeClosestPoint<PointSource, 
PointTarget, Scalar>::PointCloudSource&, const Matrix4&) [with PointSource = 
pcl::PointNormal, PointTarget = pcl::PointNormal, Scalar = float, 
pcl::IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource 
= pcl::PointCloud<pcl::PointNormal>, pcl::IterativeClosestPoint<PointSource, 
PointTarget, Scalar>::Matrix4 = Eigen::Matrix<float, 4, 4>]’:
/home/dardo/rtabmaplib/corelib/src/util3d.cpp:1835:1:   instantiated from here
/usr/include/pcl-1.7/pcl/registration/impl/icp.hpp:190:5: warning: comparison 
between signed and unsigned integer expressions [-Wsign-compare]
/usr/include/pcl-1.7/pcl/registration/impl/icp.hpp: In member function ‘void 
pcl::IterativeClosestPoint<PointSource, PointTarget, 
Scalar>::computeTransformation(pcl::IterativeClosestPoint<PointSource, 
PointTarget, Scalar>::PointCloudSource&, const Matrix4&) [with PointSource = 
pcl::PointXYZ, PointTarget = pcl::PointXYZ, Scalar = float, 
pcl::IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource 
= pcl::PointCloud<pcl::PointXYZ>, pcl::IterativeClosestPoint<PointSource, 
PointTarget, Scalar>::Matrix4 = Eigen::Matrix<float, 4, 4>]’:
/home/dardo/rtabmaplib/corelib/src/util3d.cpp:1835:1:   instantiated from here
/usr/include/pcl-1.7/pcl/registration/impl/icp.hpp:190:5: warning: comparison 
between signed and unsigned integer expressions [-Wsign-compare]
/tmp/ccUWiHrU.s: Assembler messages:
/tmp/ccUWiHrU.s:6052: Error: no such instruction: `vfmadd312sd 
(%rbx,%rdi,8),%xmm5,%xmm4'
/tmp/ccUWiHrU.s:6055: Error: no such instruction: `vfmadd312sd 
(%rsi,%rdi,8),%xmm5,%xmm3'
/tmp/ccUWiHrU.s:6057: Error: no such instruction: `vfmadd312sd 
(%r11,%rdi,8),%xmm5,%xmm2'
/tmp/ccUWiHrU.s:6059: Error: no such instruction: `vfmadd312sd 
(%r10,%rdi,8),%xmm5,%xmm1'
/tmp/ccUWiHrU.s:6236: Error: no such instruction: `vfmadd312sd 
(%r11,%rcx,8),%xmm5,%xmm0'
/tmp/ccUWiHrU.s:55196: Error: no such instruction: `vfmadd312sd 
368(%rsp),%xmm5,%xmm4'
/tmp/ccUWiHrU.s:74870: Error: no such instruction: `vfmadd312ss 
(%r12,%rdi,4),%xmm5,%xmm4'
/tmp/ccUWiHrU.s:74873: Error: no such instruction: `vfmadd312ss 
(%rbx,%rdi,4),%xmm5,%xmm3'
/tmp/ccUWiHrU.s:74875: Error: no such instruction: `vfmadd312ss 
(%r10,%rdi,4),%xmm5,%xmm2'
/tmp/ccUWiHrU.s:74877: Error: no such instruction: `vfmadd312ss 
(%r9,%rdi,4),%xmm5,%xmm1'
/tmp/ccUWiHrU.s:75019: Error: no such instruction: `vfmadd312ss 
(%rbx,%rsi,4),%xmm5,%xmm0'
/tmp/ccUWiHrU.s:80485: Error: no such instruction: `vfnmadd312sd 
(%rsi,%rax,8),%xmm2,%xmm0'
/tmp/ccUWiHrU.s:83103: Error: no such instruction: `vfmadd312sd 
928(%rsp),%xmm5,%xmm6'
/tmp/ccUWiHrU.s:83107: Error: no such instruction: `vfmadd312sd 
936(%rsp),%xmm4,%xmm6'
/tmp/ccUWiHrU.s:83111: Error: no such instruction: `vfmadd312sd 
944(%rsp),%xmm3,%xmm6'
/tmp/ccUWiHrU.s:83114: Error: no such instruction: `vfmadd312sd 
952(%rsp),%xmm5,%xmm6'
/tmp/ccUWiHrU.s:83117: Error: no such instruction: `vfmadd312sd 
960(%rsp),%xmm5,%xmm6'
/tmp/ccUWiHrU.s:83121: Error: no such instruction: `vfmadd312sd 
968(%rsp),%xmm5,%xmm12'
/tmp/ccUWiHrU.s:83124: Error: no such instruction: `vfmadd312sd 
984(%rsp),%xmm4,%xmm12'
/tmp/ccUWiHrU.s:83127: Error: no such instruction: `vfmadd312sd 
992(%rsp),%xmm3,%xmm12'
/tmp/ccUWiHrU.s:83130: Error: no such instruction: `vfmadd312sd 
1000(%rsp),%xmm8,%xmm12'
/tmp/ccUWiHrU.s:83133: Error: no such instruction: `vfmadd312sd 
1008(%rsp),%xmm7,%xmm12'
/tmp/ccUWiHrU.s:83136: Error: no such instruction: `vfmadd312sd 
1016(%rsp),%xmm6,%xmm12'
/tmp/ccUWiHrU.s:83139: Error: no such instruction: `vfmadd312sd 
1040(%rsp),%xmm3,%xmm12'
/tmp/ccUWiHrU.s:83143: Error: no such instruction: `vfmadd312sd 
1048(%rsp),%xmm8,%xmm12'
/tmp/ccUWiHrU.s:83146: Error: no such instruction: `vfmadd312sd 
1056(%rsp),%xmm7,%xmm12'
/tmp/ccUWiHrU.s:83149: Error: no such instruction: `vfmadd312sd 
1064(%rsp),%xmm6,%xmm12'
/tmp/ccUWiHrU.s:83189: Error: no such instruction: `vfmadd312sd 
1216(%rsp),%xmm0,%xmm5'
/tmp/ccUWiHrU.s:83190: Error: no such instruction: `vfmadd312sd 
1224(%rsp),%xmm0,%xmm4'
/tmp/ccUWiHrU.s:83191: Error: no such instruction: `vfmadd312sd 
1232(%rsp),%xmm0,%xmm3'
/tmp/ccUWiHrU.s:83192: Error: no such instruction: `vfmadd312sd 
1240(%rsp),%xmm0,%xmm8'
/tmp/ccUWiHrU.s:83193: Error: no such instruction: `vfmadd312sd 
1248(%rsp),%xmm0,%xmm7'
/tmp/ccUWiHrU.s:83196: Error: no such instruction: `vfmadd312sd 
1256(%rsp),%xmm6,%xmm0'
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o] Error 1
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2


What version of the product are you using? On what operating system?
Ubuntu 12.04

Please provide any additional information below.
Another college gets the same output

Original issue reported on code.google.com by [email protected] on 21 Mar 2014 at 12:09

Copied from original issue: matlabbe/rtabmap#6

A problem on "roslaunch rtabmap rgbd_mapping.launch"

From @GoogleCodeExporter on May 26, 2015 18:56

I use Ubuntu 12.10 and ROS Hydro to run your package following the steps in 
http://code.google.com/p/rtabmap/wiki/ROS. It works well for the installation 
of the RTAB library and ros package. However when I roslaunch rtabmap 
rgbd_mapping.launch, it shows
[rtabmap/rtabmapviz-4] process has died [pid 16293, exit code -4, cmd 
/home/rical/ros_kinect/devel/lib/rtabmap/rtabmapviz -d 
/home/rical/ros_kinect/src/rtabmap/launch/config/rgbd_gui.ini 
rgb/image:=/camera/rgb/image_rect_color 
depth/image:=/camera/depth_registered/image_raw 
rgb/camera_info:=/camera/depth_registered/camera_info odom:=/odom 
reset_odom:=/reset_odom __name:=rtabmapviz 
__log:=/home/rical/.ros/log/eb636964-b787-11e3-8b2d-58946b7e05e0/rtabmap-rtabmap
viz-4.log].
log file: 
/home/rical/.ros/log/eb636964-b787-11e3-8b2d-58946b7e05e0/rtabmap-rtabmapviz-4*.
log
[ WARN] [1396129772.079477317]: "base_link" passed to lookupTransform argument 
target_frame does not exist. 
[ WARN] [1396129772.087746415]: "base_link" passed to lookupTransform argument 
target_frame does not exist. 

There is no GUI showing as stated in 
https://code.google.com/p/rtabmap/wiki/KinectMapping.

You know I cannot show the registered RGBD image from kinect as stated in 
http://answers.ros.org/question/143871/no-register-data-from-kinect/.

Could you please help me fix the problem?

Original issue reported on code.google.com by [email protected] on 29 Mar 2014 at 9:55

Copied from original issue: matlabbe/rtabmap#7

memcpy error in Uvariant.cpp in master branch

the namespace std is not explicitly used before memcpy in Uvariant.cpp.

The master branch does not compile.

error: ‘memcpy’ was not declared in this scope

This error is not there in tag 0.10

Add GridAdaptedFeatureDetector option from OpenCV

Add an option to use the GridAdaptedFeatureDetector for feature detection (this will extract more uniformly features in images).

Problem about transplant rtabmap into android

Error Exporting to a PLY file

I got this error when exporting to a PLY file.
I was running it on Ubuntu 14.04 64bit.

** (rtabmap:6408): CRITICAL **: murrine_style_draw_focus: assertion 'height >= -1' failed

** (rtabmap:6408): CRITICAL **: murrine_style_draw_focus: assertion 'height >= -1' failed

** (rtabmap:6408): CRITICAL **: murrine_style_draw_focus: assertion 'height >= -1' failed
[ WARN] (2015-09-30 13:29:04.526) Memory.cpp:329::init() _vwd->getUnusedWordsSize() must be empty... size=55
[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt. You must
reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
Aborted (core dumped)

ros mapping... map.at - std::out_of_range

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?
$ roslaunch rtabmap az3_mapping_robot.launch
Move for a while... then:
terminate called after throwing an instance of 'std::out_of_range'
  what():  map::at

Log in attachement

Original issue reported on code.google.com by [email protected] on 10 Jul 2014 at 9:35

Attachments:

log.txt

Copied from original issue: matlabbe/rtabmap#10

Migration from version 0.10 to 0.11

The 0.11 branch is now merged to master. Some parameters have been changed, deleted or renamed. Please look for warnings/errors on the console when launching rtabmap as they will tell you if some parameters should be modified in your launch file or not.

Note that you can still have the description of the parameters with:

$ rosrun rtabmap_ros rtabmap --params
or 
$ rosrun rtabmap_ros rgbd_odometry --params

cheers

Build octomap with rtabmap?

Hello,
Today,I try to run map_assembler to build a octomap with rtabmap,but I got a sparse map，so it isn't suited for 3D navigation,How should I change the parameters to build more dense map?
The launch file is:

Post-Processing doesn't work with intermediate nodes

Message box : "Some data missing in the cache to respect the constraints chosen."

Post-processing could still be able to optimize the linsk with available data in cache (though with a warning to the user).

Export RGB images with PNG option

When exporting RGB+depth images (File->Export RGB and depth images), add a MessageBox asking for the RGB image format: (JPEG or PNG). The exported images could then be used directly with pcl_png2pcd like this:

$ pcl_png2pcd --intensity_type FLOAT rgb/1.png depth/1.png 1.pcd

Statistics view missing

Some values, like "Odometry->TimeEstimation" miss from the statistics view until you start processing, so you can set them to a graph before starting(to get all frames in the graph).

Can the rtabmap be configured without using visual sensors?

I have wheel encoder, hokuyo lidar and IMU. I would like to generate 2-D map.
Can the rtabmap be configured using above sensors without Kinect or stereo vision?

Not found word #### with Mem/ReduceGraph=true

Parameter "Not linked nodes are saved in database" (Mem/NotLinkedNodesKept) = false too.

[ERROR] (2015-10-26 00:22:47.593) DBDriverSqlite3.cpp:1789::loadWordsQuery() Query (50) doesn't match loaded words (45)
[ERROR] (2015-10-26 00:22:47.595) VWDictionary.cpp:736::addWordRef() Not found word 477313
[ERROR] (2015-10-26 00:22:47.595) VWDictionary.cpp:736::addWordRef() Not found word 477436
[ERROR] (2015-10-26 00:22:47.596) VWDictionary.cpp:736::addWordRef() Not found word 616983
[ERROR] (2015-10-26 00:22:47.596) VWDictionary.cpp:736::addWordRef() Not found word 659393
[ERROR] (2015-10-26 00:22:47.596) VWDictionary.cpp:736::addWordRef() Not found word 659393
[ERROR] (2015-10-26 00:22:47.596) VWDictionary.cpp:736::addWordRef() Not found word 659393
[ERROR] (2015-10-26 00:22:47.596) VWDictionary.cpp:736::addWordRef() Not found word 781890

Segmentation fault after closing odometry test window or view high-res point clouds window

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?
1. Open RTAB-Map
2. Edit->Preferences->Odometry
3. Click "Test odometry"
4. Press numbers 1->4 on the keyboard to change the point cloud's color
5. Close the dialog, will result with a "segmentation fault"

It is a strange bug, because if we don't change the color of the point cloud, 
the dialog closes without problems. Looking in the code, it seems that when the 
dialog is closing, PCLVisualizer::removeAllPointClouds() is called and crashes 
into it.

Original issue reported on code.google.com by [email protected] on 27 Feb 2014 at 4:25

Copied from original issue: matlabbe/rtabmap#5

Localization and the transform from /map to /odom

From @GoogleCodeExporter on May 26, 2015 18:57

I have a differential drive robot using a Kinect and a fake laser 
(depthcloud_to_laser from the Kinect cloud).  I can create a map very nicely 
using rtabmap and save the map using the ROS 'map_server map_saver' command.

I then put rtabmap into localization mode and load the previously created map 
using 'map_server map_server' as usual.

The problem is that the robot does not appear to localize within the map even 
after teleoping the robot around a bit.  When using 'tf tf_echo /map /odom' the 
transformation is always the identity whereas I expected the transform to show 
a correction from /map to /odom.  And indeed the position of the robot in RViz 
relative to the map is far off from where it is in the real world.

Should I be expecting rtabmap to be publishing a transform from /map to /odom 
when running in localization mode?  Or is there something else I have to do?

Thanks!

We are running revision 1673 of rtabmap and ROS Hydro under Ubuntu 12.04.

Original issue reported on code.google.com by [email protected] on 9 Sep 2014 at 12:46

Copied from original issue: matlabbe/rtabmap#14

Unable to compile rtabmap for ROS

From @GoogleCodeExporter on May 26, 2015 18:56

What steps will reproduce the problem?

1. compiling rtabmap for ROS with current revisions of ros-pkg and rtabmap

What is the expected output? What do you see instead?

[ 58%] Building CXX object 
rtabmap/CMakeFiles/rtabmap_ros.dir/src/rviz/MapCloudDisplay.cpp.o
/home/dominik/catkin_hydro/src/rtabmap/src/rviz/MapCloudDisplay.cpp: In member 
function ‘void rtabmap::MapCloudDisplay::processMapData(const MapData&)’:
/home/dominik/catkin_hydro/src/rtabmap/src/rviz/MapCloudDisplay.cpp:256:135: 
error: too few arguments to function ‘pcl::PointCloud<pcl::PointXYZRGB>::Ptr 
rtabmap::util3d::cloudFromDepthRGB(const cv::Mat&, const cv::Mat&, float, 
float, float, float, int)’
/home/dominik/catkin_hydro/devel/lib/rtabmap-0.7/../../include/rtabmap-0.7/rtabm
ap/core/util3d.h:157:52: note: declared here
make[2]: *** 
[rtabmap/CMakeFiles/rtabmap_ros.dir/src/rviz/MapCloudDisplay.cpp.o] Error 1
make[1]: *** [rtabmap/CMakeFiles/rtabmap_ros.dir/all] Error 2
make: *** [all] Error 2


What version of the product are you using? On what operating system?

ROS Hydro, Ubuntu 12.04

Please provide any additional information below.

Was working correctly until I updated rtabmap library to newest revision

Original issue reported on code.google.com by [email protected] on 28 Jul 2014 at 10:38

Copied from original issue: matlabbe/rtabmap#12

Running only using pointclouds

Quick question, would it be possible to run rtabmap solely using point clouds generated from laser rangefinders (e.g. 2D Hokuyo lidar mounted on a slip ring or the new Velodyne vlp-16), admitting a few modifications.

Or is not possible because you depend on SURF features (or the like) for operation?

Thanks!

Not Enough Correspondences

Hey. Thanks for this great package. I have tried it using rosbags and it worked great.
But when i tested my own data-set using rectified images it gave me warnings of "not enough correspondences found. I tried to find correspondence using MATLAB and it showed more than 40-50 per image ( 1 from left camera and 2nd from right camera. Both cameras are calibrated using ROS). I have attached snapshots. Can you please suggest a solution regarding this matter?

g2o and GTSAM sometimes fail to find a solution

Find a way to handle this situation, like using the previous optimized graph or rejecting the new loop closure links causing the problem.

For more info, see this post:
http://official-rtab-map-forum.206.s1.nabble.com/Problem-with-g2o-and-GTSAM-in-localization-mode-td884.html

Kinect v2 / Kinect One

I've got a Kinect One and will rtabmap work with this version? I've read that the resolution is much better than the Kinect 360

How to provide odometry?

Hi,

Thanks for your great software package! I use the RGBD C++ version (https://github.com/introlab/rtabmap/blob/master/examples/RGBDMapping/main.cpp) slightly modified. This works great, however now I want to provide the odometry information provided by our robot. Could you please advise how to do that?

I suppose I have to delete the pipe from the camera thread to the odometry thread. Furthermore, I have to somehow update the pose (in my case, it will be 2D, so only x, y and the angle) of the robot provided by the wheels, and pass it to the odometry thread. However, I am stuck on how to do that.

It would be great if you hint me towards the right direction.

Thanks, Tobias

Mac OSX 10.10 build failure

Here is my build log:

[ 98%] Building CXX object tools/Calibration/CMakeFiles/calibration.dir/main.cpp.o
1 warning generated.
Linking CXX executable ../../../bin/rtabmap-epipolar_geometry
[ 98%] Built target epipolar_geometry
[ 99%] Generating moc_MapBuilder.cxx
usr/local/Cellar/boost/1.57.0/include/boost/type_traits/detail/has_binary_operator.hp:50: Parse error at "BOOST_JOIN"
make[2]: *** [examples/RGBDMapping/moc_MapBuilder.cxx] Error 1
make[1]: *** [examples/RGBDMapping/CMakeFiles/rgbd_mapping.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX executable ../../../bin/rtabmap-dataRecorder
Linking CXX executable ../../../bin/rtabmap-odometryViewer
[ 99%] Built target dataRecorder
[ 99%] Built target odometryViewer
Linking CXX executable ../../../bin/rtabmap-calibration
[ 99%] Built target calibration
make: *** [all] Error 2

i have install all the dependence followed by the toturial, and i have built it successfully in ubuntu14.04

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