boost shared_ptr assert

[scanboy]

Hi,

I have taken the exportMesh(...) and writeExportedMesh(...) functions from RTABMapApp (app/android/jni) to be able to load a database and then export it as PLY or OBJ. Up to some time ago, these functions worked well but now when I use them I get
Assertion failed: (px != 0), function operator->, file /usr/local/include/boost/smart_ptr/shared_ptr.hpp, line 734.
This is on MacOS but I see a similar error on Ubuntu 16.04.
It works without problem loading the databasefile and exporting using the standalone RTABMap desktop app.

Is it my boost installation (macports) that is to blame?

[DEBUG] (2018-05-24 19:55:36.104) Rtabmap.cpp:279::init() path=/Users/scanboy/rtabthings/test.db
[DEBUG] (2018-05-24 19:55:36.105) Rtabmap.cpp:2873::setWorkingDirectory() Comparing new working directory path "/Users/scanboy/rtabthings/test_out" with ""
[DEBUG] (2018-05-24 19:55:36.105) Rtabmap.cpp:251::setupLogFiles() Log disabled!
[ INFO] (2018-05-24 19:55:36.105) Rtabmap.cpp:290::init() Using database "/Users/scanboy/rtabthings/test.db".
[DEBUG] (2018-05-24 19:55:36.105) VWDictionary.cpp:307::update()
[DEBUG] (2018-05-24 19:55:36.105) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0)
[DEBUG] (2018-05-24 19:55:36.105) VWDictionary.cpp:515::update()
[DEBUG] (2018-05-24 19:55:36.105) Registration.cpp:45::create() type=0
[DEBUG] (2018-05-24 19:55:36.105) Memory.cpp:432::parseParameters()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:125::init()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:432::parseParameters()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:1320::clear()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=0)...
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:1375::clear()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:1399::clear()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:1405::clear()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=0)...
[DEBUG] (2018-05-24 19:55:36.106) VWDictionary.cpp:520::clear()
[DEBUG] (2018-05-24 19:55:36.106) Memory.cpp:1428::clear()
[DEBUG] (2018-05-24 19:55:36.106) DBDriverSqlite3.cpp:53::DBDriverSqlite3() treadSafe=1
[DEBUG] (2018-05-24 19:55:36.106) DBDriver.cpp:88::openConnection()
[DEBUG] (2018-05-24 19:55:36.106) DBDriverSqlite3.cpp:412::disconnectDatabaseQuery()
[ INFO] (2018-05-24 19:55:36.106) DBDriverSqlite3.cpp:350::connectDatabaseQuery() Using database "/Users/scanboy/rtabthings/test.db" from the hard drive.
[ INFO] (2018-05-24 19:55:36.111) DBDriverSqlite3.cpp:389::connectDatabaseQuery() Database version = 0.15.0
[DEBUG] (2018-05-24 19:55:36.111) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0.000018s
[DEBUG] (2018-05-24 19:55:36.111) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0.000015s
[DEBUG] (2018-05-24 19:55:36.111) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0.000008s
[DEBUG] (2018-05-24 19:55:36.111) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0.000003s
[DEBUG] (2018-05-24 19:55:36.112) DBDriverSqlite3.cpp:2759::loadLastNodesQuery()
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2802::loadLastNodesQuery() Loading 21 signatures...
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2336::loadSignaturesQuery() count=21
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 1 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 2 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 3 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 4 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 5 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 6 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 7 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 8 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 9 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 10 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 11 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 12 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 13 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 14 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 15 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 16 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 17 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 18 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.113) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 19 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.114) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 20 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.114) DBDriverSqlite3.cpp:2466::loadSignaturesQuery() Creating 21 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=0.000000,0.000000,0.000000)
[DEBUG] (2018-05-24 19:55:36.114) DBDriverSqlite3.cpp:2501::loadSignaturesQuery() Time=0.001067s
[DEBUG] (2018-05-24 19:55:36.190) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 5955 keypoints, 5955 3d points and 5955 descriptors to node 1
[DEBUG] (2018-05-24 19:55:36.266) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 5110 keypoints, 5110 3d points and 5110 descriptors to node 2
[DEBUG] (2018-05-24 19:55:36.316) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 3785 keypoints, 3785 3d points and 3785 descriptors to node 3
[DEBUG] (2018-05-24 19:55:36.384) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 5491 keypoints, 5491 3d points and 5491 descriptors to node 4
[DEBUG] (2018-05-24 19:55:36.487) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 8183 keypoints, 8183 3d points and 8183 descriptors to node 5
[DEBUG] (2018-05-24 19:55:36.591) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 8337 keypoints, 8337 3d points and 8337 descriptors to node 6
[DEBUG] (2018-05-24 19:55:36.692) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 8304 keypoints, 8304 3d points and 8304 descriptors to node 7
[DEBUG] (2018-05-24 19:55:36.796) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7737 keypoints, 7737 3d points and 7737 descriptors to node 8
[DEBUG] (2018-05-24 19:55:36.893) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7880 keypoints, 7880 3d points and 7880 descriptors to node 9
[DEBUG] (2018-05-24 19:55:36.993) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7952 keypoints, 7952 3d points and 7952 descriptors to node 10
[DEBUG] (2018-05-24 19:55:37.092) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7893 keypoints, 7893 3d points and 7893 descriptors to node 11
[DEBUG] (2018-05-24 19:55:37.187) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7952 keypoints, 7952 3d points and 7952 descriptors to node 12
[DEBUG] (2018-05-24 19:55:37.280) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7539 keypoints, 7539 3d points and 7539 descriptors to node 13
[DEBUG] (2018-05-24 19:55:37.378) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7287 keypoints, 7287 3d points and 7287 descriptors to node 14
[DEBUG] (2018-05-24 19:55:37.469) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 7645 keypoints, 7645 3d points and 7645 descriptors to node 15
[DEBUG] (2018-05-24 19:55:37.592) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 10394 keypoints, 10394 3d points and 10394 descriptors to node 16
[DEBUG] (2018-05-24 19:55:37.712) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 9889 keypoints, 9889 3d points and 9889 descriptors to node 17
[DEBUG] (2018-05-24 19:55:37.828) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 9841 keypoints, 9841 3d points and 9841 descriptors to node 18
[DEBUG] (2018-05-24 19:55:37.942) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 9523 keypoints, 9523 3d points and 9523 descriptors to node 19
[DEBUG] (2018-05-24 19:55:38.071) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 10952 keypoints, 10952 3d points and 10952 descriptors to node 20
[DEBUG] (2018-05-24 19:55:38.209) DBDriverSqlite3.cpp:2618::loadSignaturesQuery() Add 11164 keypoints, 11164 3d points and 11164 descriptors to node 21
[DEBUG] (2018-05-24 19:55:38.215) DBDriverSqlite3.cpp:2630::loadSignaturesQuery() Time=2.101390s
[DEBUG] (2018-05-24 19:55:38.218) Signature.cpp:121::addLink() Add link 2 to 1 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.218) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.003273s, node=1, links.size=1
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 1 to 2 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 3 to 2 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000317s, node=2, links.size=2
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 2 to 3 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 4 to 3 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000098s, node=3, links.size=2
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 3 to 4 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 5 to 4 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000086s, node=4, links.size=2
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 4 to 5 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 6 to 5 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000101s, node=5, links.size=2
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 5 to 6 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 7 to 6 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000313s, node=6, links.size=2
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 6 to 7 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 8 to 7 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000076s, node=7, links.size=2
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 7 to 8 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) Signature.cpp:121::addLink() Add link 9 to 8 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.219) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000087s, node=8, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 8 to 9 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 10 to 9 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000320s, node=9, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 9 to 10 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 11 to 10 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000084s, node=10, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 10 to 11 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 12 to 11 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000289s, node=11, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 11 to 12 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 13 to 12 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000097s, node=12, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 12 to 13 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 14 to 13 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000070s, node=13, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 13 to 14 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 15 to 14 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000074s, node=14, links.size=2
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 14 to 15 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) Signature.cpp:121::addLink() Add link 16 to 15 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.220) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000095s, node=15, links.size=2
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 15 to 16 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 17 to 16 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000099s, node=16, links.size=2
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 16 to 17 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 18 to 17 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000523s, node=17, links.size=2
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 17 to 18 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 19 to 18 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000357s, node=18, links.size=2
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 18 to 19 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) Signature.cpp:121::addLink() Add link 20 to 19 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.221) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000078s, node=19, links.size=2
[DEBUG] (2018-05-24 19:55:38.222) Signature.cpp:121::addLink() Add link 19 to 20 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.222) Signature.cpp:121::addLink() Add link 21 to 20 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.222) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000339s, node=20, links.size=2
[DEBUG] (2018-05-24 19:55:38.222) Signature.cpp:121::addLink() Add link 20 to 21 (type=0 var=9999.000000,9999.000000)
[DEBUG] (2018-05-24 19:55:38.222) DBDriverSqlite3.cpp:3286::loadLinksQuery() time=0.000059s, node=21, links.size=1
[DEBUG] (2018-05-24 19:55:38.222) DBDriverSqlite3.cpp:2637::loadSignaturesQuery() Time load links=0.006895s
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2748::loadSignaturesQuery() Time load 21 calibrations=0.001735s
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2804::loadLastNodesQuery() loaded=21, Time=2.111973s
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2145::getLastIdQuery() get last id from table "Node"
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2176::getLastIdQuery() Time=0.000067s
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2145::getLastIdQuery() get last id from table "Statistics"
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2176::getLastIdQuery() Time=0.000033s
[DEBUG] (2018-05-24 19:55:38.224) Memory.cpp:245::loadDataFromDb() Loading dictionary...
[DEBUG] (2018-05-24 19:55:38.224) Memory.cpp:282::loadDataFromDb() load words
[DEBUG] (2018-05-24 19:55:38.224) DBDriverSqlite3.cpp:2810::loadQuery()
[DEBUG] (2018-05-24 19:55:38.245) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 5000 words...
[DEBUG] (2018-05-24 19:55:38.265) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 10000 words...
[DEBUG] (2018-05-24 19:55:38.288) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 15000 words...
[DEBUG] (2018-05-24 19:55:38.307) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 20000 words...
[DEBUG] (2018-05-24 19:55:38.325) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 25000 words...
[DEBUG] (2018-05-24 19:55:38.345) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 30000 words...
[DEBUG] (2018-05-24 19:55:38.364) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 35000 words...
[DEBUG] (2018-05-24 19:55:38.380) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 40000 words...
[DEBUG] (2018-05-24 19:55:38.401) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 45000 words...
[DEBUG] (2018-05-24 19:55:38.418) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 50000 words...
[DEBUG] (2018-05-24 19:55:38.437) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 55000 words...
[DEBUG] (2018-05-24 19:55:38.453) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 60000 words...
[DEBUG] (2018-05-24 19:55:38.473) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 65000 words...
[DEBUG] (2018-05-24 19:55:38.492) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 70000 words...
[DEBUG] (2018-05-24 19:55:38.511) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 75000 words...
[DEBUG] (2018-05-24 19:55:38.529) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 80000 words...
[DEBUG] (2018-05-24 19:55:38.549) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 85000 words...
[DEBUG] (2018-05-24 19:55:38.567) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 90000 words...
[DEBUG] (2018-05-24 19:55:38.584) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 95000 words...
[DEBUG] (2018-05-24 19:55:38.603) DBDriverSqlite3.cpp:2879::loadQuery() Loaded 100000 words...
[DEBUG] (2018-05-24 19:55:38.622) DBDriverSqlite3.cpp:2145::getLastIdQuery() get last id from table "Word"
[DEBUG] (2018-05-24 19:55:38.622) DBDriverSqlite3.cpp:2176::getLastIdQuery() Time=0.000096s
[DEBUG] (2018-05-24 19:55:38.622) DBDriverSqlite3.cpp:2892::loadQuery() Time=0.397864s
[DEBUG] (2018-05-24 19:55:38.622) Memory.cpp:286::loadDataFromDb() 104931 words loaded!
[DEBUG] (2018-05-24 19:55:38.622) VWDictionary.cpp:307::update()
[DEBUG] (2018-05-24 19:55:38.622) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2018-05-24 19:55:38.622) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2018-05-24 19:55:38.622) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 104931 words...
[DEBUG] (2018-05-24 19:55:38.622) VWDictionary.cpp:362::update() Building FLANN index...
[DEBUG] (2018-05-24 19:55:38.624) VWDictionary.cpp:380::update() Building FLANN index... done!
[DEBUG] (2018-05-24 19:55:38.624) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3
[DEBUG] (2018-05-24 19:55:38.625) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 3 -> 7
[DEBUG] (2018-05-24 19:55:38.625) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 7 -> 15
[DEBUG] (2018-05-24 19:55:38.625) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 15 -> 31
[DEBUG] (2018-05-24 19:55:38.625) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 31 -> 63
[DEBUG] (2018-05-24 19:55:38.625) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 63 -> 127
[DEBUG] (2018-05-24 19:55:38.626) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 127 -> 255
[DEBUG] (2018-05-24 19:55:38.628) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 255 -> 511
[DEBUG] (2018-05-24 19:55:38.631) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 511 -> 1023
[DEBUG] (2018-05-24 19:55:38.638) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1023 -> 2047
[DEBUG] (2018-05-24 19:55:38.650) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 2047 -> 4095
[DEBUG] (2018-05-24 19:55:38.679) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 4095 -> 8191
[DEBUG] (2018-05-24 19:55:38.735) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 8191 -> 16383
[DEBUG] (2018-05-24 19:55:38.850) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 16383 -> 32767
[DEBUG] (2018-05-24 19:55:39.101) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 32767 -> 65535
[DEBUG] (2018-05-24 19:55:39.539) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 104931 words... done!
[DEBUG] (2018-05-24 19:55:39.539) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=104931 removed=0)
[DEBUG] (2018-05-24 19:55:39.554) VWDictionary.cpp:515::update()
[DEBUG] (2018-05-24 19:55:39.554) Memory.cpp:301::loadDataFromDb() node=1, word references=5955
[DEBUG] (2018-05-24 19:55:39.556) Memory.cpp:301::loadDataFromDb() node=2, word references=5110
[DEBUG] (2018-05-24 19:55:39.558) Memory.cpp:301::loadDataFromDb() node=3, word references=3785
[DEBUG] (2018-05-24 19:55:39.560) Memory.cpp:301::loadDataFromDb() node=4, word references=5491
[DEBUG] (2018-05-24 19:55:39.563) Memory.cpp:301::loadDataFromDb() node=5, word references=8183
[DEBUG] (2018-05-24 19:55:39.567) Memory.cpp:301::loadDataFromDb() node=6, word references=8337
[DEBUG] (2018-05-24 19:55:39.572) Memory.cpp:301::loadDataFromDb() node=7, word references=8304
[DEBUG] (2018-05-24 19:55:39.575) Memory.cpp:301::loadDataFromDb() node=8, word references=7737
[DEBUG] (2018-05-24 19:55:39.578) Memory.cpp:301::loadDataFromDb() node=9, word references=7880
[DEBUG] (2018-05-24 19:55:39.582) Memory.cpp:301::loadDataFromDb() node=10, word references=7952
[DEBUG] (2018-05-24 19:55:39.586) Memory.cpp:301::loadDataFromDb() node=11, word references=7893
[DEBUG] (2018-05-24 19:55:39.589) Memory.cpp:301::loadDataFromDb() node=12, word references=7952
[DEBUG] (2018-05-24 19:55:39.594) Memory.cpp:301::loadDataFromDb() node=13, word references=7539
[DEBUG] (2018-05-24 19:55:39.597) Memory.cpp:301::loadDataFromDb() node=14, word references=7287
[DEBUG] (2018-05-24 19:55:39.601) Memory.cpp:301::loadDataFromDb() node=15, word references=7645
[DEBUG] (2018-05-24 19:55:39.605) Memory.cpp:301::loadDataFromDb() node=16, word references=10394
[DEBUG] (2018-05-24 19:55:39.610) Memory.cpp:301::loadDataFromDb() node=17, word references=9889
[DEBUG] (2018-05-24 19:55:39.614) Memory.cpp:301::loadDataFromDb() node=18, word references=9841
[DEBUG] (2018-05-24 19:55:39.620) Memory.cpp:301::loadDataFromDb() node=19, word references=9523
[DEBUG] (2018-05-24 19:55:39.624) Memory.cpp:301::loadDataFromDb() node=20, word references=10952
[DEBUG] (2018-05-24 19:55:39.630) Memory.cpp:301::loadDataFromDb() node=21, word references=11164
[DEBUG] (2018-05-24 19:55:39.636) Memory.cpp:318::loadDataFromDb() Total word references added = 168813
[DEBUG] (2018-05-24 19:55:39.636) Memory.cpp:337::loadDataFromDb() ids start with 22
[DEBUG] (2018-05-24 19:55:39.636) Memory.cpp:338::loadDataFromDb() map ids start with 1
[DEBUG] (2018-05-24 19:55:39.636) Rtabmap.cpp:393::parseParameters()
[DEBUG] (2018-05-24 19:55:39.636) Rtabmap.cpp:2873::setWorkingDirectory() Comparing new working directory path "/Users/scanboy/rtabthings/test_out" with "/Users/scanboy/rtabthings/test_out"
[DEBUG] (2018-05-24 19:55:39.636) Memory.cpp:432::parseParameters()
[DEBUG] (2018-05-24 19:55:39.638) Rtabmap.cpp:251::setupLogFiles() Log disabled!
Starting Meshing PLY
[DEBUG] (2018-05-24 19:55:39.644) Memory.cpp:2026::getLastWorkingSignature()
[DEBUG] (2018-05-24 19:55:39.644) Memory.cpp:2026::getLastWorkingSignature()
[ INFO] (2018-05-24 19:55:39.644) Rtabmap.cpp:3119::optimizeCurrentMap() Optimize map: around location 21
[ INFO] (2018-05-24 19:55:39.644) Rtabmap.cpp:3128::optimizeCurrentMap() get 21 ids time 0.000024 s
[DEBUG] (2018-05-24 19:55:39.644) Rtabmap.cpp:3168::optimizeGraph() ids=21
[DEBUG] (2018-05-24 19:55:39.644) Memory.cpp:4264::getMetricConstraints()
[ INFO] (2018-05-24 19:55:39.644) Rtabmap.cpp:3170::optimizeGraph() get constraints (ids=21, 21 poses, 20 edges) time 0.000539 s
[DEBUG] (2018-05-24 19:55:39.644) OptimizerTORO.cpp:64::optimize() Optimizing graph (pose=21 constraints=20)...
[DEBUG] (2018-05-24 19:55:39.644) OptimizerTORO.cpp:73::optimize() fill poses to TORO...
[DEBUG] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:99::optimize() fill edges to TORO...
[DEBUG] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:176::optimize() buildMST... root=1
[DEBUG] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:194::optimize() initializeTreeParameters()
[DEBUG] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:197::optimize() Building TORO tree... (if a crash happens just after this msg, TORO is not able to find the root of the graph!)
[ INFO] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:201::optimize() Initial error = 0.000000
[ INFO] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:202::optimize() TORO optimizing begin (iterations=100)
[DEBUG] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:256::optimize() i 0 RotGain=1.000000 global error=0.000000 error/constraint=0.000000
[ INFO] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:275::optimize() Stop optimizing, error is already under epsilon (0.000000 < 0.000010)
[ INFO] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:288::optimize() TORO optimizing end (0 iterations done, error=0.000000, time = 0.000056 s)
[DEBUG] (2018-05-24 19:55:39.645) OptimizerTORO.cpp:324::optimize() Optimizing graph...end!
[ INFO] (2018-05-24 19:55:39.645) Rtabmap.cpp:3243::optimizeGraph() Optimization time 0.000669 s
[ INFO] (2018-05-24 19:55:39.645) Rtabmap.cpp:3131::optimizeCurrentMap() optimize time 0.001248 s
[ INFO] (2018-05-24 19:55:39.645) Rtabmap.cpp:3140::optimizeCurrentMap() Correction (from node 1) xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[DEBUG] (2018-05-24 19:55:39.645) Memory.cpp:3146::getNodeData() nodeId=1
[DEBUG] (2018-05-24 19:55:39.645) DBDriverSqlite3.cpp:1177::loadNodeDataQuery() load data for 1 signatures
[DEBUG] (2018-05-24 19:55:39.646) DBDriverSqlite3.cpp:1310::loadNodeDataQuery() Loading data for 1...
[DEBUG] (2018-05-24 19:55:39.669) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0
[DEBUG] (2018-05-24 19:55:39.669) DBDriverSqlite3.cpp:1596::loadNodeDataQuery() Time=0.023247s
[DEBUG] (2018-05-24 19:55:39.669) SensorData.cpp:557::uncompressData() 1 data(1,1,0,0,0)
Assertion failed: (px != 0), function operator->, file /usr/local/include/boost/smart_ptr/shared_ptr.hpp, line 734.
Abort trap: 6

[matlabbe]

Hi,

Can you run with gdb? With "bt" (backtrace) when it crashes to see more info. It looks like a null pointer wrongly used.

Also, I see that you are opening a database with version 0.15.0, which is the library version?

Cheers,
Mathieu

[scanboy]

Sorry for late reply, I updated to 0.17 and then I got a different error that it is due to empty clouds and this problem is now gone after I dealt with the empty clouds.


Thank you for your great help here and in other questions.