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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Memory.cpp:829::update() #515

Open xiaoqiuslam opened 4 years ago

xiaoqiuslam commented 4 years ago

[ WARN] (2020-03-16 11:38:50.914) Memory.cpp:829::update() The working memory is empty and the memory is not incremental (Mem/IncrementalMemory=False), no loop closure can be detected! Please set Mem/IncrementalMemory=true to increase the memory with new images or decrease the STM size (which is 1 including the new one added).

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" left_image_topic:=/camera/infra1/image_rect_raw right_image_topic:=/camera/infra2/image_rect_raw left_camera_info_topic:=/camera/infra1/camera_info right_camera_info_topic:=/camera/infra2/camera_info stereo:=true localization:=true Mem/IncrementalMemory:=true

i need help please ！

matlabbe commented 4 years ago

Don't use --delete_db_on_start and localization:=true at the same time! It will start in localization mode (Mem/IncrementalMemory=false) with an empty database.

Mapping: roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" left_image_topic:=/camera/infra1/image_rect_raw right_image_topic:=/camera/infra2/image_rect_raw left_camera_info_topic:=/camera/infra1/camera_info right_camera_info_topic:=/camera/infra2/camera_info stereo:=true

Localization: roslaunch rtabmap_ros rtabmap.launch left_image_topic:=/camera/infra1/image_rect_raw right_image_topic:=/camera/infra2/image_rect_raw left_camera_info_topic:=/camera/infra1/camera_info right_camera_info_topic:=/camera/infra2/camera_info stereo:=true localization:=true