(base) mmlab@mmlab-MS-7D30:~/ai/orb_slam2_dense_ws$ roslaunch orb_slam2_dense tum_pioneer.launch
... logging to /home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/roslaunch-mmlab-MS-7D30-4471.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://mmlab-MS-7D30:45605/
SUMMARY
========
PARAMETERS
* /RGBD/depth_topic: /camera/depth/image
* /RGBD/footprint_frame: base_link_
* /RGBD/init_angle: 65.0
* /RGBD/map_frame: map
* /RGBD/odom_frame: odom
* /RGBD/optical_frame: camera_link_
* /RGBD/rgb_topic: /camera/rgb/image...
* /RGBD/use_frame_pub: True
* /RGBD/use_odom_pub: True
* /RGBD/use_pcl_pub: True
* /RGBD/use_rviz: True
* /RGBD/use_tf: True
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
RGBD (orb_slam2_dense/RGBD)
footprint2optical (tf/static_transform_publisher)
image_transport_d (image_transport/republish)
image_transport_rgb (image_transport/republish)
playbag (rosbag/play)
rviz (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[playbag-1]: started with pid [4508]
process[rviz-2]: started with pid [4509]
process[RGBD-3]: started with pid [4511]
process[footprint2optical-4]: started with pid [4516]
process[image_transport_rgb-5]: started with pid [4517]
process[image_transport_d-6]: started with pid [4518]
[ INFO] [1703929114.997361510]: rviz version 1.13.30
[ INFO] [1703929114.997399424]: compiled against Qt version 5.9.5
[ INFO] [1703929114.997407049]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1703929114.999856418]: Forcing OpenGl version 0.
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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: RGB-D
Loading ORB Vocabulary. This could take a while...
[ INFO] [1703929115.105068985]: Stereo is NOT SUPPORTED
[ INFO] [1703929115.105131912]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1703929115.105149175]: OpenGl version: 3.1 (GLSL 1.4).
Vocabulary loaded in 0.13s
---
Point Cloud Thread Parameters:
- x,y,z: 0 0 0.326921
- roll,pitch,yaw: 1.5708 1.5708 3.14159
- Tbc:
3.67321e-06 9.74701e-12 1 0
-1 1.01962e-06 3.67321e-06 0
-1.01962e-06 -1 1.34924e-11 0.326921
0 0 0 1
- CameraHeight: 0.326921
- Resolution: 0.01 0.01 0.01
- StatisticFilter
- MeanK: 50
- Thres: 2
Camera Parameters:
- fx: 546.05
- fy: 545.75
- cx: 318.265
- cy: 235.531
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 2.93013
New map created with 390 points
receive a keyframe, Frame id = 3 , KF No.1
show global map, N=1 points size=20651
receive a keyframe, Frame id = 4 , KF No.2
show global map, N=2 points size=34181
[RGBD-3] process has died [pid 4511, exit code -11, cmd /home/mmlab/ai/orb_slam2_dense_ws/devel/lib/orb_slam2_dense/RGBD /home/mmlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/Vocabulary/ORBvoc.bin /home/mmlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/params/RTAB_DATASET.yaml __name:=RGBD __log:=/home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/RGBD-3.log].
log file: /home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/RGBD-3*.log
[playbag-1] process has finished cleanly
log file: /home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/playbag-1*.log
^C[image_transport_d-6] killing on exit
[image_transport_rgb-5] killing on exit
[footprint2optical-4] killing on exit
[rviz-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done