RTab-Map closes unexpectedly when I'm trying to save database

[mcb9216]

Hello,

I'm using Kinect XBox One as RBG-D Camera with Freenect2, but sometimes, when I finish doing the mapping (after press button "Stop") and I want to save the map in a database (pressing the "Close database" buttom and then pressing "Save"), the program  RTab-Map closes unexpectedly, and then, I lose all the mapping that I had done  

My pc specifications are:
Operating System: Ubuntu 14.04 LTS 64 bits
Memory: 16 GB
Processor intel core i7-4790 CPU @ 3.60GHz × 8
Graphics: Intel® Haswell Desktop
Hard Disk: 945,0 GB
Kernel: Linux cristina-H81M-H 3.19.0-51-generic #58~14.04.1-Ubuntu SMP Fri Feb 26 22:02:58 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux

I have tried with long and short maps, but the unexpected closening occurs randomly. I don't know what I am doing wrong or what is the correct procedure to  save a database without having the risk of losing my mapping.

Thank you in advance ^^

[matlabbe]

Hi,

Can you put the logger level to Debug, then when it crashes copy/paste the log here? (See Preferences->Logging->Logger Level)

cheers,
Mathieu

[mcb9216]

this is what my debug shows:
it's not all, but it's the last part.



[DEBUG] (2016-03-18 16:40:44.032) RegistrationVis.cpp:186::computeTransformationImpl() Vis/CorFlowEps=0,010000
[DEBUG] (2016-03-18 16:40:44.032) RegistrationVis.cpp:187::computeTransformationImpl() Vis/CorFlowMaxLevel=3
[DEBUG] (2016-03-18 16:40:44.032) RegistrationVis.cpp:195::computeTransformationImpl() Input(-1): from=2000 words, 2000 3D words, 2000 words descriptors,  0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.032) RegistrationVis.cpp:203::computeTransformationImpl() Input(823): to=0 words, 0 3D words, 0 words descriptors, 0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.032) RegistrationVis.cpp:222::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.032) RegistrationVis.cpp:418::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.033) Features2d.cpp:301::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000
[DEBUG] (2016-03-18 16:40:44.033) Features2d.cpp:302::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.033) Features2d.cpp:329::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.040) Features2d.cpp:532::generateKeypoints() Keypoints extraction time = 0,007073 s, keypoints extracted = 1000
[DEBUG] (2016-03-18 16:40:44.040) RegistrationVis.cpp:459::computeTransformationImpl() kptsFrom=2000
[DEBUG] (2016-03-18 16:40:44.040) RegistrationVis.cpp:460::computeTransformationImpl() kptsTo=1000
[DEBUG] (2016-03-18 16:40:44.044) Features2d.cpp:573::generateDescriptors() Descriptors extracted = 876, remaining kpts=876
[DEBUG] (2016-03-18 16:40:44.044) RegistrationVis.cpp:615::computeTransformationImpl() descriptorsFrom=2000
[DEBUG] (2016-03-18 16:40:44.044) RegistrationVis.cpp:616::computeTransformationImpl() descriptorsTo=876
[DEBUG] (2016-03-18 16:40:44.044) RegistrationVis.cpp:852::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.044) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.044) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=0 removed=0)
[DEBUG] (2016-03-18 16:40:44.044) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.044) VWDictionary.cpp:848::addNewWords() id=1 descriptors=2000
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,000762 s
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:1090::addNewWords() 2000 new words added...
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:1092::addNewWords() 0 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:1093::addNewWords() total time 0,000796s
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:611::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:620::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:624::update() Incremental FLANN: Inserting 2000 words...
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:632::update() Building FLANN index...
[DEBUG] (2016-03-18 16:40:44.045) VWDictionary.cpp:650::update() Building FLANN index... done!
[DEBUG] (2016-03-18 16:40:44.052) VWDictionary.cpp:664::update() Incremental FLANN: Inserting 2000 words... done!
[DEBUG] (2016-03-18 16:40:44.052) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=2000 removed=0)
[DEBUG] (2016-03-18 16:40:44.052) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.052) VWDictionary.cpp:848::addNewWords() id=2 descriptors=876
[DEBUG] (2016-03-18 16:40:44.052) VWDictionary.cpp:904::addNewWords() newPts.total()=876
[DEBUG] (2016-03-18 16:40:44.059) VWDictionary.cpp:969::addNewWords() Time to find nn = 0,006892 s
[DEBUG] (2016-03-18 16:40:44.061) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,001726 s
[DEBUG] (2016-03-18 16:40:44.061) VWDictionary.cpp:1090::addNewWords() 798 new words added...
[DEBUG] (2016-03-18 16:40:44.061) VWDictionary.cpp:1092::addNewWords() 78 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.061) VWDictionary.cpp:1093::addNewWords() total time 0,008731s
[DEBUG] (2016-03-18 16:40:44.061) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.061) Camera.cpp:100::takeImage() Time capturing image = 0,031619s
[DEBUG] (2016-03-18 16:40:44.061) CameraThread.cpp:84::mainLoop()
[DEBUG] (2016-03-18 16:40:44.061) CameraRGBD.cpp:1319::captureImage() Waiting for new frames... If it is stalled here, rtabmap should link on libusb of libfreenect2. Tip, before starting rtabmap: "$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH"
[DEBUG] (2016-03-18 16:40:44.064) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.065) RegistrationVis.cpp:1084::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.066) util3d_motion_estimation.cpp:225::estimateMotion3DTo3D() Unique correspondences = 55
[DEBUG] (2016-03-18 16:40:44.066) util3d_registration.cpp:83::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0,100000
[DEBUG] (2016-03-18 16:40:44.066) util3d_registration.cpp:130::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 8/8, with an error threshold of 0,100000.
[DEBUG] (2016-03-18 16:40:44.066) util3d_registration.cpp:147::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0,100000 (variance=0,003821) on iteration 0 out of 5.
[DEBUG] (2016-03-18 16:40:44.066) util3d_registration.cpp:215::transformFromXYZCorrespondences() RANSAC inliers=8/55 tf=xyz=0,615894,0,301415,0,774813 rpy=-3,001679,-0,393932,0,529152
[ INFO] (2016-03-18 16:40:44.067) RegistrationVis.cpp:1107::computeTransformationImpl() Not enough inliers 8/20 between -1 and 823
[DEBUG] (2016-03-18 16:40:44.067) RegistrationVis.cpp:1174::computeTransformationImpl() transform=xyz=[null] rpy=[null]
[ WARN] (2016-03-18 16:40:44.067) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 8/20 between -1 and 823"
[ INFO] (2016-03-18 16:40:44.067) OdometryF2M.cpp:516::computeTransform() Odom update time = 0,036329s lost=true features=853 inliers=8/55 variance=0,003821 local_map=2000 local_scan_map=0
[DEBUG] (2016-03-18 16:40:44.068) RtabmapThread.cpp:338::handleEvent() OdometryEvent
[DEBUG] (2016-03-18 16:40:44.068) MainWindow.cpp:793::processOdometry()
[DEBUG] (2016-03-18 16:40:44.068) MainWindow.cpp:814::processOdometry() odom lost
[DEBUG] (2016-03-18 16:40:44.068) util3d.cpp:757::cloudRGBFromSensorData()
[DEBUG] (2016-03-18 16:40:44.068) util3d.cpp:312::cloudFromDepthRGB()
[DEBUG] (2016-03-18 16:40:44.068) util3d.cpp:361::cloudFromDepthRGB() rgb=512x424 depth=512x424 fx=364,441803 fy=364,441803 cx=258,393585 cy=203,819901 (depth factors=1,000000 1,000000) decimation=8
[DEBUG] (2016-03-18 16:40:44.068) util3d.cpp:409::cloudFromDepthRGB()
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:175::computeTransformationImpl() Vis/MinInliers=20
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:176::computeTransformationImpl() Vis/InlierDistance=0,100000
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:177::computeTransformationImpl() Vis/Iterations=100
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:178::computeTransformationImpl() Vis/EstimationType=0
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:179::computeTransformationImpl() Vis/ForwardEstOnly=1
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:180::computeTransformationImpl() Vis/EpipolarGeometryVar=0,020000
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:181::computeTransformationImpl() Vis/PnPReprojError=2,000000
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:182::computeTransformationImpl() Vis/PnPFlags=1
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:183::computeTransformationImpl() Vis/CorType=0
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:184::computeTransformationImpl() Vis/CorFlowWinSize=16
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:185::computeTransformationImpl() Vis/CorFlowIterations=30
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:186::computeTransformationImpl() Vis/CorFlowEps=0,010000
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:187::computeTransformationImpl() Vis/CorFlowMaxLevel=3
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:195::computeTransformationImpl() Input(-1): from=2000 words, 2000 3D words, 2000 words descriptors,  0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:203::computeTransformationImpl() Input(824): to=0 words, 0 3D words, 0 words descriptors, 0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.068) RegistrationVis.cpp:222::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.069) RegistrationVis.cpp:418::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.070) Features2d.cpp:301::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000
[DEBUG] (2016-03-18 16:40:44.070) Features2d.cpp:302::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.070) Features2d.cpp:329::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.077) Features2d.cpp:532::generateKeypoints() Keypoints extraction time = 0,007003 s, keypoints extracted = 1000
[DEBUG] (2016-03-18 16:40:44.077) RegistrationVis.cpp:459::computeTransformationImpl() kptsFrom=2000
[DEBUG] (2016-03-18 16:40:44.077) RegistrationVis.cpp:460::computeTransformationImpl() kptsTo=1000
[DEBUG] (2016-03-18 16:40:44.081) Features2d.cpp:573::generateDescriptors() Descriptors extracted = 891, remaining kpts=891
[DEBUG] (2016-03-18 16:40:44.081) RegistrationVis.cpp:615::computeTransformationImpl() descriptorsFrom=2000
[DEBUG] (2016-03-18 16:40:44.081) RegistrationVis.cpp:616::computeTransformationImpl() descriptorsTo=891
[DEBUG] (2016-03-18 16:40:44.081) RegistrationVis.cpp:852::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.081) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.081) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=0 removed=0)
[DEBUG] (2016-03-18 16:40:44.081) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.081) VWDictionary.cpp:848::addNewWords() id=1 descriptors=2000
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,000871 s
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:1090::addNewWords() 2000 new words added...
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:1092::addNewWords() 0 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:1093::addNewWords() total time 0,000910s
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:611::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:620::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:624::update() Incremental FLANN: Inserting 2000 words...
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:632::update() Building FLANN index...
[DEBUG] (2016-03-18 16:40:44.082) VWDictionary.cpp:650::update() Building FLANN index... done!
[DEBUG] (2016-03-18 16:40:44.089) VWDictionary.cpp:664::update() Incremental FLANN: Inserting 2000 words... done!
[DEBUG] (2016-03-18 16:40:44.089) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=2000 removed=0)
[DEBUG] (2016-03-18 16:40:44.089) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.089) VWDictionary.cpp:848::addNewWords() id=2 descriptors=891
[DEBUG] (2016-03-18 16:40:44.089) VWDictionary.cpp:904::addNewWords() newPts.total()=891
[DEBUG] (2016-03-18 16:40:44.097) Camera.cpp:100::takeImage() Time capturing image = 0,035842s
[DEBUG] (2016-03-18 16:40:44.097) CameraThread.cpp:84::mainLoop()
[DEBUG] (2016-03-18 16:40:44.097) CameraRGBD.cpp:1319::captureImage() Waiting for new frames... If it is stalled here, rtabmap should link on libusb of libfreenect2. Tip, before starting rtabmap: "$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH"
[DEBUG] (2016-03-18 16:40:44.098) VWDictionary.cpp:969::addNewWords() Time to find nn = 0,008487 s
[DEBUG] (2016-03-18 16:40:44.099) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,001000 s
[DEBUG] (2016-03-18 16:40:44.099) VWDictionary.cpp:1090::addNewWords() 787 new words added...
[DEBUG] (2016-03-18 16:40:44.099) VWDictionary.cpp:1092::addNewWords() 104 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.099) VWDictionary.cpp:1093::addNewWords() total time 0,009522s
[DEBUG] (2016-03-18 16:40:44.099) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.101) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.103) MainWindow.cpp:3683::stopDetection()
[DEBUG] (2016-03-18 16:40:44.103) CameraThread.cpp:226::mainLoopKill()
[DEBUG] (2016-03-18 16:40:44.104) RegistrationVis.cpp:1084::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.105) util3d_motion_estimation.cpp:225::estimateMotion3DTo3D() Unique correspondences = 77
[DEBUG] (2016-03-18 16:40:44.105) util3d_registration.cpp:83::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0,100000
[pcl::RandomSampleConsensus::computeModel] No samples could be selected!
[DEBUG] (2016-03-18 16:40:44.105) util3d_registration.cpp:226::transformFromXYZCorrespondences() RANSAC: Failed to find model
[ INFO] (2016-03-18 16:40:44.105) RegistrationVis.cpp:1107::computeTransformationImpl() Not enough inliers 0/20 between -1 and 824
[DEBUG] (2016-03-18 16:40:44.105) RegistrationVis.cpp:1174::computeTransformationImpl() transform=xyz=[null] rpy=[null]
[ WARN] (2016-03-18 16:40:44.105) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 824"
[ INFO] (2016-03-18 16:40:44.106) OdometryF2M.cpp:516::computeTransform() Odom update time = 0,038549s lost=true features=864 inliers=0/77 variance=1,000000 local_map=2000 local_scan_map=0
[DEBUG] (2016-03-18 16:40:44.107) RtabmapThread.cpp:338::handleEvent() OdometryEvent
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:175::computeTransformationImpl() Vis/MinInliers=20
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:176::computeTransformationImpl() Vis/InlierDistance=0,100000
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:177::computeTransformationImpl() Vis/Iterations=100
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:178::computeTransformationImpl() Vis/EstimationType=0
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:179::computeTransformationImpl() Vis/ForwardEstOnly=1
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:180::computeTransformationImpl() Vis/EpipolarGeometryVar=0,020000
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:181::computeTransformationImpl() Vis/PnPReprojError=2,000000
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:182::computeTransformationImpl() Vis/PnPFlags=1
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:183::computeTransformationImpl() Vis/CorType=0
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:184::computeTransformationImpl() Vis/CorFlowWinSize=16
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:185::computeTransformationImpl() Vis/CorFlowIterations=30
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:186::computeTransformationImpl() Vis/CorFlowEps=0,010000
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:187::computeTransformationImpl() Vis/CorFlowMaxLevel=3
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:195::computeTransformationImpl() Input(-1): from=2000 words, 2000 3D words, 2000 words descriptors,  0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:203::computeTransformationImpl() Input(825): to=0 words, 0 3D words, 0 words descriptors, 0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.107) RegistrationVis.cpp:222::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.108) RegistrationVis.cpp:418::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.108) Features2d.cpp:301::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000
[DEBUG] (2016-03-18 16:40:44.108) Features2d.cpp:302::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.108) Features2d.cpp:329::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.116) Features2d.cpp:532::generateKeypoints() Keypoints extraction time = 0,007182 s, keypoints extracted = 1000
[DEBUG] (2016-03-18 16:40:44.116) RegistrationVis.cpp:459::computeTransformationImpl() kptsFrom=2000
[DEBUG] (2016-03-18 16:40:44.116) RegistrationVis.cpp:460::computeTransformationImpl() kptsTo=1000
[DEBUG] (2016-03-18 16:40:44.119) Features2d.cpp:573::generateDescriptors() Descriptors extracted = 871, remaining kpts=871
[DEBUG] (2016-03-18 16:40:44.119) RegistrationVis.cpp:615::computeTransformationImpl() descriptorsFrom=2000
[DEBUG] (2016-03-18 16:40:44.119) RegistrationVis.cpp:616::computeTransformationImpl() descriptorsTo=871
[DEBUG] (2016-03-18 16:40:44.119) RegistrationVis.cpp:852::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.119) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.119) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=0 removed=0)
[DEBUG] (2016-03-18 16:40:44.119) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.119) VWDictionary.cpp:848::addNewWords() id=1 descriptors=2000
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,000659 s
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:1090::addNewWords() 2000 new words added...
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:1092::addNewWords() 0 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:1093::addNewWords() total time 0,000689s
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:611::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:620::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:624::update() Incremental FLANN: Inserting 2000 words...
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:632::update() Building FLANN index...
[DEBUG] (2016-03-18 16:40:44.120) VWDictionary.cpp:650::update() Building FLANN index... done!
[DEBUG] (2016-03-18 16:40:44.128) VWDictionary.cpp:664::update() Incremental FLANN: Inserting 2000 words... done!
[DEBUG] (2016-03-18 16:40:44.128) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=2000 removed=0)
[DEBUG] (2016-03-18 16:40:44.128) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.129) VWDictionary.cpp:848::addNewWords() id=2 descriptors=871
[DEBUG] (2016-03-18 16:40:44.129) VWDictionary.cpp:904::addNewWords() newPts.total()=871
[DEBUG] (2016-03-18 16:40:44.129) Camera.cpp:100::takeImage() Time capturing image = 0,031670s
[DEBUG] (2016-03-18 16:40:44.137) VWDictionary.cpp:969::addNewWords() Time to find nn = 0,007954 s
[DEBUG] (2016-03-18 16:40:44.138) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,001320 s
[DEBUG] (2016-03-18 16:40:44.138) VWDictionary.cpp:1090::addNewWords() 761 new words added...
[DEBUG] (2016-03-18 16:40:44.138) VWDictionary.cpp:1092::addNewWords() 110 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.138) VWDictionary.cpp:1093::addNewWords() total time 0,009334s
[DEBUG] (2016-03-18 16:40:44.138) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.140) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.141) RegistrationVis.cpp:1084::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.142) util3d_motion_estimation.cpp:225::estimateMotion3DTo3D() Unique correspondences = 70
[DEBUG] (2016-03-18 16:40:44.142) util3d_registration.cpp:83::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0,100000
[DEBUG] (2016-03-18 16:40:44.144) util3d_registration.cpp:130::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 1/1, with an error threshold of 0,100000.
[DEBUG] (2016-03-18 16:40:44.144) util3d_registration.cpp:147::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0,000000 (variance=0,000000) on iteration 0 out of 5.
[DEBUG] (2016-03-18 16:40:44.144) util3d_registration.cpp:221::transformFromXYZCorrespondences() RANSAC: Model with inliers < 3
[ INFO] (2016-03-18 16:40:44.144) RegistrationVis.cpp:1107::computeTransformationImpl() Not enough inliers 0/20 between -1 and 825
[DEBUG] (2016-03-18 16:40:44.144) RegistrationVis.cpp:1174::computeTransformationImpl() transform=xyz=[null] rpy=[null]
[ WARN] (2016-03-18 16:40:44.144) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 825"
[ INFO] (2016-03-18 16:40:44.145) OdometryF2M.cpp:516::computeTransform() Odom update time = 0,038571s lost=true features=831 inliers=0/70 variance=1,000000 local_map=2000 local_scan_map=0
[DEBUG] (2016-03-18 16:40:44.145) RtabmapThread.cpp:338::handleEvent() OdometryEvent
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:175::computeTransformationImpl() Vis/MinInliers=20
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:176::computeTransformationImpl() Vis/InlierDistance=0,100000
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:177::computeTransformationImpl() Vis/Iterations=100
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:178::computeTransformationImpl() Vis/EstimationType=0
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:179::computeTransformationImpl() Vis/ForwardEstOnly=1
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:180::computeTransformationImpl() Vis/EpipolarGeometryVar=0,020000
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:181::computeTransformationImpl() Vis/PnPReprojError=2,000000
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:182::computeTransformationImpl() Vis/PnPFlags=1
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:183::computeTransformationImpl() Vis/CorType=0
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:184::computeTransformationImpl() Vis/CorFlowWinSize=16
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:185::computeTransformationImpl() Vis/CorFlowIterations=30
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:186::computeTransformationImpl() Vis/CorFlowEps=0,010000
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:187::computeTransformationImpl() Vis/CorFlowMaxLevel=3
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:195::computeTransformationImpl() Input(-1): from=2000 words, 2000 3D words, 2000 words descriptors,  0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:203::computeTransformationImpl() Input(826): to=0 words, 0 3D words, 0 words descriptors, 0 kpts, 0 descriptors
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:222::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.146) RegistrationVis.cpp:418::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.147) Features2d.cpp:301::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000
[DEBUG] (2016-03-18 16:40:44.147) Features2d.cpp:302::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.147) Features2d.cpp:329::computeRoi() roi = 0, 0, 512, 424
[DEBUG] (2016-03-18 16:40:44.153) Features2d.cpp:532::generateKeypoints() Keypoints extraction time = 0,006140 s, keypoints extracted = 1000
[DEBUG] (2016-03-18 16:40:44.153) RegistrationVis.cpp:459::computeTransformationImpl() kptsFrom=2000
[DEBUG] (2016-03-18 16:40:44.153) RegistrationVis.cpp:460::computeTransformationImpl() kptsTo=1000
[DEBUG] (2016-03-18 16:40:44.156) Features2d.cpp:573::generateDescriptors() Descriptors extracted = 894, remaining kpts=894
[DEBUG] (2016-03-18 16:40:44.157) RegistrationVis.cpp:615::computeTransformationImpl() descriptorsFrom=2000
[DEBUG] (2016-03-18 16:40:44.157) RegistrationVis.cpp:616::computeTransformationImpl() descriptorsTo=894
[DEBUG] (2016-03-18 16:40:44.157) RegistrationVis.cpp:852::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=0 removed=0)
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:848::addNewWords() id=1 descriptors=2000
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,000634 s
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:1090::addNewWords() 2000 new words added...
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:1092::addNewWords() 0 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:1093::addNewWords() total time 0,000664s
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:596::update()
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:611::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:620::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:624::update() Incremental FLANN: Inserting 2000 words...
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:632::update() Building FLANN index...
[DEBUG] (2016-03-18 16:40:44.157) VWDictionary.cpp:650::update() Building FLANN index... done!
[DEBUG] (2016-03-18 16:40:44.164) VWDictionary.cpp:664::update() Incremental FLANN: Inserting 2000 words... done!
[DEBUG] (2016-03-18 16:40:44.164) VWDictionary.cpp:744::update() Dictionary updated! (size=0 added=2000 removed=0)
[DEBUG] (2016-03-18 16:40:44.165) VWDictionary.cpp:752::update()
[DEBUG] (2016-03-18 16:40:44.165) VWDictionary.cpp:848::addNewWords() id=2 descriptors=894
[DEBUG] (2016-03-18 16:40:44.165) VWDictionary.cpp:904::addNewWords() newPts.total()=894
[DEBUG] (2016-03-18 16:40:44.172) VWDictionary.cpp:969::addNewWords() Time to find nn = 0,007195 s
[DEBUG] (2016-03-18 16:40:44.173) VWDictionary.cpp:1088::addNewWords() naive search and add ref/words time = 0,000823 s
[DEBUG] (2016-03-18 16:40:44.173) VWDictionary.cpp:1090::addNewWords() 777 new words added...
[DEBUG] (2016-03-18 16:40:44.173) VWDictionary.cpp:1092::addNewWords() 117 duplicated words added (from current image = 0)...
[DEBUG] (2016-03-18 16:40:44.173) VWDictionary.cpp:1093::addNewWords() total time 0,008051s
[DEBUG] (2016-03-18 16:40:44.173) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.175) VWDictionary.cpp:757::clear()
[DEBUG] (2016-03-18 16:40:44.177) RegistrationVis.cpp:1084::computeTransformationImpl()
[DEBUG] (2016-03-18 16:40:44.178) util3d_motion_estimation.cpp:225::estimateMotion3DTo3D() Unique correspondences = 67
[DEBUG] (2016-03-18 16:40:44.178) util3d_registration.cpp:83::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0,100000
[pcl::RandomSampleConsensus::computeModel] No samples could be selected!
[DEBUG] (2016-03-18 16:40:44.178) util3d_registration.cpp:130::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 0/0, with an error threshold of 0,100000.
[ WARN] (2016-03-18 16:40:44.178) util3d_registration.cpp:184::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers!
[DEBUG] (2016-03-18 16:40:44.178) util3d_registration.cpp:221::transformFromXYZCorrespondences() RANSAC: Model with inliers < 3
[ INFO] (2016-03-18 16:40:44.178) RegistrationVis.cpp:1107::computeTransformationImpl() Not enough inliers 0/20 between -1 and 826
[DEBUG] (2016-03-18 16:40:44.178) RegistrationVis.cpp:1174::computeTransformationImpl() transform=xyz=[null] rpy=[null]
[ WARN] (2016-03-18 16:40:44.178) OdometryF2M.cpp:227::computeTransform() Registration failed: "Not enough inliers 0/20 between -1 and 826"
[ INFO] (2016-03-18 16:40:44.178) OdometryF2M.cpp:516::computeTransform() Odom update time = 0,033048s lost=true features=844 inliers=0/67 variance=1,000000 local_map=2000 local_scan_map=0
[DEBUG] (2016-03-18 16:40:44.179) RtabmapThread.cpp:338::handleEvent() OdometryEvent
[DEBUG] (2016-03-18 16:40:44.203) CameraThread.cpp:65::~CameraThread()
[DEBUG] (2016-03-18 16:40:44.203) CameraRGBD.cpp:1135::~CameraFreenect2()
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
[DEBUG] (2016-03-18 16:40:44.521) CameraRGBD.cpp:1157::~CameraFreenect2()
[DEBUG] (2016-03-18 16:40:44.522) Camera.cpp:57::~Camera()
[DEBUG] (2016-03-18 16:40:44.522) Camera.cpp:59::~Camera()
[DEBUG] (2016-03-18 16:40:44.522) OdometryF2M.cpp:166::~OdometryF2M()
[DEBUG] (2016-03-18 16:40:44.522) OdometryThread.cpp:55::~OdometryThread()
[DEBUG] (2016-03-18 16:40:44.523) MainWindow.cpp:793::processOdometry()
[DEBUG] (2016-03-18 16:40:44.523) MainWindow.cpp:814::processOdometry() odom lost
[DEBUG] (2016-03-18 16:40:44.523) util3d.cpp:757::cloudRGBFromSensorData()
[DEBUG] (2016-03-18 16:40:44.523) util3d.cpp:312::cloudFromDepthRGB()
[DEBUG] (2016-03-18 16:40:44.523) util3d.cpp:361::cloudFromDepthRGB() rgb=512x424 depth=512x424 fx=364,441803 fy=364,441803 cx=258,393585 cy=203,819901 (depth factors=1,000000 1,000000) decimation=8
[DEBUG] (2016-03-18 16:40:44.523) util3d.cpp:409::cloudFromDepthRGB()
[DEBUG] (2016-03-18 16:40:44.528) MainWindow.cpp:793::processOdometry()
[DEBUG] (2016-03-18 16:40:44.529) MainWindow.cpp:793::processOdometry()
Violación de segmento (`core' generado)


pd: "Violación de segmento" means Segmentation Fault.

[mcb9216]

Also, when I try to put the debug in a txt, I got this messages in the terminal

[Alan]

I have been encountering the same error, however I think I have found a workaround. Before making the whole map, I first start with a very small area, like half of a small room and save the database at this point. After I save the db to a file once successfully, all subsequent tries seem to work as well.

I am running on Intel Core i5 6300HQ (2.30 GHz), 8 GB Memory, NVIDIA GeForce GTX 960M /  Intel HD Graphics, Ubuntu 14.04

[matlabbe]

Hi,

The error above may be related on libfreenect2. A comparison with using a Kinect v1 could be done to know if it is a driver problem.

Alan, are you using a kinect v2 ? You may try just to stop the camera and start it again (to see if it is a driver related issue).

cheers

[Alan]

Yes, I am using a Kinect v2.
I did not have any difficulties starting and stopping the camera. I have only seen the segmentation fault error when closing and saving a database for the first time.

[matlabbe]

For the record, are you using rtabmap from source? Can you show the debug log (see second post to setup it)?

cheers

[mcb9216]

Hello again, with my teamwork, this problem was solved for us.
Analising the bug, we found that it was an error with QT interfaces, We don't know how to explain well
However, we removed the window that asked where the database is going to be saved and the name of the databse file.
Now, everytime something is mapped and the bottom "Close database" is pushed, the database file is always saved automatically in the same dir (/home/cristina/Documents/RTAB-Map) with the default name.

For doing this, the file /guilib/src/MainWindow.cpp was modified.

Code:

//all includes before

#include <exception>
using namespace std;

.............

namespace rtabmap {

struct MyException : public exception
{
  const char * what () const throw ()
  {
    return "C++ Exception";
  }
};

.............

bool MainWindow::closeDatabase()
{
        if(_state != MainWindow::kInitialized)
        {
                UERROR("This method can be called only in INITIALIZED state.");
                return false;
        }

        _newDatabasePathOutput.clear();
        if(!_newDatabasePath.isEmpty() && _databaseUpdated)
        {
                QMessageBox::Button b = QMessageBox::question(this,
                                tr("Save database"),
                                tr("Save the new database?"),
                                QMessageBox::Save | QMessageBox::Cancel | QMessageBox::Discard,
                                QMessageBox::Save);

                if(b == QMessageBox::Save)
                {
                        // Temp database used, automatically backup with unique name (timestamp)
                        QString newName = QDateTime::currentDateTime().toString("yyMMdd-hhmmss");
            QString newPath = _preferencesDialog->getWorkingDirectory()+QDir::separator()+newName+".db";
            //QString newPath = "Salida.db";
            try{
            //newPath = QFileDialog::getSaveFileName(this, tr("Save database"), newPath, tr("RTAB-Map database files (*.db)"));
            //newPath = QFileDialog::getSaveFileName(this, tr("Save database"), newPath, tr("RTAB-Map database files (*.db)"));
                        if(newPath.isEmpty())
                        {
                                return false;
                        }

                        if(QFileInfo(newPath).suffix() == "")
                        {
                                newPath += ".db";
                        }

                        _newDatabasePathOutput = newPath;
            }catch(MyException& e){
                std::cout << "MyException caught" << std::endl;
                std::cout << e.what() << std::endl;
            }
                }
                else if(b != QMessageBox::Discard)
                {
                        return false;
                }
        }

        this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdClose, !_openedDatabasePath.isEmpty() || !_newDatabasePathOutput.isEmpty()));
        return true;
}

..........

[Silvio Giancola]

You trick also worked in my case, I just commented the line:

//newPath = QFileDialog::getSaveFileName(this, tr("Save database"), newPath, tr("RTAB-Map database files (*.db)"));

Is it a problem from Qt? I verified the newPath variable before the function and it looks like a coherent path.

Thank you,

[matlabbe]

Hi,

It seems happening on specific systems, when Qt tries to create a native dialog.

cheers