3D map is not created when processing rgbd data using rtabmap with icp_odometry

edit

Hi,

I want to process a bag of rgbd data using rtabmap with icp_odometry.

I can extract a 3d map from a bag that contains rgbd data, using rgbd_odometry.

But when using icp_odometry, the map is not generated...

I can see that the icp_odometry process runs

ps aux ros | grep odom
/opt/ros/melodic/lib/rtabmap_ros/icp_odometry --Reg/Strategy 1 scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=icp_odometry __log:=/home/avnerm/.ros/log/0c1e8df6-235c-11e9-b42b-74d02b912ce1/rtabmap-icp_odometry-10.log

I'm seeing some runtime warnings when running icp_odometry:

[ WARN] [1548880246.541540256]: IcpOdometry: Transferring value 5 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[ WARN] [1548880246.541801876]: IcpOdometry: Transferring value 1.0 of "Icp/PointToPlaneRadius" to ros parameter "scan_normal_radius" for convenience.
[ WARN] (2019-01-30 12:30:46.542) OdometryF2M.cpp:133::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.

The parameters, and output from the icp_odometry are:

[ INFO] [1548881374.690687725]: Initializing nodelet with 8 worker threads.
[ INFO] [1548881374.977402374, 1548455446.224796923]: Odometry: frame_id               = base_link
[ INFO] [1548881374.977433059, 1548455446.224796923]: Odometry: odom_frame_id          = odom
[ INFO] [1548881374.977449374, 1548455446.224796923]: Odometry: publish_tf             = true
[ INFO] [1548881374.977461946, 1548455446.224796923]: Odometry: wait_for_transform     = true
[ INFO] [1548881374.977483511, 1548455446.224796923]: Odometry: wait_for_transform_duration  = 0.100000
[ INFO] [1548881374.977521110, 1548455446.224796923]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1548881374.977538825, 1548455446.224796923]: Odometry: ground_truth_frame_id  = 
[ INFO] [1548881374.977554142, 1548455446.224796923]: Odometry: ground_truth_base_frame_id = base_link
[ INFO] [1548881374.977570620, 1548455446.224796923]: Odometry: config_path            = 
[ INFO] [1548881374.977585390, 1548455446.224796923]: Odometry: publish_null_when_lost = true
[ INFO] [1548881374.977599455, 1548455446.224796923]: Odometry: guess_frame_id         = 
[ INFO] [1548881374.977614073, 1548455446.224796923]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1548881374.977629616, 1548455446.224796923]: Odometry: guess_min_rotation     = 0.000000
[ INFO] (2019-01-30 12:49:35.080) Parameters.cpp:907::parseArguments() Parsed parameter "Reg/Strategy"="1"
[ INFO] [1548881375.080094503, 1548455446.224796923]: Update odometry parameter "Reg/Strategy"="1" from arguments
[ WARN] [1548881375.102105584, 1548455446.224796923]: IcpOdometry: Transferring value 5 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[ WARN] [1548881375.102373097, 1548455446.224796923]: IcpOdometry: Transferring value 1.0 of "Icp/PointToPlaneRadius" to ros parameter "scan_normal_radius" for convenience.
[DEBUG] (2019-01-30 12:49:35.102) Odometry.cpp:63::create() type=0
[DEBUG] (2019-01-30 12:49:35.102) OdometryF2M.cpp:77::OdometryF2M() 
[DEBUG] (2019-01-30 12:49:35.102) Registration.cpp:48::create() type=1
[ WARN] (2019-01-30 12:49:35.102) OdometryF2M.cpp:133::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.
[ INFO] [1548881375.106376949, 1548455446.224796923]: IcpOdometry: scan_cloud_max_points  = 0
[ INFO] [1548881375.106407441, 1548455446.224796923]: IcpOdometry: scan_downsampling_step = 1
[ INFO] [1548881375.106449822, 1548455446.224796923]: IcpOdometry: scan_voxel_size        = 0.000000
[ INFO] [1548881375.106461144, 1548455446.224796923]: IcpOdometry: scan_normal_k          = 5
[ INFO] [1548881375.106471202, 1548455446.224796923]: IcpOdometry: scan_normal_radius     = 1.000000

Here is the launch file:

<launch>
    <!-- Choose visualization -->
    <arg name="rviz"       default="true" />
    <arg name="rtabmapviz" default="false" />

    <!-- Corresponding config files -->
    <arg name="rviz_cfg"                default="/home/avnerm/avner/PGR/vision/trunk/ros/catkin_ws/src/bpc_slam_rtabmap/launch/rgbdslam_datasets.dataset4.kinect.rviz" />

    <param name="/use_sim_time" value="true"/>
    <param name="depth_registration"       value ...