[DEBUG] (2017-08-26 21:09:33.266) PreferencesDialog.cpp:1267::closeDialog() [DEBUG] (2017-08-26 21:09:36.632) PreferencesDialog.cpp:1672::readSettings() /home/vlad/.rtabmap/rtabmap.ini.tmp [DEBUG] (2017-08-26 21:09:36.635) PreferencesDialog.cpp:1962::readCoreSettings() /home/vlad/.rtabmap/rtabmap.ini.tmp [DEBUG] (2017-08-26 21:09:36.637) PreferencesDialog.cpp:3418::setParameter() BRIEF/Bytes=32 [DEBUG] (2017-08-26 21:09:36.638) PreferencesDialog.cpp:3418::setParameter() BRISK/Octaves=3 [DEBUG] (2017-08-26 21:09:36.638) PreferencesDialog.cpp:3418::setParameter() BRISK/PatternScale=1 [DEBUG] (2017-08-26 21:09:36.638) PreferencesDialog.cpp:3418::setParameter() BRISK/Thresh=30 [DEBUG] (2017-08-26 21:09:36.638) PreferencesDialog.cpp:3418::setParameter() Bayes/FullPredictionUpdate=false [DEBUG] (2017-08-26 21:09:36.639) PreferencesDialog.cpp:3418::setParameter() Bayes/PredictionLC=0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23 [DEBUG] (2017-08-26 21:09:36.640) PreferencesDialog.cpp:3418::setParameter() Bayes/VirtualPlacePriorThr=0.9 [DEBUG] (2017-08-26 21:09:36.642) PreferencesDialog.cpp:3418::setParameter() DbSqlite3/CacheSize=10000 [DEBUG] (2017-08-26 21:09:36.644) PreferencesDialog.cpp:3418::setParameter() DbSqlite3/InMemory=false [DEBUG] (2017-08-26 21:09:36.645) PreferencesDialog.cpp:3418::setParameter() DbSqlite3/JournalMode=3 [DEBUG] (2017-08-26 21:09:36.647) PreferencesDialog.cpp:3418::setParameter() DbSqlite3/Synchronous=0 [DEBUG] (2017-08-26 21:09:36.648) PreferencesDialog.cpp:3418::setParameter() DbSqlite3/TempStore=2 [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/Gpu=false [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/GpuKeypointsRatio=0.05 [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/GridCols=4 [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/GridRows=4 [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/MaxThreshold=200 [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/MinThreshold=7 [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/NonmaxSuppression=true [DEBUG] (2017-08-26 21:09:36.649) PreferencesDialog.cpp:3418::setParameter() FAST/Threshold=20 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() FREAK/NOctaves=4 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() FREAK/OrientationNormalized=true [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() FREAK/PatternScale=22 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() FREAK/ScaleNormalized=true [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() GFTT/BlockSize=3 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() GFTT/K=0.04 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() GFTT/MinDistance=5 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() GFTT/QualityLevel=0.01 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() GFTT/UseHarrisDetector=false [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() GTSAM/Optimizer=1 [DEBUG] (2017-08-26 21:09:36.650) PreferencesDialog.cpp:3418::setParameter() Grid/3D=false [DEBUG] (2017-08-26 21:09:36.651) PreferencesDialog.cpp:3418::setParameter() Grid/CellSize=0.05 [DEBUG] (2017-08-26 21:09:36.651) PreferencesDialog.cpp:3418::setParameter() Grid/ClusterRadius=0.1 [DEBUG] (2017-08-26 21:09:36.652) PreferencesDialog.cpp:3418::setParameter() Grid/DepthDecimation=4 [DEBUG] (2017-08-26 21:09:36.653) PreferencesDialog.cpp:3418::setParameter() Grid/DepthMax=4.0 [DEBUG] (2017-08-26 21:09:36.654) PreferencesDialog.cpp:3418::setParameter() Grid/DepthMin=0.0 [DEBUG] (2017-08-26 21:09:36.654) PreferencesDialog.cpp:3418::setParameter() Grid/DepthRoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-08-26 21:09:36.655) PreferencesDialog.cpp:3418::setParameter() Grid/FlatObstacleDetected=true [DEBUG] (2017-08-26 21:09:36.656) PreferencesDialog.cpp:3418::setParameter() Grid/FootprintHeight=0.0 [DEBUG] (2017-08-26 21:09:36.657) PreferencesDialog.cpp:3418::setParameter() Grid/FootprintLength=0.0 [DEBUG] (2017-08-26 21:09:36.657) PreferencesDialog.cpp:3418::setParameter() Grid/FootprintWidth=0.0 [DEBUG] (2017-08-26 21:09:36.658) PreferencesDialog.cpp:3418::setParameter() Grid/FromDepth=true [DEBUG] (2017-08-26 21:09:36.659) PreferencesDialog.cpp:3418::setParameter() Grid/GroundIsObstacle=false [DEBUG] (2017-08-26 21:09:36.659) PreferencesDialog.cpp:3418::setParameter() Grid/MapFrameProjection=false [DEBUG] (2017-08-26 21:09:36.660) PreferencesDialog.cpp:3418::setParameter() Grid/MaxGroundAngle=45 [DEBUG] (2017-08-26 21:09:36.661) PreferencesDialog.cpp:3418::setParameter() Grid/MaxGroundHeight=0.0 [DEBUG] (2017-08-26 21:09:36.662) PreferencesDialog.cpp:3418::setParameter() Grid/MaxObstacleHeight=0.0 [DEBUG] (2017-08-26 21:09:36.662) PreferencesDialog.cpp:3418::setParameter() Grid/MinClusterSize=10 [DEBUG] (2017-08-26 21:09:36.663) PreferencesDialog.cpp:3418::setParameter() Grid/MinGroundHeight=0 [DEBUG] (2017-08-26 21:09:36.664) PreferencesDialog.cpp:3418::setParameter() Grid/NoiseFilteringMinNeighbors=5 [DEBUG] (2017-08-26 21:09:36.664) PreferencesDialog.cpp:3418::setParameter() Grid/NoiseFilteringRadius=0.0 [DEBUG] (2017-08-26 21:09:36.665) PreferencesDialog.cpp:3418::setParameter() Grid/NormalK=20 [DEBUG] (2017-08-26 21:09:36.666) PreferencesDialog.cpp:3418::setParameter() Grid/NormalsSegmentation=true [DEBUG] (2017-08-26 21:09:36.666) PreferencesDialog.cpp:3418::setParameter() Grid/ProjRayTracing=true [DEBUG] (2017-08-26 21:09:36.667) PreferencesDialog.cpp:3418::setParameter() Grid/Scan2dMaxFilledRange=4 [DEBUG] (2017-08-26 21:09:36.668) PreferencesDialog.cpp:3418::setParameter() Grid/Scan2dUnknownSpaceFilled=false [DEBUG] (2017-08-26 21:09:36.669) PreferencesDialog.cpp:3418::setParameter() Grid/ScanDecimation=1 [DEBUG] (2017-08-26 21:09:36.669) PreferencesDialog.cpp:3418::setParameter() GridGlobal/Eroded=false [DEBUG] (2017-08-26 21:09:36.670) PreferencesDialog.cpp:3418::setParameter() GridGlobal/FootprintRadius=0.0 [DEBUG] (2017-08-26 21:09:36.671) PreferencesDialog.cpp:3418::setParameter() GridGlobal/FullUpdate=true [DEBUG] (2017-08-26 21:09:36.671) PreferencesDialog.cpp:3418::setParameter() GridGlobal/MinSize=0.0 [DEBUG] (2017-08-26 21:09:36.672) PreferencesDialog.cpp:3418::setParameter() Icp/CorrespondenceRatio=0.2 [DEBUG] (2017-08-26 21:09:36.672) PreferencesDialog.cpp:3418::setParameter() Icp/DownsamplingStep=1 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/Epsilon=0 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/Iterations=30 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/MaxCorrespondenceDistance=0.05 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/MaxRotation=0.78 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/MaxTranslation=0.2 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/PointToPlane=false [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/PointToPlaneNormalNeighbors=20 [DEBUG] (2017-08-26 21:09:36.673) PreferencesDialog.cpp:3418::setParameter() Icp/VoxelSize=0 [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() KAZE/Diffusivity=1 [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() KAZE/Extended=false [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() KAZE/NOctaveLayers=4 [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() KAZE/NOctaves=4 [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() KAZE/Threshold=0.001 [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() KAZE/Upright=false [DEBUG] (2017-08-26 21:09:36.674) PreferencesDialog.cpp:3418::setParameter() Kp/BadSignRatio=0.5 [DEBUG] (2017-08-26 21:09:36.675) PreferencesDialog.cpp:3418::setParameter() Kp/DetectorStrategy=0 [DEBUG] (2017-08-26 21:09:36.676) PreferencesDialog.cpp:3418::setParameter() Kp/DictionaryPath= [DEBUG] (2017-08-26 21:09:36.678) PreferencesDialog.cpp:3418::setParameter() Kp/IncrementalDictionary=true [DEBUG] (2017-08-26 21:09:36.679) PreferencesDialog.cpp:3418::setParameter() Kp/IncrementalFlann=true [DEBUG] (2017-08-26 21:09:36.681) PreferencesDialog.cpp:3418::setParameter() Kp/MaxDepth=0 [DEBUG] (2017-08-26 21:09:36.682) PreferencesDialog.cpp:3418::setParameter() Kp/MaxFeatures=400 [DEBUG] (2017-08-26 21:09:36.683) PreferencesDialog.cpp:3418::setParameter() Kp/MinDepth=0 [DEBUG] (2017-08-26 21:09:36.685) PreferencesDialog.cpp:3418::setParameter() Kp/NNStrategy=1 [DEBUG] (2017-08-26 21:09:36.686) PreferencesDialog.cpp:3418::setParameter() Kp/NewWordsComparedTogether=true [DEBUG] (2017-08-26 21:09:36.688) PreferencesDialog.cpp:3418::setParameter() Kp/NndrRatio=0.8 [DEBUG] (2017-08-26 21:09:36.689) PreferencesDialog.cpp:3418::setParameter() Kp/Parallelized=true [DEBUG] (2017-08-26 21:09:36.691) PreferencesDialog.cpp:3418::setParameter() Kp/RoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-08-26 21:09:36.692) PreferencesDialog.cpp:3418::setParameter() Kp/SubPixEps=0.02 [DEBUG] (2017-08-26 21:09:36.693) PreferencesDialog.cpp:3418::setParameter() Kp/SubPixIterations=0 [DEBUG] (2017-08-26 21:09:36.695) PreferencesDialog.cpp:3418::setParameter() Kp/SubPixWinSize=3 [DEBUG] (2017-08-26 21:09:36.696) PreferencesDialog.cpp:3418::setParameter() Kp/TfIdfLikelihoodUsed=true [DEBUG] (2017-08-26 21:09:36.698) PreferencesDialog.cpp:3418::setParameter() Mem/BadSignaturesIgnored=false [DEBUG] (2017-08-26 21:09:36.699) PreferencesDialog.cpp:3418::setParameter() Mem/BinDataKept=true [DEBUG] (2017-08-26 21:09:36.700) PreferencesDialog.cpp:3418::setParameter() Mem/CompressionParallelized=true [DEBUG] (2017-08-26 21:09:36.702) PreferencesDialog.cpp:3418::setParameter() Mem/GenerateIds=true [DEBUG] (2017-08-26 21:09:36.703) PreferencesDialog.cpp:3418::setParameter() Mem/ImageKept=false [DEBUG] (2017-08-26 21:09:36.705) PreferencesDialog.cpp:3418::setParameter() Mem/ImagePostDecimation=1 [DEBUG] (2017-08-26 21:09:36.706) PreferencesDialog.cpp:3418::setParameter() Mem/ImagePreDecimation=1 [DEBUG] (2017-08-26 21:09:36.708) PreferencesDialog.cpp:3418::setParameter() Mem/IncrementalMemory=true [DEBUG] (2017-08-26 21:09:36.709) PreferencesDialog.cpp:3418::setParameter() Mem/InitWMWithAllNodes=false [DEBUG] (2017-08-26 21:09:36.711) PreferencesDialog.cpp:3418::setParameter() Mem/IntermediateNodeDataKept=false [DEBUG] (2017-08-26 21:09:36.712) PreferencesDialog.cpp:3418::setParameter() Mem/LaserScanDownsampleStepSize=1 [DEBUG] (2017-08-26 21:09:36.714) PreferencesDialog.cpp:3418::setParameter() Mem/LaserScanNormalK=0 [DEBUG] (2017-08-26 21:09:36.715) PreferencesDialog.cpp:3418::setParameter() Mem/MapLabelsAdded=true [DEBUG] (2017-08-26 21:09:36.717) PreferencesDialog.cpp:3418::setParameter() Mem/NotLinkedNodesKept=true [DEBUG] (2017-08-26 21:09:36.718) PreferencesDialog.cpp:3418::setParameter() Mem/RawDescriptorsKept=true [DEBUG] (2017-08-26 21:09:36.720) PreferencesDialog.cpp:3418::setParameter() Mem/RecentWmRatio=0.2 [DEBUG] (2017-08-26 21:09:36.721) PreferencesDialog.cpp:3418::setParameter() Mem/ReduceGraph=false [DEBUG] (2017-08-26 21:09:36.723) PreferencesDialog.cpp:3418::setParameter() Mem/RehearsalIdUpdatedToNewOne=false [DEBUG] (2017-08-26 21:09:36.724) PreferencesDialog.cpp:3418::setParameter() Mem/RehearsalSimilarity=0.6 [DEBUG] (2017-08-26 21:09:36.726) PreferencesDialog.cpp:3418::setParameter() Mem/RehearsalWeightIgnoredWhileMoving=false [DEBUG] (2017-08-26 21:09:36.727) PreferencesDialog.cpp:3418::setParameter() Mem/STMSize=10 [DEBUG] (2017-08-26 21:09:36.729) PreferencesDialog.cpp:3418::setParameter() Mem/SaveDepth16Format=false [DEBUG] (2017-08-26 21:09:36.730) PreferencesDialog.cpp:3418::setParameter() Mem/TransferSortingByWeightId=false [DEBUG] (2017-08-26 21:09:36.732) PreferencesDialog.cpp:3418::setParameter() Mem/UseOdomFeatures=false [DEBUG] (2017-08-26 21:09:36.733) PreferencesDialog.cpp:3418::setParameter() ORB/EdgeThreshold=31 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/FirstLevel=0 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/Gpu=false [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/NLevels=8 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/PatchSize=31 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/ScaleFactor=1.2 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/ScoreType=0 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() ORB/WTA_K=2 [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() Odom/AlignWithGround=false [DEBUG] (2017-08-26 21:09:36.734) PreferencesDialog.cpp:3418::setParameter() Odom/FillInfoData=true [DEBUG] (2017-08-26 21:09:36.735) PreferencesDialog.cpp:3418::setParameter() Odom/FilteringStrategy=0 [DEBUG] (2017-08-26 21:09:36.735) PreferencesDialog.cpp:3418::setParameter() Odom/GuessMotion=false [DEBUG] (2017-08-26 21:09:36.735) PreferencesDialog.cpp:3418::setParameter() Odom/Holonomic=true [DEBUG] (2017-08-26 21:09:36.735) PreferencesDialog.cpp:3418::setParameter() Odom/ImageBufferSize=1 [DEBUG] (2017-08-26 21:09:36.735) PreferencesDialog.cpp:3418::setParameter() Odom/ImageDecimation=1 [DEBUG] (2017-08-26 21:09:36.735) PreferencesDialog.cpp:3418::setParameter() Odom/KalmanMeasurementNoise=0.01 [DEBUG] (2017-08-26 21:09:36.736) PreferencesDialog.cpp:3418::setParameter() Odom/KalmanProcessNoise=0.001 [DEBUG] (2017-08-26 21:09:36.737) PreferencesDialog.cpp:3418::setParameter() Odom/KeyFrameThr=0.3 [DEBUG] (2017-08-26 21:09:36.737) PreferencesDialog.cpp:3418::setParameter() Odom/ParticleLambdaR=100 [DEBUG] (2017-08-26 21:09:36.737) PreferencesDialog.cpp:3418::setParameter() Odom/ParticleLambdaT=100 [DEBUG] (2017-08-26 21:09:36.738) PreferencesDialog.cpp:3418::setParameter() Odom/ParticleNoiseR=0.002 [DEBUG] (2017-08-26 21:09:36.738) PreferencesDialog.cpp:3418::setParameter() Odom/ParticleNoiseT=0.002 [DEBUG] (2017-08-26 21:09:36.739) PreferencesDialog.cpp:3418::setParameter() Odom/ParticleSize=400 [DEBUG] (2017-08-26 21:09:36.740) PreferencesDialog.cpp:3418::setParameter() Odom/ResetCountdown=0 [DEBUG] (2017-08-26 21:09:36.740) PreferencesDialog.cpp:3418::setParameter() Odom/ScanKeyFrameThr=0.7 [DEBUG] (2017-08-26 21:09:36.740) PreferencesDialog.cpp:3418::setParameter() Odom/Strategy=0 [DEBUG] (2017-08-26 21:09:36.740) PreferencesDialog.cpp:3418::setParameter() Odom/VisKeyFrameThr=100 [DEBUG] (2017-08-26 21:09:36.741) PreferencesDialog.cpp:3418::setParameter() OdomF2M/BundleAdjustment=0 [DEBUG] (2017-08-26 21:09:36.741) PreferencesDialog.cpp:3418::setParameter() OdomF2M/BundleAdjustmentMaxFrames=0 [DEBUG] (2017-08-26 21:09:36.741) PreferencesDialog.cpp:3418::setParameter() OdomF2M/MaxNewFeatures=0 [DEBUG] (2017-08-26 21:09:36.742) PreferencesDialog.cpp:3418::setParameter() OdomF2M/MaxSize=2000 [DEBUG] (2017-08-26 21:09:36.742) PreferencesDialog.cpp:3418::setParameter() OdomF2M/ScanMaxSize=2000 [DEBUG] (2017-08-26 21:09:36.743) PreferencesDialog.cpp:3418::setParameter() OdomF2M/ScanSubtractRadius=0.05 [DEBUG] (2017-08-26 21:09:36.743) PreferencesDialog.cpp:3418::setParameter() OdomFovis/BucketHeight=80 [DEBUG] (2017-08-26 21:09:36.744) PreferencesDialog.cpp:3418::setParameter() OdomFovis/BucketWidth=80 [DEBUG] (2017-08-26 21:09:36.744) PreferencesDialog.cpp:3418::setParameter() OdomFovis/CliqueInlierThreshold=0.1 [DEBUG] (2017-08-26 21:09:36.744) PreferencesDialog.cpp:3418::setParameter() OdomFovis/FastThreshold=20 [DEBUG] (2017-08-26 21:09:36.745) PreferencesDialog.cpp:3418::setParameter() OdomFovis/FastThresholdAdaptiveGain=0.005 [DEBUG] (2017-08-26 21:09:36.745) PreferencesDialog.cpp:3418::setParameter() OdomFovis/FeatureSearchWindow=25 [DEBUG] (2017-08-26 21:09:36.745) PreferencesDialog.cpp:3418::setParameter() OdomFovis/FeatureWindowSize=9 [DEBUG] (2017-08-26 21:09:36.746) PreferencesDialog.cpp:3418::setParameter() OdomFovis/InlierMaxReprojectionError=1.5 [DEBUG] (2017-08-26 21:09:36.746) PreferencesDialog.cpp:3418::setParameter() OdomFovis/MaxKeypointsPerBucket=25 [DEBUG] (2017-08-26 21:09:36.746) PreferencesDialog.cpp:3418::setParameter() OdomFovis/MaxMeanReprojectionError=10.0 [DEBUG] (2017-08-26 21:09:36.747) PreferencesDialog.cpp:3418::setParameter() OdomFovis/MaxPyramidLevel=3 [DEBUG] (2017-08-26 21:09:36.747) PreferencesDialog.cpp:3418::setParameter() OdomFovis/MinFeaturesForEstimate=10 [DEBUG] (2017-08-26 21:09:36.747) PreferencesDialog.cpp:3418::setParameter() OdomFovis/MinPyramidLevel=0 [DEBUG] (2017-08-26 21:09:36.747) PreferencesDialog.cpp:3418::setParameter() OdomFovis/StereoMaxDisparity=128 [DEBUG] (2017-08-26 21:09:36.748) PreferencesDialog.cpp:3418::setParameter() OdomFovis/StereoMaxDistEpipolarLine=1.5 [DEBUG] (2017-08-26 21:09:36.748) PreferencesDialog.cpp:3418::setParameter() OdomFovis/StereoMaxRefinementDisplacement=1.0 [DEBUG] (2017-08-26 21:09:36.749) PreferencesDialog.cpp:3418::setParameter() OdomFovis/StereoRequireMutualMatch=true [DEBUG] (2017-08-26 21:09:36.749) PreferencesDialog.cpp:3418::setParameter() OdomFovis/TargetPixelsPerFeature=250 [DEBUG] (2017-08-26 21:09:36.749) PreferencesDialog.cpp:3418::setParameter() OdomFovis/UpdateTargetFeaturesWithRefined=false [DEBUG] (2017-08-26 21:09:36.750) PreferencesDialog.cpp:3418::setParameter() OdomFovis/UseAdaptiveThreshold=true [DEBUG] (2017-08-26 21:09:36.750) PreferencesDialog.cpp:3418::setParameter() OdomFovis/UseBucketing=true [DEBUG] (2017-08-26 21:09:36.750) PreferencesDialog.cpp:3418::setParameter() OdomFovis/UseHomographyInitialization=true [DEBUG] (2017-08-26 21:09:36.751) PreferencesDialog.cpp:3418::setParameter() OdomFovis/UseImageNormalization=false [DEBUG] (2017-08-26 21:09:36.751) PreferencesDialog.cpp:3418::setParameter() OdomFovis/UseSubpixelRefinement=true [DEBUG] (2017-08-26 21:09:36.751) PreferencesDialog.cpp:3418::setParameter() OdomMono/InitMinFlow=100 [DEBUG] (2017-08-26 21:09:36.751) PreferencesDialog.cpp:3418::setParameter() OdomMono/InitMinTranslation=0.1 [DEBUG] (2017-08-26 21:09:36.751) PreferencesDialog.cpp:3418::setParameter() OdomMono/MaxVariance=0.01 [DEBUG] (2017-08-26 21:09:36.752) PreferencesDialog.cpp:3418::setParameter() OdomMono/MinTranslation=0.02 [DEBUG] (2017-08-26 21:09:36.752) PreferencesDialog.cpp:3418::setParameter() OdomORBSLAM2/Bf=0.076 [DEBUG] (2017-08-26 21:09:36.752) PreferencesDialog.cpp:3418::setParameter() OdomORBSLAM2/ThDepth=40.0 [DEBUG] (2017-08-26 21:09:36.753) PreferencesDialog.cpp:3418::setParameter() OdomORBSLAM2/VocPath= [DEBUG] (2017-08-26 21:09:36.753) PreferencesDialog.cpp:3418::setParameter() OdomViso2/BucketHeight=50 [DEBUG] (2017-08-26 21:09:36.754) PreferencesDialog.cpp:3418::setParameter() OdomViso2/BucketMaxFeatures=2 [DEBUG] (2017-08-26 21:09:36.754) PreferencesDialog.cpp:3418::setParameter() OdomViso2/BucketWidth=50 [DEBUG] (2017-08-26 21:09:36.754) PreferencesDialog.cpp:3418::setParameter() OdomViso2/InlierThreshold=2.0 [DEBUG] (2017-08-26 21:09:36.754) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchBinsize=50 [DEBUG] (2017-08-26 21:09:36.755) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchDispTolerance=2 [DEBUG] (2017-08-26 21:09:36.755) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchHalfResolution=true [DEBUG] (2017-08-26 21:09:36.755) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchMultiStage=true [DEBUG] (2017-08-26 21:09:36.755) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchNmsN=3 [DEBUG] (2017-08-26 21:09:36.755) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchNmsTau=50 [DEBUG] (2017-08-26 21:09:36.755) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchOutlierDispTolerance=5 [DEBUG] (2017-08-26 21:09:36.756) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchOutlierFlowTolerance=5 [DEBUG] (2017-08-26 21:09:36.756) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchRadius=200 [DEBUG] (2017-08-26 21:09:36.756) PreferencesDialog.cpp:3418::setParameter() OdomViso2/MatchRefinement=1 [DEBUG] (2017-08-26 21:09:36.756) PreferencesDialog.cpp:3418::setParameter() OdomViso2/RansacIters=200 [DEBUG] (2017-08-26 21:09:36.757) PreferencesDialog.cpp:3418::setParameter() OdomViso2/Reweighting=true [DEBUG] (2017-08-26 21:09:36.757) PreferencesDialog.cpp:3418::setParameter() Optimizer/Epsilon=0 [DEBUG] (2017-08-26 21:09:36.757) PreferencesDialog.cpp:3418::setParameter() Optimizer/Iterations=20 [DEBUG] (2017-08-26 21:09:36.757) PreferencesDialog.cpp:3418::setParameter() Optimizer/Robust=false [DEBUG] (2017-08-26 21:09:36.758) PreferencesDialog.cpp:3418::setParameter() Optimizer/Strategy=1 [DEBUG] (2017-08-26 21:09:36.758) PreferencesDialog.cpp:3418::setParameter() Optimizer/VarianceIgnored=false [DEBUG] (2017-08-26 21:09:36.759) PreferencesDialog.cpp:3418::setParameter() RGBD/AngularUpdate=0.1 [DEBUG] (2017-08-26 21:09:36.760) PreferencesDialog.cpp:3418::setParameter() RGBD/CreateOccupancyGrid=false [DEBUG] (2017-08-26 21:09:36.761) PreferencesDialog.cpp:3418::setParameter() RGBD/Enabled=true [DEBUG] (2017-08-26 21:09:36.762) PreferencesDialog.cpp:3418::setParameter() RGBD/GoalReachedRadius=0.5 [DEBUG] (2017-08-26 21:09:36.762) PreferencesDialog.cpp:3418::setParameter() RGBD/GoalsSavedInUserData=false [DEBUG] (2017-08-26 21:09:36.763) PreferencesDialog.cpp:3418::setParameter() RGBD/LinearUpdate=0.1 [DEBUG] (2017-08-26 21:09:36.764) PreferencesDialog.cpp:3418::setParameter() RGBD/LocalImmunizationRatio=0.25 [DEBUG] (2017-08-26 21:09:36.765) PreferencesDialog.cpp:3418::setParameter() RGBD/LocalRadius=10 [DEBUG] (2017-08-26 21:09:36.766) PreferencesDialog.cpp:3418::setParameter() RGBD/LoopClosureReextractFeatures=false [DEBUG] (2017-08-26 21:09:36.767) PreferencesDialog.cpp:3418::setParameter() RGBD/MaxLocalRetrieved=2 [DEBUG] (2017-08-26 21:09:36.768) PreferencesDialog.cpp:3418::setParameter() RGBD/NeighborLinkRefining=false [DEBUG] (2017-08-26 21:09:36.769) PreferencesDialog.cpp:3418::setParameter() RGBD/NewMapOdomChangeDistance=0 [DEBUG] (2017-08-26 21:09:36.771) PreferencesDialog.cpp:3418::setParameter() RGBD/OptimizeFromGraphEnd=false [DEBUG] (2017-08-26 21:09:36.772) PreferencesDialog.cpp:3418::setParameter() RGBD/OptimizeMaxError=1 [DEBUG] (2017-08-26 21:09:36.773) PreferencesDialog.cpp:3418::setParameter() RGBD/PlanAngularVelocity=0 [DEBUG] (2017-08-26 21:09:36.773) PreferencesDialog.cpp:3418::setParameter() RGBD/PlanLinearVelocity=0 [DEBUG] (2017-08-26 21:09:36.774) PreferencesDialog.cpp:3418::setParameter() RGBD/PlanStuckIterations=0 [DEBUG] (2017-08-26 21:09:36.775) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityAngle=45 [DEBUG] (2017-08-26 21:09:36.776) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityBySpace=true [DEBUG] (2017-08-26 21:09:36.777) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityByTime=false [DEBUG] (2017-08-26 21:09:36.778) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityMaxGraphDepth=50 [DEBUG] (2017-08-26 21:09:36.779) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:36.780) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityPathFilteringRadius=0.5 [DEBUG] (2017-08-26 21:09:36.781) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityPathMaxNeighbors=0 [DEBUG] (2017-08-26 21:09:36.782) PreferencesDialog.cpp:3418::setParameter() RGBD/ProximityPathRawPosesUsed=true [DEBUG] (2017-08-26 21:09:36.783) PreferencesDialog.cpp:3418::setParameter() RGBD/ScanMatchingIdsSavedInLinks=true [DEBUG] (2017-08-26 21:09:36.785) PreferencesDialog.cpp:3418::setParameter() Reg/Force3DoF=false [DEBUG] (2017-08-26 21:09:36.785) PreferencesDialog.cpp:3418::setParameter() Reg/Strategy=0 [DEBUG] (2017-08-26 21:09:36.785) PreferencesDialog.cpp:3418::setParameter() Reg/VarianceFromInliersCount=false [DEBUG] (2017-08-26 21:09:36.787) PreferencesDialog.cpp:3418::setParameter() Reg/VarianceNormalized=false [DEBUG] (2017-08-26 21:09:36.787) PreferencesDialog.cpp:3418::setParameter() Rtabmap/CreateIntermediateNodes=false [DEBUG] (2017-08-26 21:09:36.789) PreferencesDialog.cpp:3418::setParameter() Rtabmap/DetectionRate=1 [DEBUG] (2017-08-26 21:09:36.790) PreferencesDialog.cpp:3418::setParameter() Rtabmap/ImageBufferSize=1 [DEBUG] (2017-08-26 21:09:36.792) PreferencesDialog.cpp:3418::setParameter() Rtabmap/LoopRatio=0 [DEBUG] (2017-08-26 21:09:36.794) PreferencesDialog.cpp:3418::setParameter() Rtabmap/LoopThr=0.11 [DEBUG] (2017-08-26 21:09:36.796) PreferencesDialog.cpp:3418::setParameter() Rtabmap/MaxRetrieved=2 [DEBUG] (2017-08-26 21:09:36.797) PreferencesDialog.cpp:3418::setParameter() Rtabmap/MemoryThr=0 [DEBUG] (2017-08-26 21:09:36.799) PreferencesDialog.cpp:3418::setParameter() Rtabmap/PublishLastSignature=true [DEBUG] (2017-08-26 21:09:36.801) PreferencesDialog.cpp:3418::setParameter() Rtabmap/PublishLikelihood=true [DEBUG] (2017-08-26 21:09:36.802) PreferencesDialog.cpp:3418::setParameter() Rtabmap/PublishPdf=true [DEBUG] (2017-08-26 21:09:36.804) PreferencesDialog.cpp:3418::setParameter() Rtabmap/PublishStats=true [DEBUG] (2017-08-26 21:09:36.806) PreferencesDialog.cpp:3418::setParameter() Rtabmap/StartNewMapOnLoopClosure=false [DEBUG] (2017-08-26 21:09:36.807) PreferencesDialog.cpp:3418::setParameter() Rtabmap/StatisticLogged=false [DEBUG] (2017-08-26 21:09:36.809) PreferencesDialog.cpp:3418::setParameter() Rtabmap/StatisticLoggedHeaders=true [DEBUG] (2017-08-26 21:09:36.811) PreferencesDialog.cpp:3418::setParameter() Rtabmap/StatisticLogsBufferedInRAM=true [DEBUG] (2017-08-26 21:09:36.812) PreferencesDialog.cpp:3418::setParameter() Rtabmap/TimeThr=0 [DEBUG] (2017-08-26 21:09:36.814) PreferencesDialog.cpp:3418::setParameter() Rtabmap/WorkingDirectory=/home/vlad/Documents/RTAB-Map [DEBUG] (2017-08-26 21:09:36.816) PreferencesDialog.cpp:3418::setParameter() SIFT/ContrastThreshold=0.04 [DEBUG] (2017-08-26 21:09:36.816) PreferencesDialog.cpp:3418::setParameter() SIFT/EdgeThreshold=10 [DEBUG] (2017-08-26 21:09:36.816) PreferencesDialog.cpp:3418::setParameter() SIFT/NFeatures=0 [DEBUG] (2017-08-26 21:09:36.816) PreferencesDialog.cpp:3418::setParameter() SIFT/NOctaveLayers=3 [DEBUG] (2017-08-26 21:09:36.816) PreferencesDialog.cpp:3418::setParameter() SIFT/Sigma=1.6 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/Extended=false [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/GpuKeypointsRatio=0.01 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/GpuVersion=false [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/HessianThreshold=500 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/OctaveLayers=2 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/Octaves=4 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() SURF/Upright=false [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() Stereo/Eps=0.01 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() Stereo/Iterations=30 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() Stereo/MaxDisparity=128 [DEBUG] (2017-08-26 21:09:36.817) PreferencesDialog.cpp:3418::setParameter() Stereo/MaxLevel=3 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() Stereo/MinDisparity=1 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() Stereo/OpticalFlow=true [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() Stereo/SSD=true [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() Stereo/WinHeight=3 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() Stereo/WinWidth=15 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() StereoBM/BlockSize=15 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() StereoBM/MinDisparity=0 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() StereoBM/NumDisparities=128 [DEBUG] (2017-08-26 21:09:36.818) PreferencesDialog.cpp:3418::setParameter() StereoBM/PreFilterCap=31 [DEBUG] (2017-08-26 21:09:36.819) PreferencesDialog.cpp:3418::setParameter() StereoBM/PreFilterSize=9 [DEBUG] (2017-08-26 21:09:36.819) PreferencesDialog.cpp:3418::setParameter() StereoBM/SpeckleRange=4 [DEBUG] (2017-08-26 21:09:36.819) PreferencesDialog.cpp:3418::setParameter() StereoBM/SpeckleWindowSize=100 [DEBUG] (2017-08-26 21:09:36.819) PreferencesDialog.cpp:3418::setParameter() StereoBM/TextureThreshold=10 [DEBUG] (2017-08-26 21:09:36.819) PreferencesDialog.cpp:3418::setParameter() StereoBM/UniquenessRatio=15 [DEBUG] (2017-08-26 21:09:36.819) PreferencesDialog.cpp:3418::setParameter() VhEp/Enabled=false [DEBUG] (2017-08-26 21:09:36.820) PreferencesDialog.cpp:3418::setParameter() VhEp/MatchCountMin=8 [DEBUG] (2017-08-26 21:09:36.821) PreferencesDialog.cpp:3418::setParameter() VhEp/RansacParam1=3 [DEBUG] (2017-08-26 21:09:36.823) PreferencesDialog.cpp:3418::setParameter() VhEp/RansacParam2=0.99 [DEBUG] (2017-08-26 21:09:36.824) PreferencesDialog.cpp:3418::setParameter() Vis/BundleAdjustment=0 [DEBUG] (2017-08-26 21:09:36.826) PreferencesDialog.cpp:3418::setParameter() Vis/CorFlowEps=0.01 [DEBUG] (2017-08-26 21:09:36.828) PreferencesDialog.cpp:3418::setParameter() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:09:36.830) PreferencesDialog.cpp:3418::setParameter() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:09:36.833) PreferencesDialog.cpp:3418::setParameter() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:09:36.835) PreferencesDialog.cpp:3418::setParameter() Vis/CorGuessWinSize=20 [DEBUG] (2017-08-26 21:09:36.837) PreferencesDialog.cpp:3418::setParameter() Vis/CorNNDR=0.6 [DEBUG] (2017-08-26 21:09:36.839) PreferencesDialog.cpp:3418::setParameter() Vis/CorNNType=1 [DEBUG] (2017-08-26 21:09:36.841) PreferencesDialog.cpp:3418::setParameter() Vis/CorType=0 [DEBUG] (2017-08-26 21:09:36.843) PreferencesDialog.cpp:3418::setParameter() Vis/EpipolarGeometryVar=0.02 [DEBUG] (2017-08-26 21:09:36.845) PreferencesDialog.cpp:3418::setParameter() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:09:36.848) PreferencesDialog.cpp:3418::setParameter() Vis/FeatureType=6 [DEBUG] (2017-08-26 21:09:36.850) PreferencesDialog.cpp:3418::setParameter() Vis/ForwardEstOnly=true [DEBUG] (2017-08-26 21:09:36.852) PreferencesDialog.cpp:3418::setParameter() Vis/InlierDistance=0.1 [DEBUG] (2017-08-26 21:09:36.854) PreferencesDialog.cpp:3418::setParameter() Vis/Iterations=100 [DEBUG] (2017-08-26 21:09:36.856) PreferencesDialog.cpp:3418::setParameter() Vis/MaxDepth=0 [DEBUG] (2017-08-26 21:09:36.858) PreferencesDialog.cpp:3418::setParameter() Vis/MaxFeatures=1000 [DEBUG] (2017-08-26 21:09:36.861) PreferencesDialog.cpp:3418::setParameter() Vis/MinDepth=0 [DEBUG] (2017-08-26 21:09:36.863) PreferencesDialog.cpp:3418::setParameter() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:09:36.865) PreferencesDialog.cpp:3418::setParameter() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:09:36.867) PreferencesDialog.cpp:3418::setParameter() Vis/PnPRefineIterations=1 [DEBUG] (2017-08-26 21:09:36.869) PreferencesDialog.cpp:3418::setParameter() Vis/PnPReprojError=2 [DEBUG] (2017-08-26 21:09:36.872) PreferencesDialog.cpp:3418::setParameter() Vis/RefineIterations=5 [DEBUG] (2017-08-26 21:09:36.874) PreferencesDialog.cpp:3418::setParameter() Vis/RoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-08-26 21:09:36.876) PreferencesDialog.cpp:3418::setParameter() Vis/SubPixEps=0.02 [DEBUG] (2017-08-26 21:09:36.878) PreferencesDialog.cpp:3418::setParameter() Vis/SubPixIterations=0 [DEBUG] (2017-08-26 21:09:36.881) PreferencesDialog.cpp:3418::setParameter() Vis/SubPixWinSize=3 [DEBUG] (2017-08-26 21:09:36.883) PreferencesDialog.cpp:3418::setParameter() g2o/Baseline=0.075 [DEBUG] (2017-08-26 21:09:36.883) PreferencesDialog.cpp:3418::setParameter() g2o/Optimizer=0 [DEBUG] (2017-08-26 21:09:36.883) PreferencesDialog.cpp:3418::setParameter() g2o/PixelVariance=1 [DEBUG] (2017-08-26 21:09:36.884) PreferencesDialog.cpp:3418::setParameter() g2o/RobustKernelDelta=8 [DEBUG] (2017-08-26 21:09:36.884) PreferencesDialog.cpp:3418::setParameter() g2o/Solver=0 [DEBUG] (2017-08-26 21:09:43.993) PreferencesDialog.cpp:2055::writeSettings() _obsoletePanels=8 modified parameters=0 [DEBUG] (2017-08-26 21:09:43.993) MainWindow.cpp:3670::applyPrefSettings() [DEBUG] (2017-08-26 21:09:44.627) PreferencesDialog.cpp:1267::closeDialog() [DEBUG] (2017-08-26 21:09:46.633) MainWindow.cpp:4386::startDetection() [DEBUG] (2017-08-26 21:09:46.633) MainWindow.cpp:4456::startDetection() [DEBUG] (2017-08-26 21:09:46.634) PreferencesDialog.cpp:4617::createCamera() [DEBUG] (2017-08-26 21:09:46.634) CameraRGBD.cpp:2000::CameraRealSense() [DEBUG] (2017-08-26 21:09:46.634) PreferencesDialog.cpp:4898::createCamera() Init [DEBUG] (2017-08-26 21:09:46.634) CameraRGBD.cpp:2066::init() [DEBUG] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2093::init() [DEBUG] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2100::init() [ INFO] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2108::init() Using device 0, an Intel RealSense ZR300 [ INFO] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2109::init() Serial number: 3511803640 [ INFO] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2110::init() Firmware version: 2.0.71.28 [ INFO] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2111::init() Preset RGB: 0 [ INFO] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2112::init() Preset Depth: 2 [ INFO] (2017-08-26 21:09:47.005) CameraRGBD.cpp:2125::init() Enabling streams... [ INFO] (2017-08-26 21:09:47.006) CameraRGBD.cpp:2135::init() RGB: 640x480 [ INFO] (2017-08-26 21:09:47.006) CameraRGBD.cpp:2136::init() Depth: 320x240 [DEBUG] (2017-08-26 21:09:47.006) CameraRGBD.cpp:2139::init() Setup frame callback [ INFO] (2017-08-26 21:09:47.006) CameraRGBD.cpp:2259::init() Fish: 640x480 [DEBUG] (2017-08-26 21:09:47.006) CameraRGBD.cpp:2267::init() Setup motion callback [ INFO] (2017-08-26 21:09:47.006) CameraRGBD.cpp:2311::init() enabled accel and gyro stream [DEBUG] (2017-08-26 21:09:47.007) CameraRGBD.cpp:2327::init() Setup SLAM [DEBUG] (2017-08-26 21:09:47.007) CameraRGBD.cpp:2366::init() Set SLAM config [ INFO] (2017-08-26 21:09:49.764) CameraRGBD.cpp:2392::init() Enabling streams...done! [DEBUG] (2017-08-26 21:09:49.765) PreferencesDialog.cpp:4943::createCamera() [DEBUG] (2017-08-26 21:09:49.765) RtabmapThread.cpp:461::handleEvent() CMD_CLEAN_DATA_BUFFER [DEBUG] (2017-08-26 21:09:49.765) RtabmapThread.cpp:71::pushNewState() to 9 [DEBUG] (2017-08-26 21:09:49.765) RtabmapThread.cpp:478::handleEvent() CMD_TRIGGER_NEW_MAP [DEBUG] (2017-08-26 21:09:49.765) RtabmapThread.cpp:71::pushNewState() to 11 [ INFO] (2017-08-26 21:09:49.765) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:49.765) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:49.765) Rtabmap.cpp:641::triggerNewMap() New map triggered, new map = 0 [DEBUG] (2017-08-26 21:09:49.765) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:49.765) RtabmapThread.cpp:654::getData() waiting for data [ INFO] (2017-08-26 21:09:49.765) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:49.765) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:49.765) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:49.766) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.790) Camera.cpp:100::takeImage() Time capturing image = 0.024126s [DEBUG] (2017-08-26 21:09:49.791) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:49.791) RtabmapThread.cpp:630::addData() Added data 1 [ INFO] (2017-08-26 21:09:49.791) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:49.791) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:49.791) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:49.791) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:49.791) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:49.791) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:49.791) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:49.791) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2017-08-26 21:09:49.792) Memory.cpp:608::update() time preUpdate=0.071049 ms [DEBUG] (2017-08-26 21:09:49.792) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:49.792) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:09:49.792) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.804) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:49.804) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:09:49.804) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:09:49.804) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:49.813) Camera.cpp:100::takeImage() Time capturing image = 0.021324s [DEBUG] (2017-08-26 21:09:49.814) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.814) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.820) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:49.820) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:49.821) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.000885,-0.001334,-0.004628 rpy=-0.389504,-1.521865,0.195351 [DEBUG] (2017-08-26 21:09:49.821) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:49.822) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:49.825) Camera.cpp:100::takeImage() Time capturing image = 0.010974s [DEBUG] (2017-08-26 21:09:49.825) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.825) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.826) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:49.826) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:49.826) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:49.836) Camera.cpp:100::takeImage() Time capturing image = 0.011301s [DEBUG] (2017-08-26 21:09:49.836) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.847) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.869) Camera.cpp:100::takeImage() Time capturing image = 0.032818s [DEBUG] (2017-08-26 21:09:49.869) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.869) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.884) Camera.cpp:100::takeImage() Time capturing image = 0.014350s [DEBUG] (2017-08-26 21:09:49.884) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.884) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.894) Camera.cpp:100::takeImage() Time capturing image = 0.010593s [DEBUG] (2017-08-26 21:09:49.895) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.895) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.896) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.069391 s, keypoints extracted = 5 (mask empty=0) [DEBUG] (2017-08-26 21:09:49.896) Memory.cpp:3409::createSignature() time keypoints (5) = 0.104353s [DEBUG] (2017-08-26 21:09:49.898) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 5, remaining kpts=5 [DEBUG] (2017-08-26 21:09:49.898) Memory.cpp:3414::createSignature() time descriptors (5) = 0.001831s [DEBUG] (2017-08-26 21:09:49.898) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=0 [DEBUG] (2017-08-26 21:09:49.898) Memory.cpp:3427::createSignature() time keypoints 3D (5) = 0.000148s [DEBUG] (2017-08-26 21:09:49.898) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:49.898) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:49.898) Memory.cpp:3539::createSignature() time descriptor and memory update (5 of size=64) = 0.000179s [DEBUG] (2017-08-26 21:09:49.898) VWDictionary.cpp:593::addNewWords() id=1 descriptors=5 [DEBUG] (2017-08-26 21:09:49.899) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000599 s [DEBUG] (2017-08-26 21:09:49.899) VWDictionary.cpp:874::addNewWords() 2 new words added... [DEBUG] (2017-08-26 21:09:49.899) VWDictionary.cpp:876::addNewWords() 3 duplicated words added (from current image = 3)... [DEBUG] (2017-08-26 21:09:49.899) VWDictionary.cpp:877::addNewWords() total time 0.000707s [DEBUG] (2017-08-26 21:09:49.899) Memory.cpp:3599::createSignature() time addNewWords 0.000781s indexed=0 not=2 [DEBUG] (2017-08-26 21:09:49.899) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:49.905) Camera.cpp:100::takeImage() Time capturing image = 0.010366s [DEBUG] (2017-08-26 21:09:49.905) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.905) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:3897::createSignature() time compressing data (id=1) 0.018051s [DEBUG] (2017-08-26 21:09:49.917) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:626::update() time creating signature=125.600815 ms [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:711::addSignatureToStm() adding 1 [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:2019::getSignatureIdByLabel() label=map0 [ INFO] (2017-08-26 21:09:49.917) Memory.cpp:762::addSignatureToStm() Tagging node 1 with label "map0" [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:773::addSignatureToStm() 5 words ref for the signature 1 [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:781::addSignatureToStm() time = 0.000100s [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:647::update() time rehearsal=0.172138 ms [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:700::update() totalTimer = 0.125871s [DEBUG] (2017-08-26 21:09:49.917) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:49.917) Rtabmap.cpp:1002::process() Processing signature 1 w=0 [ INFO] (2017-08-26 21:09:49.917) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.126137s [DEBUG] (2017-08-26 21:09:49.917) Rtabmap.cpp:1158::process() Added pose xyz=0.000885,-0.001334,-0.004628 rpy=-0.389504,-1.521865,0.195351 (odom=xyz=0.000885,-0.001334,-0.004628 rpy=-0.389504,-1.521865,0.195351) [ INFO] (2017-08-26 21:09:49.917) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000127s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:49.918) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:49.918) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000047 s [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000018s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000184s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:228::generatePrediction() [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:251::generatePrediction() _predictionLC.size()=18 [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:337::generatePrediction() time = 0.000026s [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000068s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000187s [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000025s [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:49.918) BayesFilter.cpp:216::computePosterior() normalize time=0.000039s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000420s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000050s [DEBUG] (2017-08-26 21:09:49.918) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:49.918) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000000s, joining (actual overhead) = 0.000063s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1721::process() near nodes=0, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1807::process() timeReactivations=0.000052s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000021s [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:1899::process() nearestIds=1/1 [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:49.918) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000132s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:2307::process() timeMapOptimization=0.000022s [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:49.918) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:49.919) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:49.919) Rtabmap.cpp:2430::process() Time creating stats = 0.000158... [DEBUG] (2017-08-26 21:09:49.919) Memory.cpp:2187::removeRawData() id=1 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:49.919) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:49.919) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000149s... 0 signatures removed [ INFO] (2017-08-26 21:09:49.919) Rtabmap.cpp:2500::process() Total time processing = 0.127537s... [ INFO] (2017-08-26 21:09:49.919) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000041... [ INFO] (2017-08-26 21:09:49.919) Rtabmap.cpp:2624::process() Adding data 1 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:49.919) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:49.919) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:49.919) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:49.919) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 1 [DEBUG] (2017-08-26 21:09:49.919) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:49.919) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:49.920) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001007s [DEBUG] (2017-08-26 21:09:49.920) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:49.920) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:49.920) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:49.920) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000147s... [DEBUG] (2017-08-26 21:09:49.920) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:49.921) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:49.921) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:49.921) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:49.923) Camera.cpp:100::takeImage() Time capturing image = 0.017696s [DEBUG] (2017-08-26 21:09:49.923) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.923) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.936) Camera.cpp:100::takeImage() Time capturing image = 0.012324s [DEBUG] (2017-08-26 21:09:49.936) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.936) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.938) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:49.939) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:49.939) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.000683,-0.001290,-0.005043 rpy=-0.387608,-1.521669,0.193491 [DEBUG] (2017-08-26 21:09:49.953) Camera.cpp:100::takeImage() Time capturing image = 0.017151s [DEBUG] (2017-08-26 21:09:49.953) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.953) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.959) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:49.959) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:49.969) Camera.cpp:100::takeImage() Time capturing image = 0.015933s [DEBUG] (2017-08-26 21:09:49.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.974) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:49.974) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:49.975) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.000368,-0.001316,-0.005393 rpy=-0.387513,-1.521369,0.193486 [DEBUG] (2017-08-26 21:09:49.986) Camera.cpp:100::takeImage() Time capturing image = 0.017083s [DEBUG] (2017-08-26 21:09:49.986) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:49.986) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:49.993) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:49.993) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:49.994) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.000081,-0.001393,-0.005748 rpy=-0.388878,-1.521135,0.194935 [DEBUG] (2017-08-26 21:09:50.002) Camera.cpp:100::takeImage() Time capturing image = 0.015906s [DEBUG] (2017-08-26 21:09:50.002) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.002) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.012) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.012) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.019) Camera.cpp:100::takeImage() Time capturing image = 0.016683s [DEBUG] (2017-08-26 21:09:50.019) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.019) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.028) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.028) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.036) Camera.cpp:100::takeImage() Time capturing image = 0.016453s [DEBUG] (2017-08-26 21:09:50.036) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.036) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.053) Camera.cpp:100::takeImage() Time capturing image = 0.016823s [DEBUG] (2017-08-26 21:09:50.053) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.053) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.060) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:09:50.060) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:09:50.060) SensorData.cpp:557::uncompressData() 1 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:50.060) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:50.070) Camera.cpp:100::takeImage() Time capturing image = 0.016797s [DEBUG] (2017-08-26 21:09:50.070) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.070) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.073) MainWindow.cpp:1632::processStats() time= 13 ms [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:1676::processStats() time= 8 ms [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 5 [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:3838::drawKeypoints() source time = 0.000152 s [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000018 s [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:09:50.081) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:50.086) Camera.cpp:100::takeImage() Time capturing image = 0.015844s [DEBUG] (2017-08-26 21:09:50.086) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.086) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.102) Camera.cpp:100::takeImage() Time capturing image = 0.015511s [DEBUG] (2017-08-26 21:09:50.102) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.102) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.119) Camera.cpp:100::takeImage() Time capturing image = 0.017012s [DEBUG] (2017-08-26 21:09:50.119) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.119) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.131) MainWindow.cpp:1715::processStats() time= 50 ms [DEBUG] (2017-08-26 21:09:50.131) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:50.131) MainWindow.cpp:1912::updateMapCloud() posesIn=1 constraints=0 mapIdsIn=1 labelsIn=1 [DEBUG] (2017-08-26 21:09:50.131) MainWindow.cpp:1991::updateMapCloud() Update map with 1 locations [DEBUG] (2017-08-26 21:09:50.131) SensorData.cpp:557::uncompressData() 1 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:50.131) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:09:50.131) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:50.132) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:09:50.133) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:50.135) Camera.cpp:100::takeImage() Time capturing image = 0.016601s [DEBUG] (2017-08-26 21:09:50.136) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.136) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.152) Camera.cpp:100::takeImage() Time capturing image = 0.016593s [DEBUG] (2017-08-26 21:09:50.152) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.153) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.158) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:09:50.159) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.001094s [DEBUG] (2017-08-26 21:09:50.159) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:09:50.159) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:09:50.159) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:09:50.159) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:09:50.159) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:09:50.160) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:09:50.160) MainWindow.cpp:1796::processStats() time= 29 ms [DEBUG] (2017-08-26 21:09:50.166) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:09:50.166) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:09:50.166) MainWindow.cpp:1874::processStats() Updating GUI time = 0.106000s [DEBUG] (2017-08-26 21:09:50.169) Camera.cpp:100::takeImage() Time capturing image = 0.016643s [DEBUG] (2017-08-26 21:09:50.169) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.169) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.180) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.180) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.181) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000175,-0.001609,-0.006223 rpy=-0.391533,-1.520952,0.197695 [DEBUG] (2017-08-26 21:09:50.186) Camera.cpp:100::takeImage() Time capturing image = 0.016418s [DEBUG] (2017-08-26 21:09:50.186) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.186) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.202) Camera.cpp:100::takeImage() Time capturing image = 0.016181s [DEBUG] (2017-08-26 21:09:50.202) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.202) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.217) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.217) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.223) Camera.cpp:100::takeImage() Time capturing image = 0.020646s [DEBUG] (2017-08-26 21:09:50.223) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.223) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.235) Camera.cpp:100::takeImage() Time capturing image = 0.012071s [DEBUG] (2017-08-26 21:09:50.235) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.245) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.245) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.246) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000383,-0.001824,-0.006624 rpy=-0.395862,-1.520752,0.202142 [DEBUG] (2017-08-26 21:09:50.252) Camera.cpp:100::takeImage() Time capturing image = 0.016665s [DEBUG] (2017-08-26 21:09:50.252) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.252) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.268) Camera.cpp:100::takeImage() Time capturing image = 0.016242s [DEBUG] (2017-08-26 21:09:50.269) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.269) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.272) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.272) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.287) Camera.cpp:100::takeImage() Time capturing image = 0.017930s [DEBUG] (2017-08-26 21:09:50.287) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.287) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.301) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.301) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.302) Camera.cpp:100::takeImage() Time capturing image = 0.015117s [DEBUG] (2017-08-26 21:09:50.302) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000413,-0.001990,-0.006963 rpy=-0.402024,-1.520551,0.208357 [DEBUG] (2017-08-26 21:09:50.302) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.302) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.320) Camera.cpp:100::takeImage() Time capturing image = 0.017417s [DEBUG] (2017-08-26 21:09:50.320) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.320) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.330) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.330) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.335) Camera.cpp:100::takeImage() Time capturing image = 0.015302s [DEBUG] (2017-08-26 21:09:50.335) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.335) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.352) Camera.cpp:100::takeImage() Time capturing image = 0.017039s [DEBUG] (2017-08-26 21:09:50.352) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.353) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.357) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.357) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.358) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000603,-0.002193,-0.007354 rpy=-0.402396,-1.520198,0.208729 [DEBUG] (2017-08-26 21:09:50.369) Camera.cpp:100::takeImage() Time capturing image = 0.015996s [DEBUG] (2017-08-26 21:09:50.369) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.369) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.386) Camera.cpp:100::takeImage() Time capturing image = 0.016852s [DEBUG] (2017-08-26 21:09:50.386) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.386) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.402) Camera.cpp:100::takeImage() Time capturing image = 0.016234s [DEBUG] (2017-08-26 21:09:50.402) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.402) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.415) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.416) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.417) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000738,-0.002371,-0.007624 rpy=-0.404892,-1.519919,0.211246 [DEBUG] (2017-08-26 21:09:50.422) Camera.cpp:100::takeImage() Time capturing image = 0.019716s [DEBUG] (2017-08-26 21:09:50.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.422) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.435) Camera.cpp:100::takeImage() Time capturing image = 0.012878s [DEBUG] (2017-08-26 21:09:50.435) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.435) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.446) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.446) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.454) Camera.cpp:100::takeImage() Time capturing image = 0.018867s [DEBUG] (2017-08-26 21:09:50.454) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.454) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.468) Camera.cpp:100::takeImage() Time capturing image = 0.013991s [DEBUG] (2017-08-26 21:09:50.468) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.468) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.475) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.475) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.476) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000835,-0.002514,-0.007795 rpy=-0.407490,-1.519659,0.213873 [DEBUG] (2017-08-26 21:09:50.486) Camera.cpp:100::takeImage() Time capturing image = 0.017590s [DEBUG] (2017-08-26 21:09:50.486) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.486) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.502) Camera.cpp:100::takeImage() Time capturing image = 0.015505s [DEBUG] (2017-08-26 21:09:50.502) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.502) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.504) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.504) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.520) Camera.cpp:100::takeImage() Time capturing image = 0.018308s [DEBUG] (2017-08-26 21:09:50.520) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.520) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.532) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.532) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.533) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000807,-0.002755,-0.007950 rpy=-0.414597,-1.519518,0.221005 [DEBUG] (2017-08-26 21:09:50.535) Camera.cpp:100::takeImage() Time capturing image = 0.014842s [DEBUG] (2017-08-26 21:09:50.535) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.535) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.555) Camera.cpp:100::takeImage() Time capturing image = 0.019622s [DEBUG] (2017-08-26 21:09:50.555) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.555) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.562) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.562) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.568) Camera.cpp:100::takeImage() Time capturing image = 0.012818s [DEBUG] (2017-08-26 21:09:50.568) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.568) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.589) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.589) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.590) Camera.cpp:100::takeImage() Time capturing image = 0.021518s [DEBUG] (2017-08-26 21:09:50.590) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.590) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.602) Camera.cpp:100::takeImage() Time capturing image = 0.011263s [DEBUG] (2017-08-26 21:09:50.602) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.602) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.618) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.618) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.619) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000887,-0.003056,-0.008171 rpy=-0.423515,-1.519548,0.230007 [DEBUG] (2017-08-26 21:09:50.622) Camera.cpp:100::takeImage() Time capturing image = 0.020626s [DEBUG] (2017-08-26 21:09:50.623) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.623) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.635) Camera.cpp:100::takeImage() Time capturing image = 0.012232s [DEBUG] (2017-08-26 21:09:50.635) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.635) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.647) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.648) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.654) Camera.cpp:100::takeImage() Time capturing image = 0.018757s [DEBUG] (2017-08-26 21:09:50.654) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.654) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.668) Camera.cpp:100::takeImage() Time capturing image = 0.013959s [DEBUG] (2017-08-26 21:09:50.668) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.668) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.676) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.676) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.677) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001009,-0.003526,-0.008693 rpy=-0.431411,-1.519792,0.237922 [DEBUG] (2017-08-26 21:09:50.685) Camera.cpp:100::takeImage() Time capturing image = 0.017007s [DEBUG] (2017-08-26 21:09:50.685) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.685) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.701) Camera.cpp:100::takeImage() Time capturing image = 0.015819s [DEBUG] (2017-08-26 21:09:50.701) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.701) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.704) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001275,-0.003979,-0.009275 rpy=-0.434360,-1.519908,0.240924 [DEBUG] (2017-08-26 21:09:50.719) Camera.cpp:100::takeImage() Time capturing image = 0.017457s [DEBUG] (2017-08-26 21:09:50.719) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.719) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.732) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.732) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.734) Camera.cpp:100::takeImage() Time capturing image = 0.015534s [DEBUG] (2017-08-26 21:09:50.735) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.735) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.752) Camera.cpp:100::takeImage() Time capturing image = 0.016924s [DEBUG] (2017-08-26 21:09:50.752) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.752) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.761) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.761) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.762) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001588,-0.004480,-0.009964 rpy=-0.436818,-1.520025,0.243458 [DEBUG] (2017-08-26 21:09:50.768) Camera.cpp:100::takeImage() Time capturing image = 0.016050s [DEBUG] (2017-08-26 21:09:50.768) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.768) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.785) Camera.cpp:100::takeImage() Time capturing image = 0.017172s [DEBUG] (2017-08-26 21:09:50.785) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.785) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.790) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.790) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.791) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:50.791) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:50.801) Camera.cpp:100::takeImage() Time capturing image = 0.015719s [DEBUG] (2017-08-26 21:09:50.801) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.801) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:50.801) RtabmapThread.cpp:630::addData() Added data 62 [ INFO] (2017-08-26 21:09:50.801) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:50.801) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:50.801) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:50.802) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=2)... [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:608::update() time preUpdate=0.106096 ms [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:50.802) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:09:50.802) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:50.803) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:50.803) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:50.803) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:50.803) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 2 words... [DEBUG] (2017-08-26 21:09:50.803) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:09:50.803) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:09:50.804) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 2 words... done! [DEBUG] (2017-08-26 21:09:50.804) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=2 removed=0) [DEBUG] (2017-08-26 21:09:50.804) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:50.819) Camera.cpp:100::takeImage() Time capturing image = 0.017912s [DEBUG] (2017-08-26 21:09:50.819) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.819) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.820) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:50.820) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:50.826) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:50.826) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:50.826) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:50.835) Camera.cpp:100::takeImage() Time capturing image = 0.015990s [DEBUG] (2017-08-26 21:09:50.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.836) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.839) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.839) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.840) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001918,-0.004948,-0.010644 rpy=-0.438428,-1.520213,0.245191 [DEBUG] (2017-08-26 21:09:50.856) Camera.cpp:100::takeImage() Time capturing image = 0.020253s [DEBUG] (2017-08-26 21:09:50.856) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.856) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.878) Camera.cpp:100::takeImage() Time capturing image = 0.022242s [DEBUG] (2017-08-26 21:09:50.878) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.879) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.893) Camera.cpp:100::takeImage() Time capturing image = 0.014681s [DEBUG] (2017-08-26 21:09:50.893) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.893) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.896) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.896) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.897) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.071071 s, keypoints extracted = 19 (mask empty=0) [DEBUG] (2017-08-26 21:09:50.897) Memory.cpp:3409::createSignature() time keypoints (19) = 0.095414s [DEBUG] (2017-08-26 21:09:50.902) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 19, remaining kpts=19 [DEBUG] (2017-08-26 21:09:50.903) Memory.cpp:3414::createSignature() time descriptors (19) = 0.005392s [DEBUG] (2017-08-26 21:09:50.903) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=2 [DEBUG] (2017-08-26 21:09:50.903) Memory.cpp:3427::createSignature() time keypoints 3D (19) = 0.000207s [DEBUG] (2017-08-26 21:09:50.903) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:50.903) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:50.903) Memory.cpp:3539::createSignature() time descriptor and memory update (19 of size=64) = 0.000082s [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:593::addNewWords() id=2 descriptors=19 [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:686::addNewWords() newPts.total()=19 [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000285 s [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000279 s [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:874::addNewWords() 3 new words added... [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:876::addNewWords() 16 duplicated words added (from current image = 9)... [DEBUG] (2017-08-26 21:09:50.903) VWDictionary.cpp:877::addNewWords() total time 0.000628s [DEBUG] (2017-08-26 21:09:50.904) Memory.cpp:3599::createSignature() time addNewWords 0.000696s indexed=2 not=3 [DEBUG] (2017-08-26 21:09:50.904) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:50.908) Camera.cpp:100::takeImage() Time capturing image = 0.014609s [DEBUG] (2017-08-26 21:09:50.908) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.908) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:3897::createSignature() time compressing data (id=2) 0.015236s [DEBUG] (2017-08-26 21:09:50.919) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:626::update() time creating signature=117.202995 ms [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:711::addSignatureToStm() adding 2 [DEBUG] (2017-08-26 21:09:50.919) Signature.cpp:121::addLink() Add link 2 to 1 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:50.919) Signature.cpp:121::addLink() Add link 1 to 2 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:773::addSignatureToStm() 19 words ref for the signature 2 [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:781::addSignatureToStm() time = 0.000206s [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:2813::rehearsal() Comparing with signature (1)... [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:2836::rehearsal() merged=0, sim=0.263158 t=0.000076s [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:647::update() time rehearsal=0.380039 ms [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:700::update() totalTimer = 0.117717s [DEBUG] (2017-08-26 21:09:50.919) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:50.919) Rtabmap.cpp:1002::process() Processing signature 2 w=0 [ INFO] (2017-08-26 21:09:50.919) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.117839s [DEBUG] (2017-08-26 21:09:50.919) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.919) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.919) Rtabmap.cpp:1158::process() Added pose xyz=-0.005225,-0.002419,-0.017386 rpy=-1.141766,-1.467727,0.952502 (odom=xyz=-0.005225,-0.002419,-0.017386 rpy=-1.141766,-1.467727,0.952502) [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000189s [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:50.920) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:50.920) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000028 s [DEBUG] (2017-08-26 21:09:50.920) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:50.920) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:50.920) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000080s [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000229s [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000102s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000024s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000022s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:575::updatePrediction() time copying = 0.000021s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000260s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000081s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:50.920) BayesFilter.cpp:216::computePosterior() normalize time=0.000041s [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000507s [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000042s [DEBUG] (2017-08-26 21:09:50.920) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:50.920) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:50.920) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000147s, joining (actual overhead) = 0.000071s [DEBUG] (2017-08-26 21:09:50.920) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002276,-0.005432,-0.011377 rpy=-0.441242,-1.520444,0.248113 [DEBUG] (2017-08-26 21:09:50.921) Graph.cpp:1661::getNodesInRadius() found nodes=1 [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:1721::process() near nodes=1, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:1807::process() timeReactivations=0.000216s [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:1899::process() nearestIds=2/2 [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000121s [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2307::process() timeMapOptimization=0.000019s [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2430::process() Time creating stats = 0.000201... [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:2187::removeRawData() id=2 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2476::process() Ignoring location 2 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:2114::deleteLocation() Deleting location 2 [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:1894::moveToTrash() id=2 [DEBUG] (2017-08-26 21:09:50.921) Signature.cpp:160::removeLink() Removed link 2 from 1 [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:3929::disableWordsRef() id=2 [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:3945::disableWordsRef() 19 words total ref removed from signature 2... (total active ref = 5) [DEBUG] (2017-08-26 21:09:50.921) DBDriver.cpp:368::asyncSave() s=2 [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000393s... 1 signatures removed [ INFO] (2017-08-26 21:09:50.921) Rtabmap.cpp:2500::process() Total time processing = 0.119873s... [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:50.921) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:2542::process() Refresh local map from 1 [DEBUG] (2017-08-26 21:09:50.921) Rtabmap.cpp:2544::process() id=1 _optimizedPoses=2 [DEBUG] (2017-08-26 21:09:50.922) Rtabmap.cpp:2557::process() Removed 2 from local map [ INFO] (2017-08-26 21:09:50.922) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000179... [ INFO] (2017-08-26 21:09:50.922) Rtabmap.cpp:2624::process() Adding data 2 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:50.922) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:50.922) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:50.922) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:50.922) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 2 [DEBUG] (2017-08-26 21:09:50.923) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000994s [DEBUG] (2017-08-26 21:09:50.923) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:50.923) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:50.923) Camera.cpp:100::takeImage() Time capturing image = 0.014652s [DEBUG] (2017-08-26 21:09:50.923) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.923) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.923) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:09:50.923) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:50.924) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:09:50.924) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000035s [DEBUG] (2017-08-26 21:09:50.924) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:50.924) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:09:50.924) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:09:50.924) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:50.924) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:50.924) DBDriverSqlite3.cpp:4240::stepNode() Save node 2 [DEBUG] (2017-08-26 21:09:50.925) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000420s [DEBUG] (2017-08-26 21:09:50.925) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000093s [DEBUG] (2017-08-26 21:09:50.926) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000912s [DEBUG] (2017-08-26 21:09:50.926) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:09:50.926) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 2 (image=57942 depth=52305) depth2d = 0 [DEBUG] (2017-08-26 21:09:50.927) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.001018s [DEBUG] (2017-08-26 21:09:50.927) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000062s [DEBUG] (2017-08-26 21:09:50.927) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.003029... [DEBUG] (2017-08-26 21:09:50.927) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:09:50.928) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000998s [DEBUG] (2017-08-26 21:09:50.928) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.004307s... [DEBUG] (2017-08-26 21:09:50.935) Camera.cpp:100::takeImage() Time capturing image = 0.012167s [DEBUG] (2017-08-26 21:09:50.935) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.936) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.944) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.945) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.952) Camera.cpp:100::takeImage() Time capturing image = 0.016531s [DEBUG] (2017-08-26 21:09:50.952) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.952) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.965) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.965) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:50.966) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002669,-0.005982,-0.012230 rpy=-0.441606,-1.520619,0.248590 [DEBUG] (2017-08-26 21:09:50.968) Camera.cpp:100::takeImage() Time capturing image = 0.015791s [DEBUG] (2017-08-26 21:09:50.968) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.968) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.985) Camera.cpp:100::takeImage() Time capturing image = 0.017221s [DEBUG] (2017-08-26 21:09:50.985) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:50.986) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:50.987) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:50.987) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.001) Camera.cpp:100::takeImage() Time capturing image = 0.015731s [DEBUG] (2017-08-26 21:09:51.001) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.011) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.011) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.012) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:51.012) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:51.018) Camera.cpp:100::takeImage() Time capturing image = 0.016985s [DEBUG] (2017-08-26 21:09:51.018) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.019) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.035) Camera.cpp:100::takeImage() Time capturing image = 0.015996s [DEBUG] (2017-08-26 21:09:51.035) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.035) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.045) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.045) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.046) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.003044,-0.006472,-0.013016 rpy=-0.443297,-1.520777,0.250391 [DEBUG] (2017-08-26 21:09:51.054) Camera.cpp:100::takeImage() Time capturing image = 0.019775s [DEBUG] (2017-08-26 21:09:51.055) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.055) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.066) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.066) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.067) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.003418,-0.006943,-0.013787 rpy=-0.443763,-1.520892,0.250955 [DEBUG] (2017-08-26 21:09:51.068) Camera.cpp:100::takeImage() Time capturing image = 0.013391s [DEBUG] (2017-08-26 21:09:51.068) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.068) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.085) Camera.cpp:100::takeImage() Time capturing image = 0.016875s [DEBUG] (2017-08-26 21:09:51.085) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.085) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.085) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.085) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.101) Camera.cpp:100::takeImage() Time capturing image = 0.015365s [DEBUG] (2017-08-26 21:09:51.101) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.101) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.118) Camera.cpp:100::takeImage() Time capturing image = 0.017586s [DEBUG] (2017-08-26 21:09:51.118) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.119) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.134) Camera.cpp:100::takeImage() Time capturing image = 0.015380s [DEBUG] (2017-08-26 21:09:51.134) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.134) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.138) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.138) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.139) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.003840,-0.007451,-0.014632 rpy=-0.443728,-1.521093,0.251048 [DEBUG] (2017-08-26 21:09:51.150) Camera.cpp:100::takeImage() Time capturing image = 0.016017s [DEBUG] (2017-08-26 21:09:51.150) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.150) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.162) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.162) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.163) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:51.163) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:51.167) Camera.cpp:100::takeImage() Time capturing image = 0.016520s [DEBUG] (2017-08-26 21:09:51.167) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.167) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.183) Camera.cpp:100::takeImage() Time capturing image = 0.016433s [DEBUG] (2017-08-26 21:09:51.183) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.184) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.191) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.191) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.192) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.004242,-0.007887,-0.015386 rpy=-0.442676,-1.521242,0.250089 [DEBUG] (2017-08-26 21:09:51.200) Camera.cpp:100::takeImage() Time capturing image = 0.016695s [DEBUG] (2017-08-26 21:09:51.200) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.200) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.210) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.210) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.211) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:51.211) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:51.217) Camera.cpp:100::takeImage() Time capturing image = 0.016952s [DEBUG] (2017-08-26 21:09:51.217) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.234) Camera.cpp:100::takeImage() Time capturing image = 0.016899s [DEBUG] (2017-08-26 21:09:51.234) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.245) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.245) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.246) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.004608,-0.008208,-0.016021 rpy=-0.445380,-1.521304,0.252836 [DEBUG] (2017-08-26 21:09:51.251) Camera.cpp:100::takeImage() Time capturing image = 0.016344s [DEBUG] (2017-08-26 21:09:51.251) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.251) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.267) Camera.cpp:100::takeImage() Time capturing image = 0.016443s [DEBUG] (2017-08-26 21:09:51.268) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.268) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.268) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.268) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.284) Camera.cpp:100::takeImage() Time capturing image = 0.016783s [DEBUG] (2017-08-26 21:09:51.284) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.285) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.293) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.293) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.294) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.004974,-0.008509,-0.016666 rpy=-0.454224,-1.521230,0.261637 [DEBUG] (2017-08-26 21:09:51.301) Camera.cpp:100::takeImage() Time capturing image = 0.016955s [DEBUG] (2017-08-26 21:09:51.302) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.302) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.317) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.317) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.318) Camera.cpp:100::takeImage() Time capturing image = 0.016331s [DEBUG] (2017-08-26 21:09:51.318) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.318) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.336) Camera.cpp:100::takeImage() Time capturing image = 0.017962s [DEBUG] (2017-08-26 21:09:51.336) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.337) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.344) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.344) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.345) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005100,-0.008540,-0.017224 rpy=-0.497607,-1.519078,0.304477 [DEBUG] (2017-08-26 21:09:51.354) Camera.cpp:100::takeImage() Time capturing image = 0.017778s [DEBUG] (2017-08-26 21:09:51.354) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.355) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.365) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.365) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.367) Camera.cpp:100::takeImage() Time capturing image = 0.012788s [DEBUG] (2017-08-26 21:09:51.367) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.368) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.384) Camera.cpp:100::takeImage() Time capturing image = 0.016751s [DEBUG] (2017-08-26 21:09:51.384) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.385) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.387) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.387) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.387) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005239,-0.008285,-0.017544 rpy=-0.567874,-1.516273,0.374942 [DEBUG] (2017-08-26 21:09:51.401) Camera.cpp:100::takeImage() Time capturing image = 0.016311s [DEBUG] (2017-08-26 21:09:51.401) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.401) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.410) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.410) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.418) Camera.cpp:100::takeImage() Time capturing image = 0.016972s [DEBUG] (2017-08-26 21:09:51.418) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.418) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.432) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.432) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.433) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005224,-0.007853,-0.017713 rpy=-0.658058,-1.512251,0.466170 [DEBUG] (2017-08-26 21:09:51.434) Camera.cpp:100::takeImage() Time capturing image = 0.016130s [DEBUG] (2017-08-26 21:09:51.434) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.434) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.451) Camera.cpp:100::takeImage() Time capturing image = 0.016770s [DEBUG] (2017-08-26 21:09:51.451) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.451) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.454) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.454) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.468) Camera.cpp:100::takeImage() Time capturing image = 0.016353s [DEBUG] (2017-08-26 21:09:51.468) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.468) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.477) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.477) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.478) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005300,-0.006692,-0.017802 rpy=-0.803394,-1.504898,0.612150 [DEBUG] (2017-08-26 21:09:51.485) Camera.cpp:100::takeImage() Time capturing image = 0.016821s [DEBUG] (2017-08-26 21:09:51.485) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.485) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.498) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.499) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.499) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:51.499) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:51.501) Camera.cpp:100::takeImage() Time capturing image = 0.016158s [DEBUG] (2017-08-26 21:09:51.501) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.501) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.517) Camera.cpp:100::takeImage() Time capturing image = 0.016470s [DEBUG] (2017-08-26 21:09:51.518) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.518) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.530) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.530) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.531) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005328,-0.004764,-0.017419 rpy=-0.975100,-1.491496,0.783901 [DEBUG] (2017-08-26 21:09:51.534) Camera.cpp:100::takeImage() Time capturing image = 0.016544s [DEBUG] (2017-08-26 21:09:51.534) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.534) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.551) Camera.cpp:100::takeImage() Time capturing image = 0.016611s [DEBUG] (2017-08-26 21:09:51.551) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.551) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.552) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.552) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.567) Camera.cpp:100::takeImage() Time capturing image = 0.016279s [DEBUG] (2017-08-26 21:09:51.568) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.568) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.576) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.576) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.577) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005341,-0.003070,-0.016920 rpy=-1.093836,-1.476226,0.903538 [DEBUG] (2017-08-26 21:09:51.584) Camera.cpp:100::takeImage() Time capturing image = 0.016750s [DEBUG] (2017-08-26 21:09:51.584) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.585) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.598) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.598) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.601) Camera.cpp:100::takeImage() Time capturing image = 0.016411s [DEBUG] (2017-08-26 21:09:51.601) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.601) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.618) Camera.cpp:100::takeImage() Time capturing image = 0.016490s [DEBUG] (2017-08-26 21:09:51.618) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.618) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.619) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.619) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.620) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005225,-0.002419,-0.017386 rpy=-1.141766,-1.467727,0.952502 [DEBUG] (2017-08-26 21:09:51.636) Camera.cpp:100::takeImage() Time capturing image = 0.018224s [DEBUG] (2017-08-26 21:09:51.636) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.636) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.641) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.641) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.652) Camera.cpp:100::takeImage() Time capturing image = 0.015490s [DEBUG] (2017-08-26 21:09:51.652) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.652) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.659) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.659) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.660) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.004897,-0.002080,-0.017990 rpy=-1.162417,-1.461703,0.972333 [DEBUG] (2017-08-26 21:09:51.669) Camera.cpp:100::takeImage() Time capturing image = 0.016515s [DEBUG] (2017-08-26 21:09:51.669) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.669) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.679) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.679) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.680) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:51.680) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:51.687) Camera.cpp:100::takeImage() Time capturing image = 0.018501s [DEBUG] (2017-08-26 21:09:51.688) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.688) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.701) Camera.cpp:100::takeImage() Time capturing image = 0.013141s [DEBUG] (2017-08-26 21:09:51.701) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.701) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.710) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.710) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.718) Camera.cpp:100::takeImage() Time capturing image = 0.016694s [DEBUG] (2017-08-26 21:09:51.718) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.718) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.728) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.728) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.729) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.003876,-0.000468,-0.017689 rpy=-1.195232,-1.449250,1.004344 [DEBUG] (2017-08-26 21:09:51.734) Camera.cpp:100::takeImage() Time capturing image = 0.016179s [DEBUG] (2017-08-26 21:09:51.734) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.734) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.747) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.747) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.748) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002810,0.002004,-0.016754 rpy=-1.209862,-1.431274,1.017554 [DEBUG] (2017-08-26 21:09:51.748) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:51.748) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:51.751) Camera.cpp:100::takeImage() Time capturing image = 0.016611s [DEBUG] (2017-08-26 21:09:51.751) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.751) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.767) Camera.cpp:100::takeImage() Time capturing image = 0.016090s [DEBUG] (2017-08-26 21:09:51.767) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.767) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.779) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.779) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.785) Camera.cpp:100::takeImage() Time capturing image = 0.017577s [DEBUG] (2017-08-26 21:09:51.785) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.785) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.799) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.799) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.800) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002238,0.003649,-0.016198 rpy=-1.222315,-1.412341,1.030120 [DEBUG] (2017-08-26 21:09:51.802) Camera.cpp:100::takeImage() Time capturing image = 0.016837s [DEBUG] (2017-08-26 21:09:51.802) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.802) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:51.802) RtabmapThread.cpp:630::addData() Added data 122 [ INFO] (2017-08-26 21:09:51.802) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:51.802) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:51.803) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:51.803) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=2)... [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:608::update() time preUpdate=0.101089 ms [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:51.803) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:09:51.803) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:51.819) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:51.819) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:51.819) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:09:51.819) Camera.cpp:100::takeImage() Time capturing image = 0.017071s [DEBUG] (2017-08-26 21:09:51.819) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:09:51.819) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.820) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:51.820) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:09:51.820) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:51.820) SensorData.cpp:557::uncompressData() 2 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:51.820) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.820) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:51.824) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:51.824) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:51.824) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:51.835) Camera.cpp:100::takeImage() Time capturing image = 0.015307s [DEBUG] (2017-08-26 21:09:51.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.835) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.859) Camera.cpp:100::takeImage() Time capturing image = 0.024388s [DEBUG] (2017-08-26 21:09:51.860) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.860) MainWindow.cpp:1632::processStats() time= 40 ms [DEBUG] (2017-08-26 21:09:51.863) MainWindow.cpp:1676::processStats() time= 2 ms [DEBUG] (2017-08-26 21:09:51.863) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 19 [DEBUG] (2017-08-26 21:09:51.863) MainWindow.cpp:3838::drawKeypoints() source time = 0.000337 s [DEBUG] (2017-08-26 21:09:51.863) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:09:51.863) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000027 s [DEBUG] (2017-08-26 21:09:51.863) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.868) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:09:51.868) MainWindow.cpp:1681::processStats() time= 6 ms [DEBUG] (2017-08-26 21:09:51.870) Camera.cpp:100::takeImage() Time capturing image = 0.010543s [DEBUG] (2017-08-26 21:09:51.874) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.876) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.879) MainWindow.cpp:1715::processStats() time= 11 ms [DEBUG] (2017-08-26 21:09:51.879) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:51.879) MainWindow.cpp:1912::updateMapCloud() posesIn=2 constraints=0 mapIdsIn=2 labelsIn=1 [DEBUG] (2017-08-26 21:09:51.879) MainWindow.cpp:1991::updateMapCloud() Update map with 2 locations [DEBUG] (2017-08-26 21:09:51.879) SensorData.cpp:557::uncompressData() 2 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:51.879) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:09:51.879) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:51.879) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:09:51.880) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:51.885) Camera.cpp:100::takeImage() Time capturing image = 0.010685s [DEBUG] (2017-08-26 21:09:51.885) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.885) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.902) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.078568 s, keypoints extracted = 22 (mask empty=0) [DEBUG] (2017-08-26 21:09:51.902) Memory.cpp:3409::createSignature() time keypoints (22) = 0.099409s [DEBUG] (2017-08-26 21:09:51.909) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 22, remaining kpts=22 [DEBUG] (2017-08-26 21:09:51.909) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:09:51.909) Memory.cpp:3414::createSignature() time descriptors (22) = 0.006856s [DEBUG] (2017-08-26 21:09:51.909) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=2 [DEBUG] (2017-08-26 21:09:51.909) Memory.cpp:3427::createSignature() time keypoints 3D (22) = 0.000159s [DEBUG] (2017-08-26 21:09:51.909) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:51.909) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:51.909) Memory.cpp:3539::createSignature() time descriptor and memory update (22 of size=64) = 0.000078s [DEBUG] (2017-08-26 21:09:51.909) VWDictionary.cpp:593::addNewWords() id=3 descriptors=22 [DEBUG] (2017-08-26 21:09:51.909) VWDictionary.cpp:686::addNewWords() newPts.total()=22 [DEBUG] (2017-08-26 21:09:51.909) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000089 s [DEBUG] (2017-08-26 21:09:51.910) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000279 s [DEBUG] (2017-08-26 21:09:51.910) VWDictionary.cpp:874::addNewWords() 3 new words added... [DEBUG] (2017-08-26 21:09:51.910) VWDictionary.cpp:876::addNewWords() 19 duplicated words added (from current image = 3)... [DEBUG] (2017-08-26 21:09:51.910) VWDictionary.cpp:877::addNewWords() total time 0.000436s [DEBUG] (2017-08-26 21:09:51.910) Memory.cpp:3599::createSignature() time addNewWords 0.000507s indexed=2 not=3 [DEBUG] (2017-08-26 21:09:51.910) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000956s [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:09:51.912) MainWindow.cpp:1796::processStats() time= 33 ms [DEBUG] (2017-08-26 21:09:51.915) Camera.cpp:100::takeImage() Time capturing image = 0.029292s [DEBUG] (2017-08-26 21:09:51.915) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.915) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.917) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:09:51.917) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:09:51.917) MainWindow.cpp:1874::processStats() Updating GUI time = 0.098000s [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:3897::createSignature() time compressing data (id=3) 0.013757s [DEBUG] (2017-08-26 21:09:51.924) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:626::update() time creating signature=120.976929 ms [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:711::addSignatureToStm() adding 3 [DEBUG] (2017-08-26 21:09:51.924) Signature.cpp:121::addLink() Add link 3 to 1 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:51.924) Signature.cpp:121::addLink() Add link 1 to 3 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:773::addSignatureToStm() 22 words ref for the signature 3 [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:781::addSignatureToStm() time = 0.000338s [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:2813::rehearsal() Comparing with signature (1)... [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:2836::rehearsal() merged=0, sim=0.227273 t=0.000035s [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:647::update() time rehearsal=0.447035 ms [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:700::update() totalTimer = 0.121551s [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:51.924) Rtabmap.cpp:1002::process() Processing signature 3 w=0 [ INFO] (2017-08-26 21:09:51.924) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.121678s [DEBUG] (2017-08-26 21:09:51.924) Rtabmap.cpp:1158::process() Added pose xyz=-0.016415,-0.037997,0.076604 rpy=-0.328541,-1.211909,0.225886 (odom=xyz=-0.016415,-0.037997,0.076604 rpy=-0.328541,-1.211909,0.225886) [ INFO] (2017-08-26 21:09:51.924) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000125s [ INFO] (2017-08-26 21:09:51.924) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:51.924) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000030 s [DEBUG] (2017-08-26 21:09:51.924) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000018s [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000160s [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000026s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000022s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000021s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:575::updatePrediction() time copying = 0.000021s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000020s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000178s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000083s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:51.925) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000421s [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000042s [DEBUG] (2017-08-26 21:09:51.925) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:51.925) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.004307s, joining (actual overhead) = 0.000137s [DEBUG] (2017-08-26 21:09:51.925) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.925) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.925) Graph.cpp:1661::getNodesInRadius() found nodes=1 [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1721::process() near nodes=1, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1807::process() timeReactivations=0.000187s [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:1899::process() nearestIds=2/2 [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:51.925) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000124s [ INFO] (2017-08-26 21:09:51.925) Rtabmap.cpp:2307::process() timeMapOptimization=0.000020s [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2430::process() Time creating stats = 0.000177... [DEBUG] (2017-08-26 21:09:51.926) Memory.cpp:2187::removeRawData() id=3 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:51.926) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000166s... 0 signatures removed [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2500::process() Total time processing = 0.123282s... [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000042... [ INFO] (2017-08-26 21:09:51.926) Rtabmap.cpp:2624::process() Adding data 3 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:51.926) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:51.926) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:51.926) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:51.926) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 3 [DEBUG] (2017-08-26 21:09:51.927) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001011s [DEBUG] (2017-08-26 21:09:51.927) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:51.927) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:51.927) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:51.928) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000093s... [DEBUG] (2017-08-26 21:09:51.928) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:51.928) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:51.928) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:51.928) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:51.928) Camera.cpp:100::takeImage() Time capturing image = 0.013646s [DEBUG] (2017-08-26 21:09:51.928) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.929) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.939) Camera.cpp:100::takeImage() Time capturing image = 0.010224s [DEBUG] (2017-08-26 21:09:51.939) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.939) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.948) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.948) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.949) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001951,0.004574,-0.016477 rpy=-1.252335,-1.393272,1.062817 [DEBUG] (2017-08-26 21:09:51.951) Camera.cpp:100::takeImage() Time capturing image = 0.012007s [DEBUG] (2017-08-26 21:09:51.951) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.951) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.969) Camera.cpp:100::takeImage() Time capturing image = 0.017424s [DEBUG] (2017-08-26 21:09:51.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.972) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.972) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.985) Camera.cpp:100::takeImage() Time capturing image = 0.016066s [DEBUG] (2017-08-26 21:09:51.985) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:51.985) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:51.994) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:51.994) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:51.995) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001563,0.004509,-0.016733 rpy=-1.281659,-1.375850,1.095714 [DEBUG] (2017-08-26 21:09:52.001) Camera.cpp:100::takeImage() Time capturing image = 0.015885s [DEBUG] (2017-08-26 21:09:52.001) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.016) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.016) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.017) Camera.cpp:100::takeImage() Time capturing image = 0.016089s [DEBUG] (2017-08-26 21:09:52.017) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.017) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.034) Camera.cpp:100::takeImage() Time capturing image = 0.017209s [DEBUG] (2017-08-26 21:09:52.035) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.035) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.036) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.036) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.037) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001524,0.003191,-0.016724 rpy=-1.306062,-1.361013,1.126805 [DEBUG] (2017-08-26 21:09:52.051) Camera.cpp:100::takeImage() Time capturing image = 0.016184s [DEBUG] (2017-08-26 21:09:52.051) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.051) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.058) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.058) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.067) Camera.cpp:100::takeImage() Time capturing image = 0.016096s [DEBUG] (2017-08-26 21:09:52.067) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.067) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.078) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.078) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.079) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002419,0.000643,-0.016438 rpy=-1.320805,-1.351351,1.153402 [DEBUG] (2017-08-26 21:09:52.084) Camera.cpp:100::takeImage() Time capturing image = 0.017260s [DEBUG] (2017-08-26 21:09:52.085) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.085) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.098) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.098) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.100) Camera.cpp:100::takeImage() Time capturing image = 0.015686s [DEBUG] (2017-08-26 21:09:52.100) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.101) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.118) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.118) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.119) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002841,-0.002398,-0.015130 rpy=-1.318656,-1.352998,1.162162 [DEBUG] (2017-08-26 21:09:52.119) Camera.cpp:100::takeImage() Time capturing image = 0.019013s [DEBUG] (2017-08-26 21:09:52.120) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.120) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.135) Camera.cpp:100::takeImage() Time capturing image = 0.015360s [DEBUG] (2017-08-26 21:09:52.135) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.135) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.138) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.139) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.158) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.159) Camera.cpp:100::takeImage() Time capturing image = 0.024036s [DEBUG] (2017-08-26 21:09:52.159) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.159) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002515,-0.004451,-0.012984 rpy=-1.299689,-1.358504,1.148790 [DEBUG] (2017-08-26 21:09:52.161) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.172) Camera.cpp:100::takeImage() Time capturing image = 0.012221s [DEBUG] (2017-08-26 21:09:52.172) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.172) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.181) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.181) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.184) Camera.cpp:100::takeImage() Time capturing image = 0.012727s [DEBUG] (2017-08-26 21:09:52.185) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.185) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.200) Camera.cpp:100::takeImage() Time capturing image = 0.015732s [DEBUG] (2017-08-26 21:09:52.200) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.201) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.205) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.206) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.207) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001729,-0.004146,-0.011613 rpy=-1.295711,-1.359720,1.144345 [DEBUG] (2017-08-26 21:09:52.223) Camera.cpp:100::takeImage() Time capturing image = 0.022003s [DEBUG] (2017-08-26 21:09:52.223) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.223) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.227) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.227) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.234) Camera.cpp:100::takeImage() Time capturing image = 0.011674s [DEBUG] (2017-08-26 21:09:52.234) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.247) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.247) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.248) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001098,-0.003088,-0.010454 rpy=-1.303951,-1.358497,1.148604 [DEBUG] (2017-08-26 21:09:52.255) Camera.cpp:100::takeImage() Time capturing image = 0.020150s [DEBUG] (2017-08-26 21:09:52.255) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.255) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.267) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.267) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.268) Camera.cpp:100::takeImage() Time capturing image = 0.012697s [DEBUG] (2017-08-26 21:09:52.268) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.268) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.284) Camera.cpp:100::takeImage() Time capturing image = 0.016023s [DEBUG] (2017-08-26 21:09:52.284) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.284) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.287) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.287) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.288) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.000742,-0.002933,-0.009339 rpy=-1.301374,-1.360582,1.142067 [DEBUG] (2017-08-26 21:09:52.300) Camera.cpp:100::takeImage() Time capturing image = 0.016261s [DEBUG] (2017-08-26 21:09:52.300) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.300) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.309) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.309) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.317) Camera.cpp:100::takeImage() Time capturing image = 0.017023s [DEBUG] (2017-08-26 21:09:52.317) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.318) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.329) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.329) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.330) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.001104,-0.003912,-0.008739 rpy=-1.288507,-1.368830,1.130018 [DEBUG] (2017-08-26 21:09:52.333) Camera.cpp:100::takeImage() Time capturing image = 0.015956s [DEBUG] (2017-08-26 21:09:52.334) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.334) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.350) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.350) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.350) Camera.cpp:100::takeImage() Time capturing image = 0.016361s [DEBUG] (2017-08-26 21:09:52.350) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.350) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.367) Camera.cpp:100::takeImage() Time capturing image = 0.016837s [DEBUG] (2017-08-26 21:09:52.367) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.367) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.370) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.370) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.384) Camera.cpp:100::takeImage() Time capturing image = 0.016802s [DEBUG] (2017-08-26 21:09:52.384) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.384) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.391) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.391) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.392) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.002411,-0.006561,-0.007962 rpy=-1.270651,-1.377661,1.118503 [DEBUG] (2017-08-26 21:09:52.400) Camera.cpp:100::takeImage() Time capturing image = 0.016234s [DEBUG] (2017-08-26 21:09:52.400) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.401) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.412) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.412) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.419) Camera.cpp:100::takeImage() Time capturing image = 0.018240s [DEBUG] (2017-08-26 21:09:52.419) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.419) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.431) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.431) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.432) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.003692,-0.008986,-0.006523 rpy=-1.250190,-1.382856,1.106731 [DEBUG] (2017-08-26 21:09:52.433) Camera.cpp:100::takeImage() Time capturing image = 0.014475s [DEBUG] (2017-08-26 21:09:52.434) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.434) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.451) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.452) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.453) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005108,-0.011666,-0.004096 rpy=-1.214126,-1.385762,1.080651 [DEBUG] (2017-08-26 21:09:52.454) Camera.cpp:100::takeImage() Time capturing image = 0.020809s [DEBUG] (2017-08-26 21:09:52.455) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.455) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.467) Camera.cpp:100::takeImage() Time capturing image = 0.012783s [DEBUG] (2017-08-26 21:09:52.468) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.468) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.473) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.473) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.486) Camera.cpp:100::takeImage() Time capturing image = 0.018877s [DEBUG] (2017-08-26 21:09:52.487) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.487) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.493) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.493) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.494) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.006489,-0.014485,0.000247 rpy=-1.141371,-1.386940,1.018893 [DEBUG] (2017-08-26 21:09:52.501) Camera.cpp:100::takeImage() Time capturing image = 0.013959s [DEBUG] (2017-08-26 21:09:52.501) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.501) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.514) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.514) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.519) Camera.cpp:100::takeImage() Time capturing image = 0.018026s [DEBUG] (2017-08-26 21:09:52.519) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.519) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.534) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.534) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.534) Camera.cpp:100::takeImage() Time capturing image = 0.014924s [DEBUG] (2017-08-26 21:09:52.534) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.534) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.535) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.007042,-0.016671,0.004999 rpy=-1.057030,-1.385850,0.942913 [DEBUG] (2017-08-26 21:09:52.554) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.554) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.555) Camera.cpp:100::takeImage() Time capturing image = 0.020651s [DEBUG] (2017-08-26 21:09:52.555) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.555) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.567) Camera.cpp:100::takeImage() Time capturing image = 0.012314s [DEBUG] (2017-08-26 21:09:52.567) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.568) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.575) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.575) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.576) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.007458,-0.019123,0.011057 rpy=-0.941511,-1.381805,0.834532 [DEBUG] (2017-08-26 21:09:52.584) Camera.cpp:100::takeImage() Time capturing image = 0.016645s [DEBUG] (2017-08-26 21:09:52.584) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.584) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.595) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.595) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.601) Camera.cpp:100::takeImage() Time capturing image = 0.016629s [DEBUG] (2017-08-26 21:09:52.601) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.601) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.615) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.615) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.616) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.007872,-0.021611,0.017505 rpy=-0.823000,-1.373241,0.722134 [DEBUG] (2017-08-26 21:09:52.626) Camera.cpp:100::takeImage() Time capturing image = 0.024602s [DEBUG] (2017-08-26 21:09:52.626) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.627) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.635) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.635) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.638) Camera.cpp:100::takeImage() Time capturing image = 0.011885s [DEBUG] (2017-08-26 21:09:52.638) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.638) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.650) Camera.cpp:100::takeImage() Time capturing image = 0.012179s [DEBUG] (2017-08-26 21:09:52.651) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.651) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.657) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.657) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.658) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.008181,-0.023247,0.023040 rpy=-0.736480,-1.361770,0.639588 [DEBUG] (2017-08-26 21:09:52.666) Camera.cpp:100::takeImage() Time capturing image = 0.015832s [DEBUG] (2017-08-26 21:09:52.667) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.667) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.677) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.677) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.686) Camera.cpp:100::takeImage() Time capturing image = 0.019786s [DEBUG] (2017-08-26 21:09:52.687) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.687) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.697) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.697) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.698) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.009412,-0.025086,0.029532 rpy=-0.656325,-1.346222,0.564189 [DEBUG] (2017-08-26 21:09:52.702) Camera.cpp:100::takeImage() Time capturing image = 0.015352s [DEBUG] (2017-08-26 21:09:52.702) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.702) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.717) Camera.cpp:100::takeImage() Time capturing image = 0.015037s [DEBUG] (2017-08-26 21:09:52.717) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.718) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.719) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.719) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.735) Camera.cpp:100::takeImage() Time capturing image = 0.017541s [DEBUG] (2017-08-26 21:09:52.735) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.735) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.739) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.739) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.752) Camera.cpp:100::takeImage() Time capturing image = 0.016615s [DEBUG] (2017-08-26 21:09:52.752) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.752) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.761) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.761) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.762) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.010966,-0.026888,0.035439 rpy=-0.603865,-1.329856,0.516640 [DEBUG] (2017-08-26 21:09:52.768) Camera.cpp:100::takeImage() Time capturing image = 0.015839s [DEBUG] (2017-08-26 21:09:52.768) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.768) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.783) Camera.cpp:100::takeImage() Time capturing image = 0.015508s [DEBUG] (2017-08-26 21:09:52.784) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.784) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.786) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.786) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.800) Camera.cpp:100::takeImage() Time capturing image = 0.016815s [DEBUG] (2017-08-26 21:09:52.801) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.801) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.816) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.816) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.817) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.012486,-0.029010,0.041531 rpy=-0.564736,-1.311295,0.481274 [DEBUG] (2017-08-26 21:09:52.817) Camera.cpp:100::takeImage() Time capturing image = 0.016621s [DEBUG] (2017-08-26 21:09:52.817) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.818) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:52.818) RtabmapThread.cpp:630::addData() Added data 183 [ INFO] (2017-08-26 21:09:52.818) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:52.818) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:52.818) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:52.818) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=5)... [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:52.818) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:09:52.818) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:52.818) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:52.818) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:52.818) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 3 words... [ INFO] (2017-08-26 21:09:52.818) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:52.818) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:09:52.819) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 3 words... done! [DEBUG] (2017-08-26 21:09:52.819) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=3 removed=0) [DEBUG] (2017-08-26 21:09:52.819) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:52.834) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:52.834) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:52.835) Camera.cpp:100::takeImage() Time capturing image = 0.017149s [DEBUG] (2017-08-26 21:09:52.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.835) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.839) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:52.839) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:52.839) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:52.843) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.843) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.844) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.013623,-0.031245,0.048492 rpy=-0.518003,-1.291097,0.434480 [DEBUG] (2017-08-26 21:09:52.851) Camera.cpp:100::takeImage() Time capturing image = 0.015813s [DEBUG] (2017-08-26 21:09:52.851) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.851) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.871) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.871) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.899) Camera.cpp:100::takeImage() Time capturing image = 0.047834s [DEBUG] (2017-08-26 21:09:52.899) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.899) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.900) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.900) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.901) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.014923,-0.032809,0.055374 rpy=-0.461474,-1.271692,0.374249 [DEBUG] (2017-08-26 21:09:52.921) Camera.cpp:100::takeImage() Time capturing image = 0.022423s [DEBUG] (2017-08-26 21:09:52.921) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.922) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.928) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.928) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.929) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.089806 s, keypoints extracted = 29 (mask empty=0) [DEBUG] (2017-08-26 21:09:52.929) Memory.cpp:3409::createSignature() time keypoints (29) = 0.110748s [DEBUG] (2017-08-26 21:09:52.933) Camera.cpp:100::takeImage() Time capturing image = 0.011770s [DEBUG] (2017-08-26 21:09:52.933) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.934) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.944) Camera.cpp:100::takeImage() Time capturing image = 0.010949s [DEBUG] (2017-08-26 21:09:52.945) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.945) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.951) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.951) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.951) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 29, remaining kpts=29 [DEBUG] (2017-08-26 21:09:52.952) Memory.cpp:3414::createSignature() time descriptors (29) = 0.022715s [DEBUG] (2017-08-26 21:09:52.952) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=9 [DEBUG] (2017-08-26 21:09:52.952) Memory.cpp:3427::createSignature() time keypoints 3D (29) = 0.000097s [DEBUG] (2017-08-26 21:09:52.952) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:52.952) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:52.952) Memory.cpp:3539::createSignature() time descriptor and memory update (29 of size=64) = 0.000076s [DEBUG] (2017-08-26 21:09:52.952) VWDictionary.cpp:593::addNewWords() id=4 descriptors=29 [DEBUG] (2017-08-26 21:09:52.952) VWDictionary.cpp:686::addNewWords() newPts.total()=29 [DEBUG] (2017-08-26 21:09:52.952) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015278,-0.034900,0.062334 rpy=-0.411402,-1.250494,0.318766 [DEBUG] (2017-08-26 21:09:52.952) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000213 s [DEBUG] (2017-08-26 21:09:52.952) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000484 s [DEBUG] (2017-08-26 21:09:52.952) VWDictionary.cpp:874::addNewWords() 5 new words added... [DEBUG] (2017-08-26 21:09:52.952) VWDictionary.cpp:876::addNewWords() 24 duplicated words added (from current image = 8)... [DEBUG] (2017-08-26 21:09:52.953) VWDictionary.cpp:877::addNewWords() total time 0.000776s [DEBUG] (2017-08-26 21:09:52.953) Memory.cpp:3599::createSignature() time addNewWords 0.000856s indexed=5 not=5 [DEBUG] (2017-08-26 21:09:52.953) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:52.955) Camera.cpp:100::takeImage() Time capturing image = 0.010640s [DEBUG] (2017-08-26 21:09:52.955) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.956) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.966) Camera.cpp:100::takeImage() Time capturing image = 0.011011s [DEBUG] (2017-08-26 21:09:52.966) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.967) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:3897::createSignature() time compressing data (id=4) 0.019225s [DEBUG] (2017-08-26 21:09:52.972) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:626::update() time creating signature=153.949020 ms [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:711::addSignatureToStm() adding 4 [DEBUG] (2017-08-26 21:09:52.972) Signature.cpp:121::addLink() Add link 4 to 3 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:52.972) Signature.cpp:121::addLink() Add link 3 to 4 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:773::addSignatureToStm() 29 words ref for the signature 4 [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:781::addSignatureToStm() time = 0.000183s [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:2813::rehearsal() Comparing with signature (3)... [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:2836::rehearsal() merged=0, sim=0.310345 t=0.000040s [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:647::update() time rehearsal=0.298023 ms [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:700::update() totalTimer = 0.154309s [DEBUG] (2017-08-26 21:09:52.972) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:52.972) Rtabmap.cpp:1002::process() Processing signature 4 w=0 [ INFO] (2017-08-26 21:09:52.972) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.154457s [DEBUG] (2017-08-26 21:09:52.972) Rtabmap.cpp:1158::process() Added pose xyz=-0.020667,-0.135897,0.236022 rpy=-0.180376,-0.946011,0.111369 (odom=xyz=-0.020667,-0.135897,0.236022 rpy=-0.180376,-0.946011,0.111369) [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000206s [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:52.973) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:52.973) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000036 s [DEBUG] (2017-08-26 21:09:52.973) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:52.973) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:52.973) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000019s [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000175s [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000027s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000024s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:575::updatePrediction() time copying = 0.000022s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000189s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000087s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000024s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000022s [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:52.973) BayesFilter.cpp:216::computePosterior() normalize time=0.000042s [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000446s [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000044s [DEBUG] (2017-08-26 21:09:52.973) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:52.973) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000093s, joining (actual overhead) = 0.000061s [DEBUG] (2017-08-26 21:09:52.973) Graph.cpp:1661::getNodesInRadius() found nodes=2 [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1721::process() near nodes=2, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1807::process() timeReactivations=0.000179s [ INFO] (2017-08-26 21:09:52.973) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:09:52.973) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:1899::process() nearestIds=3/3 [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000199s [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2307::process() timeMapOptimization=0.000022s [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2430::process() Time creating stats = 0.000171... [DEBUG] (2017-08-26 21:09:52.974) Memory.cpp:2187::removeRawData() id=4 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:52.974) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000166s... 0 signatures removed [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2500::process() Total time processing = 0.156171s... [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000043... [ INFO] (2017-08-26 21:09:52.974) Rtabmap.cpp:2624::process() Adding data 4 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:52.974) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:52.974) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 4 [DEBUG] (2017-08-26 21:09:52.975) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000933s [DEBUG] (2017-08-26 21:09:52.975) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:52.975) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:52.976) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:52.976) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:52.976) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:52.976) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:52.976) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.976) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:52.977) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:52.977) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000037s... [DEBUG] (2017-08-26 21:09:52.984) Camera.cpp:100::takeImage() Time capturing image = 0.017820s [DEBUG] (2017-08-26 21:09:52.984) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:52.985) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:52.995) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:52.995) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.000) Camera.cpp:100::takeImage() Time capturing image = 0.015815s [DEBUG] (2017-08-26 21:09:53.000) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.014) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.014) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.015) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015541,-0.037142,0.069856 rpy=-0.353417,-1.227674,0.254811 [DEBUG] (2017-08-26 21:09:53.016) Camera.cpp:100::takeImage() Time capturing image = 0.015741s [DEBUG] (2017-08-26 21:09:53.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.016) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.033) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.033) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.033) Camera.cpp:100::takeImage() Time capturing image = 0.017061s [DEBUG] (2017-08-26 21:09:53.034) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.034) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.050) Camera.cpp:100::takeImage() Time capturing image = 0.016556s [DEBUG] (2017-08-26 21:09:53.050) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.050) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.055) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.055) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.056) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016415,-0.037997,0.076604 rpy=-0.328541,-1.211909,0.225886 [DEBUG] (2017-08-26 21:09:53.068) Camera.cpp:100::takeImage() Time capturing image = 0.017250s [DEBUG] (2017-08-26 21:09:53.068) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.068) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.077) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.077) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.085) Camera.cpp:100::takeImage() Time capturing image = 0.017323s [DEBUG] (2017-08-26 21:09:53.085) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.085) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.098) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.098) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.099) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016680,-0.039516,0.082739 rpy=-0.297962,-1.199733,0.187206 [DEBUG] (2017-08-26 21:09:53.101) Camera.cpp:100::takeImage() Time capturing image = 0.015733s [DEBUG] (2017-08-26 21:09:53.101) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.101) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.117) Camera.cpp:100::takeImage() Time capturing image = 0.016108s [DEBUG] (2017-08-26 21:09:53.117) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.118) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.120) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.120) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.133) Camera.cpp:100::takeImage() Time capturing image = 0.015246s [DEBUG] (2017-08-26 21:09:53.133) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.133) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.143) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.143) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.150) Camera.cpp:100::takeImage() Time capturing image = 0.016481s [DEBUG] (2017-08-26 21:09:53.150) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.150) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.163) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.163) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.164) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.017018,-0.039642,0.089161 rpy=-0.271295,-1.188135,0.147645 [DEBUG] (2017-08-26 21:09:53.166) Camera.cpp:100::takeImage() Time capturing image = 0.015950s [DEBUG] (2017-08-26 21:09:53.166) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.166) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.183) Camera.cpp:100::takeImage() Time capturing image = 0.016854s [DEBUG] (2017-08-26 21:09:53.183) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.184) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.186) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.186) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.187) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016540,-0.040767,0.094852 rpy=-0.247160,-1.177171,0.109630 [DEBUG] (2017-08-26 21:09:53.202) Camera.cpp:100::takeImage() Time capturing image = 0.018223s [DEBUG] (2017-08-26 21:09:53.202) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.202) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.205) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:09:53.206) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:09:53.206) SensorData.cpp:557::uncompressData() 3 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:53.206) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:53.218) Camera.cpp:100::takeImage() Time capturing image = 0.016138s [DEBUG] (2017-08-26 21:09:53.218) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.222) MainWindow.cpp:1632::processStats() time= 16 ms [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 22 [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:3838::drawKeypoints() source time = 0.000137 s [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:09:53.226) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:53.233) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:09:53.233) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:53.233) MainWindow.cpp:1912::updateMapCloud() posesIn=2 constraints=1 mapIdsIn=2 labelsIn=1 [DEBUG] (2017-08-26 21:09:53.233) MainWindow.cpp:1991::updateMapCloud() Update map with 2 locations [DEBUG] (2017-08-26 21:09:53.233) SensorData.cpp:557::uncompressData() 3 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:53.234) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:09:53.234) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:53.234) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:09:53.234) Camera.cpp:100::takeImage() Time capturing image = 0.016052s [DEBUG] (2017-08-26 21:09:53.234) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.235) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:53.251) MainWindow.cpp:2198::updateMapCloud() Hide cloud-1 [DEBUG] (2017-08-26 21:09:53.251) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.001189s [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:09:53.253) MainWindow.cpp:1796::processStats() time= 20 ms [DEBUG] (2017-08-26 21:09:53.258) Camera.cpp:100::takeImage() Time capturing image = 0.023159s [DEBUG] (2017-08-26 21:09:53.258) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.258) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.259) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:09:53.259) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:09:53.259) MainWindow.cpp:1874::processStats() Updating GUI time = 0.054000s [DEBUG] (2017-08-26 21:09:53.268) Camera.cpp:100::takeImage() Time capturing image = 0.010504s [DEBUG] (2017-08-26 21:09:53.268) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.268) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.270) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.270) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.272) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016421,-0.040998,0.099011 rpy=-0.231455,-1.169422,0.081360 [DEBUG] (2017-08-26 21:09:53.283) Camera.cpp:100::takeImage() Time capturing image = 0.014625s [DEBUG] (2017-08-26 21:09:53.283) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.283) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.302) Camera.cpp:100::takeImage() Time capturing image = 0.019137s [DEBUG] (2017-08-26 21:09:53.302) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.303) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.307) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.307) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.316) Camera.cpp:100::takeImage() Time capturing image = 0.013330s [DEBUG] (2017-08-26 21:09:53.316) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.316) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.333) Camera.cpp:100::takeImage() Time capturing image = 0.016597s [DEBUG] (2017-08-26 21:09:53.333) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.333) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.342) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.342) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.350) Camera.cpp:100::takeImage() Time capturing image = 0.016773s [DEBUG] (2017-08-26 21:09:53.350) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.350) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.366) Camera.cpp:100::takeImage() Time capturing image = 0.016135s [DEBUG] (2017-08-26 21:09:53.366) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.366) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.376) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.376) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.377) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016768,-0.039937,0.102891 rpy=-0.225341,-1.162203,0.062253 [DEBUG] (2017-08-26 21:09:53.383) Camera.cpp:100::takeImage() Time capturing image = 0.016884s [DEBUG] (2017-08-26 21:09:53.383) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.383) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.402) Camera.cpp:100::takeImage() Time capturing image = 0.018798s [DEBUG] (2017-08-26 21:09:53.402) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.402) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.414) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.414) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.415) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.017590,-0.038645,0.105384 rpy=-0.225044,-1.157635,0.051200 [DEBUG] (2017-08-26 21:09:53.417) Camera.cpp:100::takeImage() Time capturing image = 0.014704s [DEBUG] (2017-08-26 21:09:53.417) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.417) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.433) Camera.cpp:100::takeImage() Time capturing image = 0.016375s [DEBUG] (2017-08-26 21:09:53.433) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.434) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.444) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.444) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.449) Camera.cpp:100::takeImage() Time capturing image = 0.016015s [DEBUG] (2017-08-26 21:09:53.450) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.450) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.465) Camera.cpp:100::takeImage() Time capturing image = 0.015892s [DEBUG] (2017-08-26 21:09:53.466) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.466) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.480) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.480) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.481) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.017820,-0.037869,0.107332 rpy=-0.218565,-1.156028,0.035919 [DEBUG] (2017-08-26 21:09:53.482) Camera.cpp:100::takeImage() Time capturing image = 0.016749s [DEBUG] (2017-08-26 21:09:53.482) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.483) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.500) Camera.cpp:100::takeImage() Time capturing image = 0.017662s [DEBUG] (2017-08-26 21:09:53.500) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.501) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.516) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.516) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.517) Camera.cpp:100::takeImage() Time capturing image = 0.016685s [DEBUG] (2017-08-26 21:09:53.517) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.517) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.532) Camera.cpp:100::takeImage() Time capturing image = 0.014568s [DEBUG] (2017-08-26 21:09:53.532) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.532) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.546) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.546) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.547) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.018493,-0.037803,0.110096 rpy=-0.200096,-1.157375,0.007734 [DEBUG] (2017-08-26 21:09:53.551) Camera.cpp:100::takeImage() Time capturing image = 0.018621s [DEBUG] (2017-08-26 21:09:53.551) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.551) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.566) Camera.cpp:100::takeImage() Time capturing image = 0.014832s [DEBUG] (2017-08-26 21:09:53.566) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.566) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.578) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.578) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.582) Camera.cpp:100::takeImage() Time capturing image = 0.016344s [DEBUG] (2017-08-26 21:09:53.582) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.582) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.599) Camera.cpp:100::takeImage() Time capturing image = 0.016662s [DEBUG] (2017-08-26 21:09:53.599) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.599) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.610) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.610) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.611) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.019209,-0.037701,0.112359 rpy=-0.194250,-1.159842,-0.004977 [DEBUG] (2017-08-26 21:09:53.616) Camera.cpp:100::takeImage() Time capturing image = 0.016532s [DEBUG] (2017-08-26 21:09:53.616) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.616) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.632) Camera.cpp:100::takeImage() Time capturing image = 0.016316s [DEBUG] (2017-08-26 21:09:53.632) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.633) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.642) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.642) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.649) Camera.cpp:100::takeImage() Time capturing image = 0.016402s [DEBUG] (2017-08-26 21:09:53.649) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.649) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.666) Camera.cpp:100::takeImage() Time capturing image = 0.016689s [DEBUG] (2017-08-26 21:09:53.666) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.666) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.672) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.673) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.682) Camera.cpp:100::takeImage() Time capturing image = 0.016133s [DEBUG] (2017-08-26 21:09:53.682) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.682) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.699) Camera.cpp:100::takeImage() Time capturing image = 0.016692s [DEBUG] (2017-08-26 21:09:53.699) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.699) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.702) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.702) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.703) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.019765,-0.037649,0.114158 rpy=-0.198243,-1.162288,-0.004441 [DEBUG] (2017-08-26 21:09:53.715) Camera.cpp:100::takeImage() Time capturing image = 0.016357s [DEBUG] (2017-08-26 21:09:53.715) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.716) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.732) Camera.cpp:100::takeImage() Time capturing image = 0.016791s [DEBUG] (2017-08-26 21:09:53.732) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.732) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.734) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.734) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.748) Camera.cpp:100::takeImage() Time capturing image = 0.016030s [DEBUG] (2017-08-26 21:09:53.748) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.749) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.765) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.765) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.765) Camera.cpp:100::takeImage() Time capturing image = 0.016936s [DEBUG] (2017-08-26 21:09:53.766) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.766) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.020762,-0.038943,0.116982 rpy=-0.193063,-1.166393,-0.012788 [DEBUG] (2017-08-26 21:09:53.766) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.782) Camera.cpp:100::takeImage() Time capturing image = 0.016171s [DEBUG] (2017-08-26 21:09:53.782) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.782) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.797) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.797) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.798) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.022169,-0.040672,0.120918 rpy=-0.184561,-1.170255,-0.023796 [DEBUG] (2017-08-26 21:09:53.799) Camera.cpp:100::takeImage() Time capturing image = 0.016689s [DEBUG] (2017-08-26 21:09:53.799) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.799) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.815) Camera.cpp:100::takeImage() Time capturing image = 0.016187s [DEBUG] (2017-08-26 21:09:53.815) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.815) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.832) Camera.cpp:100::takeImage() Time capturing image = 0.016786s [DEBUG] (2017-08-26 21:09:53.832) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.832) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:53.832) RtabmapThread.cpp:630::addData() Added data 243 [ INFO] (2017-08-26 21:09:53.832) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:53.832) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:53.833) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:53.833) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=10)... [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:53.833) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:09:53.833) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:53.838) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:53.838) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:53.838) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:53.838) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:09:53.839) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 3 -> 7 [DEBUG] (2017-08-26 21:09:53.839) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:09:53.839) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:09:53.839) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:53.846) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.846) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.856) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:53.857) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:53.859) Camera.cpp:100::takeImage() Time capturing image = 0.027082s [DEBUG] (2017-08-26 21:09:53.859) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.862) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:53.862) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:53.862) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:53.863) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.874) Camera.cpp:100::takeImage() Time capturing image = 0.014588s [DEBUG] (2017-08-26 21:09:53.874) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.874) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.879) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.879) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.880) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.023701,-0.042684,0.125298 rpy=-0.178499,-1.172009,-0.031201 [DEBUG] (2017-08-26 21:09:53.901) Camera.cpp:100::takeImage() Time capturing image = 0.027033s [DEBUG] (2017-08-26 21:09:53.909) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.909) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.928) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.928) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.941) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.079180 s, keypoints extracted = 16 (mask empty=0) [DEBUG] (2017-08-26 21:09:53.941) Memory.cpp:3409::createSignature() time keypoints (16) = 0.108536s [DEBUG] (2017-08-26 21:09:53.941) Camera.cpp:100::takeImage() Time capturing image = 0.013122s [DEBUG] (2017-08-26 21:09:53.942) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.942) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.942) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.942) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.943) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.025458,-0.044984,0.130163 rpy=-0.174438,-1.172399,-0.034362 [DEBUG] (2017-08-26 21:09:53.951) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 16, remaining kpts=16 [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3414::createSignature() time descriptors (16) = 0.009583s [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=14 [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3427::createSignature() time keypoints 3D (16) = 0.000091s [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3539::createSignature() time descriptor and memory update (16 of size=64) = 0.000077s [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:593::addNewWords() id=5 descriptors=16 [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:686::addNewWords() newPts.total()=16 [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000194 s [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000052 s [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:874::addNewWords() 0 new words added... [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:876::addNewWords() 16 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:09:53.951) VWDictionary.cpp:877::addNewWords() total time 0.000306s [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3599::createSignature() time addNewWords 0.000376s indexed=10 not=0 [DEBUG] (2017-08-26 21:09:53.951) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:53.959) Camera.cpp:100::takeImage() Time capturing image = 0.017090s [DEBUG] (2017-08-26 21:09:53.959) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.959) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.969) Camera.cpp:100::takeImage() Time capturing image = 0.010236s [DEBUG] (2017-08-26 21:09:53.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.970) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:3897::createSignature() time compressing data (id=5) 0.018389s [DEBUG] (2017-08-26 21:09:53.970) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:626::update() time creating signature=137.235168 ms [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:711::addSignatureToStm() adding 5 [DEBUG] (2017-08-26 21:09:53.970) Signature.cpp:121::addLink() Add link 5 to 4 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:53.970) Signature.cpp:121::addLink() Add link 4 to 5 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:773::addSignatureToStm() 16 words ref for the signature 5 [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:781::addSignatureToStm() time = 0.000286s [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:2813::rehearsal() Comparing with signature (4)... [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:2836::rehearsal() merged=0, sim=0.517241 t=0.000042s [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:647::update() time rehearsal=0.402927 ms [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:700::update() totalTimer = 0.137699s [DEBUG] (2017-08-26 21:09:53.970) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:53.970) Rtabmap.cpp:1002::process() Processing signature 5 w=0 [ INFO] (2017-08-26 21:09:53.970) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.137909s [DEBUG] (2017-08-26 21:09:53.971) Rtabmap.cpp:1158::process() Added pose xyz=0.051441,-0.256758,0.399111 rpy=-0.044369,-0.713251,0.170773 (odom=xyz=0.051441,-0.256758,0.399111 rpy=-0.044369,-0.713251,0.170773) [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000107s [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:53.971) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:53.971) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000032 s [DEBUG] (2017-08-26 21:09:53.971) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:53.971) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:53.971) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000018s [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000159s [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000024s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000022s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000021s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:575::updatePrediction() time copying = 0.000022s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000178s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000090s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000089s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000027s [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:53.971) BayesFilter.cpp:216::computePosterior() normalize time=0.000042s [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000503s [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000044s [DEBUG] (2017-08-26 21:09:53.971) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:53.971) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:53.971) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000037s, joining (actual overhead) = 0.000150s [DEBUG] (2017-08-26 21:09:53.972) Graph.cpp:1661::getNodesInRadius() found nodes=3 [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:1721::process() near nodes=3, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:1807::process() timeReactivations=0.000310s [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000023s [DEBUG] (2017-08-26 21:09:53.972) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:53.972) Rtabmap.cpp:1899::process() nearestIds=4/4 [DEBUG] (2017-08-26 21:09:53.972) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:53.972) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:53.972) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000168s [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2430::process() Time creating stats = 0.000244... [DEBUG] (2017-08-26 21:09:53.972) Memory.cpp:2187::removeRawData() id=5 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:53.972) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000159s... 0 signatures removed [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2500::process() Total time processing = 0.139823s... [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000084... [ INFO] (2017-08-26 21:09:53.972) Rtabmap.cpp:2624::process() Adding data 5 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:53.973) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:53.973) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:53.973) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:53.973) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 5 [DEBUG] (2017-08-26 21:09:53.974) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001104s [DEBUG] (2017-08-26 21:09:53.974) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:53.974) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:53.974) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:53.974) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:53.974) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:53.975) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:53.975) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:53.975) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000146s... [DEBUG] (2017-08-26 21:09:53.977) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.977) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.982) Camera.cpp:100::takeImage() Time capturing image = 0.012517s [DEBUG] (2017-08-26 21:09:53.982) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:53.982) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:53.997) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:53.997) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:53.998) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.027348,-0.047641,0.135952 rpy=-0.176790,-1.170467,-0.028967 [DEBUG] (2017-08-26 21:09:54.001) Camera.cpp:100::takeImage() Time capturing image = 0.018892s [DEBUG] (2017-08-26 21:09:54.001) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.015) Camera.cpp:100::takeImage() Time capturing image = 0.013509s [DEBUG] (2017-08-26 21:09:54.015) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.015) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.020) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.020) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.031) Camera.cpp:100::takeImage() Time capturing image = 0.015719s [DEBUG] (2017-08-26 21:09:54.031) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.031) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.045) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.045) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.046) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.028704,-0.050416,0.141622 rpy=-0.184667,-1.165434,-0.016828 [DEBUG] (2017-08-26 21:09:54.049) Camera.cpp:100::takeImage() Time capturing image = 0.018088s [DEBUG] (2017-08-26 21:09:54.049) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.049) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.064) Camera.cpp:100::takeImage() Time capturing image = 0.015121s [DEBUG] (2017-08-26 21:09:54.064) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.064) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.070) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.070) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.082) Camera.cpp:100::takeImage() Time capturing image = 0.017844s [DEBUG] (2017-08-26 21:09:54.082) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.083) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.093) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.093) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.098) Camera.cpp:100::takeImage() Time capturing image = 0.015028s [DEBUG] (2017-08-26 21:09:54.098) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.098) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.115) Camera.cpp:100::takeImage() Time capturing image = 0.017494s [DEBUG] (2017-08-26 21:09:54.115) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.115) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.117) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.117) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.117) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.029649,-0.053283,0.146733 rpy=-0.194021,-1.158100,-0.002655 [DEBUG] (2017-08-26 21:09:54.131) Camera.cpp:100::takeImage() Time capturing image = 0.015449s [DEBUG] (2017-08-26 21:09:54.131) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.131) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.142) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.143) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.148) Camera.cpp:100::takeImage() Time capturing image = 0.016943s [DEBUG] (2017-08-26 21:09:54.148) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.148) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.164) Camera.cpp:100::takeImage() Time capturing image = 0.016048s [DEBUG] (2017-08-26 21:09:54.164) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.164) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.169) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.169) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.169) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.030719,-0.056705,0.152363 rpy=-0.200205,-1.148305,0.008755 [DEBUG] (2017-08-26 21:09:54.181) Camera.cpp:100::takeImage() Time capturing image = 0.016746s [DEBUG] (2017-08-26 21:09:54.181) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.181) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.192) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.192) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.193) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.031701,-0.060700,0.158748 rpy=-0.207073,-1.135313,0.021917 [DEBUG] (2017-08-26 21:09:54.197) Camera.cpp:100::takeImage() Time capturing image = 0.016124s [DEBUG] (2017-08-26 21:09:54.197) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.198) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.217) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.217) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.217) Camera.cpp:100::takeImage() Time capturing image = 0.019930s [DEBUG] (2017-08-26 21:09:54.217) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.231) Camera.cpp:100::takeImage() Time capturing image = 0.013046s [DEBUG] (2017-08-26 21:09:54.231) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.231) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.242) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.243) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.243) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.031891,-0.065375,0.163617 rpy=-0.211144,-1.122643,0.031819 [DEBUG] (2017-08-26 21:09:54.248) Camera.cpp:100::takeImage() Time capturing image = 0.017591s [DEBUG] (2017-08-26 21:09:54.248) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.249) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.264) Camera.cpp:100::takeImage() Time capturing image = 0.015341s [DEBUG] (2017-08-26 21:09:54.264) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.264) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.269) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.269) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.281) Camera.cpp:100::takeImage() Time capturing image = 0.016913s [DEBUG] (2017-08-26 21:09:54.281) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.281) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.292) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.292) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.293) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.032190,-0.071034,0.169260 rpy=-0.210601,-1.107240,0.038639 [DEBUG] (2017-08-26 21:09:54.297) Camera.cpp:100::takeImage() Time capturing image = 0.016034s [DEBUG] (2017-08-26 21:09:54.297) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.297) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.314) Camera.cpp:100::takeImage() Time capturing image = 0.016798s [DEBUG] (2017-08-26 21:09:54.314) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.314) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.322) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.322) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.331) Camera.cpp:100::takeImage() Time capturing image = 0.016595s [DEBUG] (2017-08-26 21:09:54.331) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.331) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.349) Camera.cpp:100::takeImage() Time capturing image = 0.018503s [DEBUG] (2017-08-26 21:09:54.350) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.350) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.355) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.355) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.356) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.032277,-0.077852,0.175460 rpy=-0.201520,-1.089258,0.039092 [DEBUG] (2017-08-26 21:09:54.364) Camera.cpp:100::takeImage() Time capturing image = 0.014017s [DEBUG] (2017-08-26 21:09:54.364) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.364) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.381) Camera.cpp:100::takeImage() Time capturing image = 0.017301s [DEBUG] (2017-08-26 21:09:54.381) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.382) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.388) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.388) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.397) Camera.cpp:100::takeImage() Time capturing image = 0.015424s [DEBUG] (2017-08-26 21:09:54.397) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.397) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.417) Camera.cpp:100::takeImage() Time capturing image = 0.019738s [DEBUG] (2017-08-26 21:09:54.417) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.417) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.419) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.419) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.421) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.032543,-0.083491,0.180840 rpy=-0.198985,-1.073377,0.046903 [DEBUG] (2017-08-26 21:09:54.430) Camera.cpp:100::takeImage() Time capturing image = 0.013148s [DEBUG] (2017-08-26 21:09:54.430) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.430) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.448) Camera.cpp:100::takeImage() Time capturing image = 0.017589s [DEBUG] (2017-08-26 21:09:54.448) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.448) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.451) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.451) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.463) Camera.cpp:100::takeImage() Time capturing image = 0.015099s [DEBUG] (2017-08-26 21:09:54.463) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.463) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.483) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.483) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.484) Camera.cpp:100::takeImage() Time capturing image = 0.020664s [DEBUG] (2017-08-26 21:09:54.484) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.484) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.496) Camera.cpp:100::takeImage() Time capturing image = 0.012268s [DEBUG] (2017-08-26 21:09:54.496) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.497) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.516) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.516) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.516) Camera.cpp:100::takeImage() Time capturing image = 0.019857s [DEBUG] (2017-08-26 21:09:54.517) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.517) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.517) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.032313,-0.089993,0.187040 rpy=-0.196901,-1.054784,0.058409 [DEBUG] (2017-08-26 21:09:54.529) Camera.cpp:100::takeImage() Time capturing image = 0.012584s [DEBUG] (2017-08-26 21:09:54.529) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.529) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.548) Camera.cpp:100::takeImage() Time capturing image = 0.018454s [DEBUG] (2017-08-26 21:09:54.548) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.548) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.549) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.549) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.550) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.031994,-0.095969,0.193713 rpy=-0.193899,-1.037133,0.068135 [DEBUG] (2017-08-26 21:09:54.562) Camera.cpp:100::takeImage() Time capturing image = 0.014185s [DEBUG] (2017-08-26 21:09:54.562) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.562) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.580) Camera.cpp:100::takeImage() Time capturing image = 0.017476s [DEBUG] (2017-08-26 21:09:54.580) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.580) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.582) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.582) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.595) Camera.cpp:100::takeImage() Time capturing image = 0.015120s [DEBUG] (2017-08-26 21:09:54.595) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.596) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.613) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.613) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.614) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.030533,-0.101802,0.201178 rpy=-0.193637,-1.017355,0.080809 [DEBUG] (2017-08-26 21:09:54.619) Camera.cpp:100::takeImage() Time capturing image = 0.023400s [DEBUG] (2017-08-26 21:09:54.619) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.619) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.629) Camera.cpp:100::takeImage() Time capturing image = 0.010310s [DEBUG] (2017-08-26 21:09:54.629) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.630) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.645) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.645) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.650) Camera.cpp:100::takeImage() Time capturing image = 0.020800s [DEBUG] (2017-08-26 21:09:54.650) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.651) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.663) Camera.cpp:100::takeImage() Time capturing image = 0.012464s [DEBUG] (2017-08-26 21:09:54.663) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.663) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.679) Camera.cpp:100::takeImage() Time capturing image = 0.015600s [DEBUG] (2017-08-26 21:09:54.679) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.679) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.679) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.680) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.681) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.027831,-0.108533,0.208358 rpy=-0.185876,-0.996828,0.084491 [DEBUG] (2017-08-26 21:09:54.695) Camera.cpp:100::takeImage() Time capturing image = 0.016333s [DEBUG] (2017-08-26 21:09:54.695) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.695) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.710) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.710) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.712) Camera.cpp:100::takeImage() Time capturing image = 0.016777s [DEBUG] (2017-08-26 21:09:54.712) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.712) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.729) Camera.cpp:100::takeImage() Time capturing image = 0.016450s [DEBUG] (2017-08-26 21:09:54.729) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.729) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.741) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.741) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.751) Camera.cpp:100::takeImage() Time capturing image = 0.021702s [DEBUG] (2017-08-26 21:09:54.751) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.751) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.768) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.768) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.773) Camera.cpp:100::takeImage() Time capturing image = 0.021680s [DEBUG] (2017-08-26 21:09:54.773) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.773) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.789) Camera.cpp:100::takeImage() Time capturing image = 0.016189s [DEBUG] (2017-08-26 21:09:54.789) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.790) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.798) Camera.cpp:100::takeImage() Time capturing image = 0.008595s [DEBUG] (2017-08-26 21:09:54.798) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.798) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.801) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.801) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.802) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.026078,-0.114994,0.215554 rpy=-0.179294,-0.980188,0.086490 [DEBUG] (2017-08-26 21:09:54.813) Camera.cpp:100::takeImage() Time capturing image = 0.014999s [DEBUG] (2017-08-26 21:09:54.813) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.814) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.829) Camera.cpp:100::takeImage() Time capturing image = 0.015704s [DEBUG] (2017-08-26 21:09:54.829) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.830) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.831) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.831) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.833) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.024402,-0.121673,0.222643 rpy=-0.178087,-0.965724,0.093377 [DEBUG] (2017-08-26 21:09:54.846) Camera.cpp:100::takeImage() Time capturing image = 0.016276s [DEBUG] (2017-08-26 21:09:54.848) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:54.849) RtabmapThread.cpp:630::addData() Added data 302 [DEBUG] (2017-08-26 21:09:54.849) CameraThread.cpp:129::mainLoop() [ INFO] (2017-08-26 21:09:54.849) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:54.849) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:54.849) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:54.849) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=10)... [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:54.849) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:09:54.849) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:54.849) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:09:54.849) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:09:54.850) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:54.863) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.863) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.863) Camera.cpp:100::takeImage() Time capturing image = 0.014484s [DEBUG] (2017-08-26 21:09:54.863) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.864) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:54.864) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:54.864) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.869) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:54.869) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:54.869) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:54.880) Camera.cpp:100::takeImage() Time capturing image = 0.015751s [DEBUG] (2017-08-26 21:09:54.880) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.880) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.897) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.897) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.898) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.022230,-0.129009,0.229475 rpy=-0.179993,-0.953458,0.104057 [DEBUG] (2017-08-26 21:09:54.915) Camera.cpp:100::takeImage() Time capturing image = 0.034919s [DEBUG] (2017-08-26 21:09:54.915) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.915) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.933) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.933) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.934) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.020667,-0.135897,0.236022 rpy=-0.180376,-0.946011,0.111369 [DEBUG] (2017-08-26 21:09:54.944) Camera.cpp:100::takeImage() Time capturing image = 0.029110s [DEBUG] (2017-08-26 21:09:54.944) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.944) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.956) Camera.cpp:100::takeImage() Time capturing image = 0.011512s [DEBUG] (2017-08-26 21:09:54.956) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.963) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.982) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:54.982) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:54.983) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.114244 s, keypoints extracted = 4 (mask empty=0) [DEBUG] (2017-08-26 21:09:54.983) Memory.cpp:3409::createSignature() time keypoints (4) = 0.133694s [DEBUG] (2017-08-26 21:09:54.987) Camera.cpp:100::takeImage() Time capturing image = 0.031453s [DEBUG] (2017-08-26 21:09:54.987) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:54.989) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:54.999) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 4, remaining kpts=4 [DEBUG] (2017-08-26 21:09:54.999) Memory.cpp:3414::createSignature() time descriptors (4) = 0.016206s [DEBUG] (2017-08-26 21:09:54.999) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=14 [DEBUG] (2017-08-26 21:09:54.999) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:54.999) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:54.999) Memory.cpp:3603::createSignature() id 6 is a bad signature [DEBUG] (2017-08-26 21:09:54.999) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:54.999) Camera.cpp:100::takeImage() Time capturing image = 0.011990s [DEBUG] (2017-08-26 21:09:55.000) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.000) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:3897::createSignature() time compressing data (id=6) 0.011800s [DEBUG] (2017-08-26 21:09:55.011) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:626::update() time creating signature=161.890030 ms [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:711::addSignatureToStm() adding 6 [DEBUG] (2017-08-26 21:09:55.011) Signature.cpp:121::addLink() Add link 6 to 5 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:55.011) Signature.cpp:121::addLink() Add link 5 to 6 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 6 [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:781::addSignatureToStm() time = 0.000171s [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:647::update() time rehearsal=0.221014 ms [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:700::update() totalTimer = 0.162176s [DEBUG] (2017-08-26 21:09:55.011) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:55.011) Rtabmap.cpp:1002::process() Processing signature 6 w=0 [ INFO] (2017-08-26 21:09:55.011) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.162390s [DEBUG] (2017-08-26 21:09:55.011) Rtabmap.cpp:1158::process() Added pose xyz=0.167278,-0.294308,0.419831 rpy=-0.031266,-0.172042,0.517992 (odom=xyz=0.167278,-0.294308,0.419831 rpy=-0.031266,-0.172042,0.517992) [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000106s [DEBUG] (2017-08-26 21:09:55.012) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:55.012) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000146s, joining (actual overhead) = 0.000059s [DEBUG] (2017-08-26 21:09:55.012) Graph.cpp:1661::getNodesInRadius() found nodes=4 [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:1721::process() near nodes=4, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:1807::process() timeReactivations=0.000352s [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000025s [DEBUG] (2017-08-26 21:09:55.012) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:55.012) Rtabmap.cpp:1899::process() nearestIds=5/5 [DEBUG] (2017-08-26 21:09:55.012) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:55.012) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:55.012) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000155s [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:55.012) Rtabmap.cpp:2430::process() Time creating stats = 0.000258... [DEBUG] (2017-08-26 21:09:55.013) Memory.cpp:2187::removeRawData() id=6 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:55.013) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:55.013) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000207s... 0 signatures removed [ INFO] (2017-08-26 21:09:55.013) Rtabmap.cpp:2500::process() Total time processing = 0.163595s... [ INFO] (2017-08-26 21:09:55.013) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000040... [ INFO] (2017-08-26 21:09:55.013) Rtabmap.cpp:2624::process() Adding data 6 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:55.013) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:55.013) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:55.013) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:55.013) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 6 [DEBUG] (2017-08-26 21:09:55.014) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001108s [DEBUG] (2017-08-26 21:09:55.014) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:55.014) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:55.014) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:55.014) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000095s... [DEBUG] (2017-08-26 21:09:55.015) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:55.015) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:55.015) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.015) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.015) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:55.015) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:55.021) Camera.cpp:100::takeImage() Time capturing image = 0.020634s [DEBUG] (2017-08-26 21:09:55.021) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.021) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.029) Camera.cpp:100::takeImage() Time capturing image = 0.007930s [DEBUG] (2017-08-26 21:09:55.029) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.029) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.044) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.044) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.045) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.017853,-0.149873,0.249080 rpy=-0.180730,-0.939712,0.121585 [DEBUG] (2017-08-26 21:09:55.046) Camera.cpp:100::takeImage() Time capturing image = 0.017083s [DEBUG] (2017-08-26 21:09:55.047) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.047) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.062) Camera.cpp:100::takeImage() Time capturing image = 0.015277s [DEBUG] (2017-08-26 21:09:55.062) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.062) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.075) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.075) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.076) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016747,-0.155953,0.255067 rpy=-0.185236,-0.939259,0.129436 [DEBUG] (2017-08-26 21:09:55.079) Camera.cpp:100::takeImage() Time capturing image = 0.016634s [DEBUG] (2017-08-26 21:09:55.079) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.080) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.096) Camera.cpp:100::takeImage() Time capturing image = 0.016365s [DEBUG] (2017-08-26 21:09:55.096) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.096) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.105) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.105) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.113) Camera.cpp:100::takeImage() Time capturing image = 0.016424s [DEBUG] (2017-08-26 21:09:55.113) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.113) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.129) Camera.cpp:100::takeImage() Time capturing image = 0.015806s [DEBUG] (2017-08-26 21:09:55.129) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.129) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.132) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.132) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.146) Camera.cpp:100::takeImage() Time capturing image = 0.016648s [DEBUG] (2017-08-26 21:09:55.146) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.146) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.161) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.161) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.162) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015808,-0.161251,0.260171 rpy=-0.193513,-0.939389,0.138803 [DEBUG] (2017-08-26 21:09:55.163) Camera.cpp:100::takeImage() Time capturing image = 0.016222s [DEBUG] (2017-08-26 21:09:55.163) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.163) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.181) Camera.cpp:100::takeImage() Time capturing image = 0.017911s [DEBUG] (2017-08-26 21:09:55.181) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.181) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.192) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.192) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.197) Camera.cpp:100::takeImage() Time capturing image = 0.015661s [DEBUG] (2017-08-26 21:09:55.197) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.197) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.213) Camera.cpp:100::takeImage() Time capturing image = 0.015765s [DEBUG] (2017-08-26 21:09:55.213) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.213) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.215) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:09:55.216) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:09:55.216) SensorData.cpp:557::uncompressData() 4 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:55.216) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:55.228) Camera.cpp:100::takeImage() Time capturing image = 0.015718s [DEBUG] (2017-08-26 21:09:55.229) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.229) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.229) MainWindow.cpp:1632::processStats() time= 13 ms [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 29 [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:3838::drawKeypoints() source time = 0.000210 s [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000020 s [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:09:55.233) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:55.246) MainWindow.cpp:1715::processStats() time= 13 ms [DEBUG] (2017-08-26 21:09:55.247) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:55.247) MainWindow.cpp:1912::updateMapCloud() posesIn=3 constraints=2 mapIdsIn=3 labelsIn=1 [DEBUG] (2017-08-26 21:09:55.247) MainWindow.cpp:1991::updateMapCloud() Update map with 3 locations [DEBUG] (2017-08-26 21:09:55.247) SensorData.cpp:557::uncompressData() 4 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:55.247) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:09:55.247) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:55.247) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:09:55.248) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:55.249) Camera.cpp:100::takeImage() Time capturing image = 0.019765s [DEBUG] (2017-08-26 21:09:55.249) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.249) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.271) Camera.cpp:100::takeImage() Time capturing image = 0.022237s [DEBUG] (2017-08-26 21:09:55.271) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.271) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.275) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:09:55.277) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000992s [DEBUG] (2017-08-26 21:09:55.277) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:09:55.277) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:09:55.277) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:09:55.277) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:09:55.277) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:09:55.278) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:09:55.278) MainWindow.cpp:1796::processStats() time= 31 ms [DEBUG] (2017-08-26 21:09:55.280) Camera.cpp:100::takeImage() Time capturing image = 0.008399s [DEBUG] (2017-08-26 21:09:55.280) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.280) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.282) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:09:55.282) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:09:55.282) MainWindow.cpp:1874::processStats() Updating GUI time = 0.067000s [DEBUG] (2017-08-26 21:09:55.294) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.294) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.296) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015036,-0.166825,0.265445 rpy=-0.202486,-0.941510,0.146551 [DEBUG] (2017-08-26 21:09:55.297) Camera.cpp:100::takeImage() Time capturing image = 0.017463s [DEBUG] (2017-08-26 21:09:55.298) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.298) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.313) Camera.cpp:100::takeImage() Time capturing image = 0.015658s [DEBUG] (2017-08-26 21:09:55.314) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.314) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.329) Camera.cpp:100::takeImage() Time capturing image = 0.015742s [DEBUG] (2017-08-26 21:09:55.330) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.330) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.333) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.333) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.346) Camera.cpp:100::takeImage() Time capturing image = 0.016371s [DEBUG] (2017-08-26 21:09:55.346) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.347) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.362) Camera.cpp:100::takeImage() Time capturing image = 0.015824s [DEBUG] (2017-08-26 21:09:55.363) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.363) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.366) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.366) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.367) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015212,-0.172183,0.270134 rpy=-0.207794,-0.946123,0.149192 [DEBUG] (2017-08-26 21:09:55.380) Camera.cpp:100::takeImage() Time capturing image = 0.017290s [DEBUG] (2017-08-26 21:09:55.380) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.380) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.396) Camera.cpp:100::takeImage() Time capturing image = 0.015487s [DEBUG] (2017-08-26 21:09:55.396) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.396) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.412) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.412) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.422) Camera.cpp:100::takeImage() Time capturing image = 0.025226s [DEBUG] (2017-08-26 21:09:55.422) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.431) Camera.cpp:100::takeImage() Time capturing image = 0.009511s [DEBUG] (2017-08-26 21:09:55.431) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.432) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.445) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.445) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.446) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015686,-0.176488,0.273676 rpy=-0.216141,-0.950821,0.156311 [DEBUG] (2017-08-26 21:09:55.447) Camera.cpp:100::takeImage() Time capturing image = 0.015647s [DEBUG] (2017-08-26 21:09:55.447) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.447) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.463) Camera.cpp:100::takeImage() Time capturing image = 0.015907s [DEBUG] (2017-08-26 21:09:55.463) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.464) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.478) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.478) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.480) Camera.cpp:100::takeImage() Time capturing image = 0.017072s [DEBUG] (2017-08-26 21:09:55.480) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.481) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.497) Camera.cpp:100::takeImage() Time capturing image = 0.016182s [DEBUG] (2017-08-26 21:09:55.497) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.497) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.510) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.510) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.511) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016631,-0.181964,0.276917 rpy=-0.232231,-0.955047,0.175682 [DEBUG] (2017-08-26 21:09:55.513) Camera.cpp:100::takeImage() Time capturing image = 0.016566s [DEBUG] (2017-08-26 21:09:55.514) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.514) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.530) Camera.cpp:100::takeImage() Time capturing image = 0.016263s [DEBUG] (2017-08-26 21:09:55.530) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.530) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.543) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.543) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.547) Camera.cpp:100::takeImage() Time capturing image = 0.017086s [DEBUG] (2017-08-26 21:09:55.547) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.547) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.563) Camera.cpp:100::takeImage() Time capturing image = 0.015920s [DEBUG] (2017-08-26 21:09:55.563) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.564) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.575) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.575) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.576) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.017238,-0.186471,0.280641 rpy=-0.246001,-0.956417,0.196910 [DEBUG] (2017-08-26 21:09:55.580) Camera.cpp:100::takeImage() Time capturing image = 0.017020s [DEBUG] (2017-08-26 21:09:55.581) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.581) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.606) Camera.cpp:100::takeImage() Time capturing image = 0.025229s [DEBUG] (2017-08-26 21:09:55.606) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.606) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.607) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.608) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.620) Camera.cpp:100::takeImage() Time capturing image = 0.013901s [DEBUG] (2017-08-26 21:09:55.620) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.621) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.633) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.633) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.633) Camera.cpp:100::takeImage() Time capturing image = 0.013114s [DEBUG] (2017-08-26 21:09:55.634) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.634) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.635) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.017144,-0.190423,0.284451 rpy=-0.251472,-0.955692,0.211480 [DEBUG] (2017-08-26 21:09:55.648) Camera.cpp:100::takeImage() Time capturing image = 0.013863s [DEBUG] (2017-08-26 21:09:55.648) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.648) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.663) Camera.cpp:100::takeImage() Time capturing image = 0.015629s [DEBUG] (2017-08-26 21:09:55.663) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.664) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.665) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.665) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.680) Camera.cpp:100::takeImage() Time capturing image = 0.016948s [DEBUG] (2017-08-26 21:09:55.681) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.681) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.696) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.696) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.697) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.016747,-0.195872,0.289409 rpy=-0.240963,-0.953663,0.213076 [DEBUG] (2017-08-26 21:09:55.703) Camera.cpp:100::takeImage() Time capturing image = 0.022109s [DEBUG] (2017-08-26 21:09:55.703) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.703) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.719) Camera.cpp:100::takeImage() Time capturing image = 0.016456s [DEBUG] (2017-08-26 21:09:55.720) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.720) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.727) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.727) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.731) Camera.cpp:100::takeImage() Time capturing image = 0.010957s [DEBUG] (2017-08-26 21:09:55.731) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.731) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.747) Camera.cpp:100::takeImage() Time capturing image = 0.016592s [DEBUG] (2017-08-26 21:09:55.748) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.748) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.758) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.758) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.764) Camera.cpp:100::takeImage() Time capturing image = 0.016638s [DEBUG] (2017-08-26 21:09:55.765) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.765) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.781) Camera.cpp:100::takeImage() Time capturing image = 0.015844s [DEBUG] (2017-08-26 21:09:55.781) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.781) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.789) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.789) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.790) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015991,-0.200673,0.296300 rpy=-0.215576,-0.948490,0.195973 [DEBUG] (2017-08-26 21:09:55.797) Camera.cpp:100::takeImage() Time capturing image = 0.016100s [DEBUG] (2017-08-26 21:09:55.797) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.797) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.814) Camera.cpp:100::takeImage() Time capturing image = 0.016663s [DEBUG] (2017-08-26 21:09:55.814) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.814) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.820) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.820) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.821) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.015478,-0.204665,0.301991 rpy=-0.191514,-0.941094,0.175016 [DEBUG] (2017-08-26 21:09:55.830) Camera.cpp:100::takeImage() Time capturing image = 0.016176s [DEBUG] (2017-08-26 21:09:55.830) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.830) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.847) Camera.cpp:100::takeImage() Time capturing image = 0.016449s [DEBUG] (2017-08-26 21:09:55.847) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.847) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:55.847) RtabmapThread.cpp:630::addData() Added data 360 [ INFO] (2017-08-26 21:09:55.847) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:55.847) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:55.847) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:55.847) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=10)... [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:55.847) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:09:55.848) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:55.848) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:09:55.848) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:09:55.848) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:55.851) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.851) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.852) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:55.852) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:55.863) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:55.863) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:55.864) Camera.cpp:100::takeImage() Time capturing image = 0.017660s [DEBUG] (2017-08-26 21:09:55.865) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.865) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.867) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:55.867) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:55.867) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:55.890) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.890) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.891) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.014066,-0.209108,0.308901 rpy=-0.179929,-0.926366,0.169940 [DEBUG] (2017-08-26 21:09:55.920) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.920) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.921) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:55.921) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:55.933) Camera.cpp:100::takeImage() Time capturing image = 0.067682s [DEBUG] (2017-08-26 21:09:55.933) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.933) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.946) Camera.cpp:100::takeImage() Time capturing image = 0.012860s [DEBUG] (2017-08-26 21:09:55.946) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.946) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.959) Camera.cpp:100::takeImage() Time capturing image = 0.012977s [DEBUG] (2017-08-26 21:09:55.959) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.959) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.961) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.961) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.962) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.010202,-0.213279,0.317100 rpy=-0.177841,-0.901653,0.181341 [DEBUG] (2017-08-26 21:09:55.969) Camera.cpp:100::takeImage() Time capturing image = 0.009838s [DEBUG] (2017-08-26 21:09:55.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:55.981) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.113582 s, keypoints extracted = 24 (mask empty=0) [DEBUG] (2017-08-26 21:09:55.981) Memory.cpp:3409::createSignature() time keypoints (24) = 0.133629s [DEBUG] (2017-08-26 21:09:55.989) Camera.cpp:100::takeImage() Time capturing image = 0.020109s [DEBUG] (2017-08-26 21:09:55.989) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:55.989) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:55.997) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:55.997) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.004) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 24, remaining kpts=24 [DEBUG] (2017-08-26 21:09:56.004) Memory.cpp:3414::createSignature() time descriptors (24) = 0.022772s [DEBUG] (2017-08-26 21:09:56.004) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=12 [DEBUG] (2017-08-26 21:09:56.004) Memory.cpp:3427::createSignature() time keypoints 3D (24) = 0.000148s [DEBUG] (2017-08-26 21:09:56.004) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:56.004) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:56.004) Memory.cpp:3539::createSignature() time descriptor and memory update (24 of size=64) = 0.000076s [DEBUG] (2017-08-26 21:09:56.004) VWDictionary.cpp:593::addNewWords() id=7 descriptors=24 [DEBUG] (2017-08-26 21:09:56.004) VWDictionary.cpp:686::addNewWords() newPts.total()=24 [DEBUG] (2017-08-26 21:09:56.004) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000262 s [DEBUG] (2017-08-26 21:09:56.004) Camera.cpp:100::takeImage() Time capturing image = 0.015103s [DEBUG] (2017-08-26 21:09:56.005) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.005) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.006) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000443 s [DEBUG] (2017-08-26 21:09:56.006) VWDictionary.cpp:874::addNewWords() 7 new words added... [DEBUG] (2017-08-26 21:09:56.006) VWDictionary.cpp:876::addNewWords() 17 duplicated words added (from current image = 14)... [DEBUG] (2017-08-26 21:09:56.006) VWDictionary.cpp:877::addNewWords() total time 0.001737s [DEBUG] (2017-08-26 21:09:56.006) Memory.cpp:3599::createSignature() time addNewWords 0.001811s indexed=10 not=7 [DEBUG] (2017-08-26 21:09:56.006) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:56.016) Camera.cpp:100::takeImage() Time capturing image = 0.010610s [DEBUG] (2017-08-26 21:09:56.016) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.022) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.022) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.023) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=-0.005191,-0.217039,0.324938 rpy=-0.175805,-0.874438,0.193195 [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:3897::createSignature() time compressing data (id=7) 0.019189s [DEBUG] (2017-08-26 21:09:56.025) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:626::update() time creating signature=177.801849 ms [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:711::addSignatureToStm() adding 7 [DEBUG] (2017-08-26 21:09:56.025) Signature.cpp:121::addLink() Add link 7 to 6 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:56.025) Signature.cpp:121::addLink() Add link 6 to 7 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:773::addSignatureToStm() 24 words ref for the signature 7 [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:781::addSignatureToStm() time = 0.000165s [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:2813::rehearsal() Comparing with signature (6)... [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:2836::rehearsal() merged=0, sim=0.000000 t=0.000026s [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:647::update() time rehearsal=0.265121 ms [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:700::update() totalTimer = 0.178129s [DEBUG] (2017-08-26 21:09:56.025) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1002::process() Processing signature 7 w=0 [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.178331s [DEBUG] (2017-08-26 21:09:56.026) Rtabmap.cpp:1158::process() Added pose xyz=0.109376,-0.316638,0.386170 rpy=-0.076724,-0.046230,1.233316 (odom=xyz=0.109376,-0.316638,0.386170 rpy=-0.076724,-0.046230,1.233316) [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000102s [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:56.026) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:56.026) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000034 s [DEBUG] (2017-08-26 21:09:56.026) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:56.026) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:56.026) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000020s [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000169s [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000024s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000024s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000022s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:575::updatePrediction() time copying = 0.000021s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000181s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000082s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000024s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000022s [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:56.026) BayesFilter.cpp:216::computePosterior() normalize time=0.000042s [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000430s [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000044s [DEBUG] (2017-08-26 21:09:56.026) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:56.026) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:56.026) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000095s, joining (actual overhead) = 0.000060s [DEBUG] (2017-08-26 21:09:56.027) Graph.cpp:1661::getNodesInRadius() found nodes=5 [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:1721::process() near nodes=5, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:1807::process() timeReactivations=0.000166s [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:1899::process() nearestIds=6/6 [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000168s [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2430::process() Time creating stats = 0.000157... [DEBUG] (2017-08-26 21:09:56.027) Memory.cpp:2187::removeRawData() id=7 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:56.027) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000135s... 0 signatures removed [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2500::process() Total time processing = 0.179826s... [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000040... [ INFO] (2017-08-26 21:09:56.027) Rtabmap.cpp:2624::process() Adding data 7 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:56.027) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:56.027) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 7 [DEBUG] (2017-08-26 21:09:56.029) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001141s [DEBUG] (2017-08-26 21:09:56.029) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:56.029) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:56.029) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:56.029) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:56.029) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:56.029) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:56.029) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:56.029) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000034s... [DEBUG] (2017-08-26 21:09:56.033) Camera.cpp:100::takeImage() Time capturing image = 0.017564s [DEBUG] (2017-08-26 21:09:56.034) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.034) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.046) Camera.cpp:100::takeImage() Time capturing image = 0.012496s [DEBUG] (2017-08-26 21:09:56.047) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.047) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.047) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.047) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.063) Camera.cpp:100::takeImage() Time capturing image = 0.015863s [DEBUG] (2017-08-26 21:09:56.063) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.063) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.072) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.072) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.081) Camera.cpp:100::takeImage() Time capturing image = 0.017781s [DEBUG] (2017-08-26 21:09:56.081) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.081) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.094) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.095) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.095) Camera.cpp:100::takeImage() Time capturing image = 0.014438s [DEBUG] (2017-08-26 21:09:56.096) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.003099,-0.223371,0.335141 rpy=-0.150802,-0.840000,0.179384 [DEBUG] (2017-08-26 21:09:56.096) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.096) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.112) Camera.cpp:100::takeImage() Time capturing image = 0.016026s [DEBUG] (2017-08-26 21:09:56.112) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.112) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.122) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.122) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.123) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.011825,-0.230266,0.345102 rpy=-0.107399,-0.808109,0.135124 [DEBUG] (2017-08-26 21:09:56.128) Camera.cpp:100::takeImage() Time capturing image = 0.016436s [DEBUG] (2017-08-26 21:09:56.128) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.129) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.145) Camera.cpp:100::takeImage() Time capturing image = 0.016866s [DEBUG] (2017-08-26 21:09:56.145) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.146) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.146) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.146) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.162) Camera.cpp:100::takeImage() Time capturing image = 0.016182s [DEBUG] (2017-08-26 21:09:56.162) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.162) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.172) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.172) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.179) Camera.cpp:100::takeImage() Time capturing image = 0.017055s [DEBUG] (2017-08-26 21:09:56.179) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.179) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.194) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.194) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.195) Camera.cpp:100::takeImage() Time capturing image = 0.015972s [DEBUG] (2017-08-26 21:09:56.195) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.020063,-0.236535,0.354804 rpy=-0.075806,-0.773660,0.100725 [DEBUG] (2017-08-26 21:09:56.195) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.195) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.212) Camera.cpp:100::takeImage() Time capturing image = 0.016516s [DEBUG] (2017-08-26 21:09:56.212) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.212) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.218) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.218) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.228) Camera.cpp:100::takeImage() Time capturing image = 0.016261s [DEBUG] (2017-08-26 21:09:56.228) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.228) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.243) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.243) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.244) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.027906,-0.240246,0.364364 rpy=-0.067154,-0.738294,0.094076 [DEBUG] (2017-08-26 21:09:56.245) Camera.cpp:100::takeImage() Time capturing image = 0.016501s [DEBUG] (2017-08-26 21:09:56.245) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.245) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.262) Camera.cpp:100::takeImage() Time capturing image = 0.016436s [DEBUG] (2017-08-26 21:09:56.262) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.262) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.269) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.269) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.270) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034972,-0.243754,0.373285 rpy=-0.061039,-0.709822,0.093145 [DEBUG] (2017-08-26 21:09:56.278) Camera.cpp:100::takeImage() Time capturing image = 0.016567s [DEBUG] (2017-08-26 21:09:56.278) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.278) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.293) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.294) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.295) Camera.cpp:100::takeImage() Time capturing image = 0.016289s [DEBUG] (2017-08-26 21:09:56.295) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.295) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.312) Camera.cpp:100::takeImage() Time capturing image = 0.016769s [DEBUG] (2017-08-26 21:09:56.312) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.312) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.318) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.318) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.319) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.041256,-0.247446,0.380886 rpy=-0.049134,-0.689599,0.093806 [DEBUG] (2017-08-26 21:09:56.328) Camera.cpp:100::takeImage() Time capturing image = 0.016270s [DEBUG] (2017-08-26 21:09:56.328) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.328) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.342) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.343) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.345) Camera.cpp:100::takeImage() Time capturing image = 0.016890s [DEBUG] (2017-08-26 21:09:56.345) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.345) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.362) Camera.cpp:100::takeImage() Time capturing image = 0.016352s [DEBUG] (2017-08-26 21:09:56.362) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.362) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.365) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.365) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.366) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.046091,-0.251453,0.387984 rpy=-0.036506,-0.675978,0.099476 [DEBUG] (2017-08-26 21:09:56.378) Camera.cpp:100::takeImage() Time capturing image = 0.016786s [DEBUG] (2017-08-26 21:09:56.379) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.379) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.390) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.390) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.394) Camera.cpp:100::takeImage() Time capturing image = 0.015817s [DEBUG] (2017-08-26 21:09:56.395) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.395) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.411) Camera.cpp:100::takeImage() Time capturing image = 0.016808s [DEBUG] (2017-08-26 21:09:56.411) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.412) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.414) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.414) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.415) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.049050,-0.254532,0.393385 rpy=-0.023680,-0.674237,0.098137 [DEBUG] (2017-08-26 21:09:56.428) Camera.cpp:100::takeImage() Time capturing image = 0.016190s [DEBUG] (2017-08-26 21:09:56.428) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.428) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.440) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.441) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.444) Camera.cpp:100::takeImage() Time capturing image = 0.016459s [DEBUG] (2017-08-26 21:09:56.444) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.445) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.461) Camera.cpp:100::takeImage() Time capturing image = 0.016562s [DEBUG] (2017-08-26 21:09:56.461) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.461) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.464) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.464) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.465) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.049590,-0.256478,0.396342 rpy=-0.017770,-0.681001,0.102057 [DEBUG] (2017-08-26 21:09:56.478) Camera.cpp:100::takeImage() Time capturing image = 0.016590s [DEBUG] (2017-08-26 21:09:56.478) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.478) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.490) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.490) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.494) Camera.cpp:100::takeImage() Time capturing image = 0.016163s [DEBUG] (2017-08-26 21:09:56.494) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.494) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.511) Camera.cpp:100::takeImage() Time capturing image = 0.016819s [DEBUG] (2017-08-26 21:09:56.511) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.511) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.514) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.514) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.515) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.049796,-0.257474,0.398512 rpy=-0.025782,-0.692249,0.125237 [DEBUG] (2017-08-26 21:09:56.528) Camera.cpp:100::takeImage() Time capturing image = 0.016310s [DEBUG] (2017-08-26 21:09:56.528) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.528) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.541) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.541) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.541) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:56.541) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:56.544) Camera.cpp:100::takeImage() Time capturing image = 0.016419s [DEBUG] (2017-08-26 21:09:56.544) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.544) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.561) Camera.cpp:100::takeImage() Time capturing image = 0.016598s [DEBUG] (2017-08-26 21:09:56.561) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.561) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.578) Camera.cpp:100::takeImage() Time capturing image = 0.017255s [DEBUG] (2017-08-26 21:09:56.578) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.579) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.579) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.579) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.580) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.049611,-0.256508,0.399380 rpy=-0.039009,-0.700615,0.150294 [DEBUG] (2017-08-26 21:09:56.594) Camera.cpp:100::takeImage() Time capturing image = 0.016009s [DEBUG] (2017-08-26 21:09:56.595) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.595) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.611) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.611) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.612) Camera.cpp:100::takeImage() Time capturing image = 0.017107s [DEBUG] (2017-08-26 21:09:56.612) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.612) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:56.612) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:56.612) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.628) Camera.cpp:100::takeImage() Time capturing image = 0.015812s [DEBUG] (2017-08-26 21:09:56.628) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.628) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.645) Camera.cpp:100::takeImage() Time capturing image = 0.016852s [DEBUG] (2017-08-26 21:09:56.645) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.645) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.653) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.653) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.654) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.049825,-0.255506,0.399357 rpy=-0.050140,-0.705716,0.168631 [DEBUG] (2017-08-26 21:09:56.661) Camera.cpp:100::takeImage() Time capturing image = 0.016340s [DEBUG] (2017-08-26 21:09:56.661) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.662) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.678) Camera.cpp:100::takeImage() Time capturing image = 0.016475s [DEBUG] (2017-08-26 21:09:56.678) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.678) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.682) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.682) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.694) Camera.cpp:100::takeImage() Time capturing image = 0.016093s [DEBUG] (2017-08-26 21:09:56.694) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.695) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.711) Camera.cpp:100::takeImage() Time capturing image = 0.017062s [DEBUG] (2017-08-26 21:09:56.712) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.712) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.713) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.713) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.714) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.050502,-0.255882,0.399023 rpy=-0.049982,-0.711214,0.172414 [DEBUG] (2017-08-26 21:09:56.728) Camera.cpp:100::takeImage() Time capturing image = 0.016736s [DEBUG] (2017-08-26 21:09:56.729) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.729) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.744) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.744) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.745) Camera.cpp:100::takeImage() Time capturing image = 0.016223s [DEBUG] (2017-08-26 21:09:56.745) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.745) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.761) Camera.cpp:100::takeImage() Time capturing image = 0.015722s [DEBUG] (2017-08-26 21:09:56.761) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.761) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.775) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.775) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.776) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.051441,-0.256758,0.399111 rpy=-0.044369,-0.713251,0.170773 [DEBUG] (2017-08-26 21:09:56.778) Camera.cpp:100::takeImage() Time capturing image = 0.016500s [DEBUG] (2017-08-26 21:09:56.778) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.778) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.794) Camera.cpp:100::takeImage() Time capturing image = 0.016163s [DEBUG] (2017-08-26 21:09:56.794) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.795) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.807) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.808) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:56.808) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:56.811) Camera.cpp:100::takeImage() Time capturing image = 0.016911s [DEBUG] (2017-08-26 21:09:56.811) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.811) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.827) Camera.cpp:100::takeImage() Time capturing image = 0.015835s [DEBUG] (2017-08-26 21:09:56.828) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.828) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.844) Camera.cpp:100::takeImage() Time capturing image = 0.016329s [DEBUG] (2017-08-26 21:09:56.844) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.844) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.846) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.846) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.861) Camera.cpp:100::takeImage() Time capturing image = 0.016203s [DEBUG] (2017-08-26 21:09:56.861) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:56.861) RtabmapThread.cpp:630::addData() Added data 419 [ INFO] (2017-08-26 21:09:56.861) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:56.861) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.861) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:56.861) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:56.862) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=17)... [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:56.862) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:09:56.862) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:56.864) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:56.864) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:56.864) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:56.864) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 7 words... [DEBUG] (2017-08-26 21:09:56.865) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 7 -> 15 [DEBUG] (2017-08-26 21:09:56.865) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 7 words... done! [DEBUG] (2017-08-26 21:09:56.865) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=7 removed=0) [DEBUG] (2017-08-26 21:09:56.865) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:56.875) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:56.875) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:56.878) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.878) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.879) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:56.879) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:56.879) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:56.879) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:56.879) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:56.908) Camera.cpp:100::takeImage() Time capturing image = 0.019592s [DEBUG] (2017-08-26 21:09:56.908) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.909) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.925) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.925) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.926) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.056779,-0.259411,0.401439 rpy=-0.025825,-0.700025,0.161587 [DEBUG] (2017-08-26 21:09:56.937) Camera.cpp:100::takeImage() Time capturing image = 0.028917s [DEBUG] (2017-08-26 21:09:56.938) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.938) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.956) Camera.cpp:100::takeImage() Time capturing image = 0.018531s [DEBUG] (2017-08-26 21:09:56.959) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.959) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.962) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.962) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.963) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.061403,-0.262079,0.404614 rpy=-0.008800,-0.686502,0.150374 [DEBUG] (2017-08-26 21:09:56.968) Camera.cpp:100::takeImage() Time capturing image = 0.009537s [DEBUG] (2017-08-26 21:09:56.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.973) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.093756 s, keypoints extracted = 89 (mask empty=0) [DEBUG] (2017-08-26 21:09:56.973) Memory.cpp:3409::createSignature() time keypoints (89) = 0.111211s [DEBUG] (2017-08-26 21:09:56.987) Camera.cpp:100::takeImage() Time capturing image = 0.018502s [DEBUG] (2017-08-26 21:09:56.987) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:56.988) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:56.996) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:56.996) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:56.997) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.066507,-0.264327,0.406812 rpy=-0.000519,-0.670647,0.151250 [DEBUG] (2017-08-26 21:09:57.020) Camera.cpp:100::takeImage() Time capturing image = 0.032114s [DEBUG] (2017-08-26 21:09:57.024) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.024) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.037) Camera.cpp:100::takeImage() Time capturing image = 0.013097s [DEBUG] (2017-08-26 21:09:57.038) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.038) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.044) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 89, remaining kpts=89 [DEBUG] (2017-08-26 21:09:57.044) Memory.cpp:3414::createSignature() time descriptors (89) = 0.070731s [DEBUG] (2017-08-26 21:09:57.044) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=13 [DEBUG] (2017-08-26 21:09:57.044) Memory.cpp:3427::createSignature() time keypoints 3D (89) = 0.000169s [DEBUG] (2017-08-26 21:09:57.044) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.044) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.044) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:57.044) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:57.044) Memory.cpp:3539::createSignature() time descriptor and memory update (89 of size=64) = 0.000251s [DEBUG] (2017-08-26 21:09:57.044) VWDictionary.cpp:593::addNewWords() id=8 descriptors=89 [DEBUG] (2017-08-26 21:09:57.044) VWDictionary.cpp:686::addNewWords() newPts.total()=89 [DEBUG] (2017-08-26 21:09:57.045) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:57.045) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:57.046) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.001738 s [DEBUG] (2017-08-26 21:09:57.046) Camera.cpp:100::takeImage() Time capturing image = 0.008411s [DEBUG] (2017-08-26 21:09:57.046) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.047) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.048) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.001924 s [DEBUG] (2017-08-26 21:09:57.048) VWDictionary.cpp:874::addNewWords() 35 new words added... [DEBUG] (2017-08-26 21:09:57.048) VWDictionary.cpp:876::addNewWords() 54 duplicated words added (from current image = 42)... [DEBUG] (2017-08-26 21:09:57.048) VWDictionary.cpp:877::addNewWords() total time 0.003802s [DEBUG] (2017-08-26 21:09:57.048) Memory.cpp:3599::createSignature() time addNewWords 0.003882s indexed=17 not=35 [DEBUG] (2017-08-26 21:09:57.048) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:57.060) Camera.cpp:100::takeImage() Time capturing image = 0.013617s [DEBUG] (2017-08-26 21:09:57.060) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.060) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:3897::createSignature() time compressing data (id=8) 0.012944s [DEBUG] (2017-08-26 21:09:57.061) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:626::update() time creating signature=199.419983 ms [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:711::addSignatureToStm() adding 8 [DEBUG] (2017-08-26 21:09:57.061) Signature.cpp:121::addLink() Add link 8 to 7 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:57.061) Signature.cpp:121::addLink() Add link 7 to 8 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:773::addSignatureToStm() 89 words ref for the signature 8 [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:781::addSignatureToStm() time = 0.000231s [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:2813::rehearsal() Comparing with signature (7)... [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:2836::rehearsal() merged=0, sim=0.101124 t=0.000041s [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:647::update() time rehearsal=0.349045 ms [DEBUG] (2017-08-26 21:09:57.061) Memory.cpp:700::update() totalTimer = 0.199832s [DEBUG] (2017-08-26 21:09:57.062) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:57.062) Rtabmap.cpp:1002::process() Processing signature 8 w=0 [ INFO] (2017-08-26 21:09:57.062) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.200078s [DEBUG] (2017-08-26 21:09:57.062) Rtabmap.cpp:1158::process() Added pose xyz=0.142615,-0.335240,0.375441 rpy=0.019911,0.047656,1.680693 (odom=xyz=0.142615,-0.335240,0.375441 rpy=0.019911,0.047656,1.680693) [ INFO] (2017-08-26 21:09:57.062) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000163s [ INFO] (2017-08-26 21:09:57.062) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:57.062) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:57.062) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000061 s [DEBUG] (2017-08-26 21:09:57.062) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:57.062) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:57.062) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000018s [ INFO] (2017-08-26 21:09:57.062) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000253s [ INFO] (2017-08-26 21:09:57.062) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000032s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000021s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000049s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:575::updatePrediction() time copying = 0.000023s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000223s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000155s [DEBUG] (2017-08-26 21:09:57.062) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000026s [DEBUG] (2017-08-26 21:09:57.063) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:09:57.063) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:57.063) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000577s [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000042s [DEBUG] (2017-08-26 21:09:57.063) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:57.063) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000034s, joining (actual overhead) = 0.000058s [DEBUG] (2017-08-26 21:09:57.063) Graph.cpp:1661::getNodesInRadius() found nodes=6 [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1721::process() near nodes=6, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1807::process() timeReactivations=0.000244s [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000093s [DEBUG] (2017-08-26 21:09:57.063) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:57.063) Rtabmap.cpp:1899::process() nearestIds=7/7 [DEBUG] (2017-08-26 21:09:57.063) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:57.063) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:57.063) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000137s [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:57.063) Rtabmap.cpp:2430::process() Time creating stats = 0.000296... [DEBUG] (2017-08-26 21:09:57.064) Memory.cpp:2187::removeRawData() id=8 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:57.064) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:57.064) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000224s... 0 signatures removed [ INFO] (2017-08-26 21:09:57.064) Rtabmap.cpp:2500::process() Total time processing = 0.202210s... [ INFO] (2017-08-26 21:09:57.064) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000042... [ INFO] (2017-08-26 21:09:57.064) Rtabmap.cpp:2624::process() Adding data 8 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:57.064) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:57.064) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:57.064) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:57.064) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 8 [DEBUG] (2017-08-26 21:09:57.068) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.004032s [DEBUG] (2017-08-26 21:09:57.069) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:57.069) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:57.069) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:57.069) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000047s... [DEBUG] (2017-08-26 21:09:57.069) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:57.069) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:57.069) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:57.069) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:57.080) Camera.cpp:100::takeImage() Time capturing image = 0.019505s [DEBUG] (2017-08-26 21:09:57.080) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.080) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.082) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:09:57.082) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:09:57.082) SensorData.cpp:557::uncompressData() 5 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:57.083) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:57.095) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:09:57.095) Camera.cpp:100::takeImage() Time capturing image = 0.014800s [DEBUG] (2017-08-26 21:09:57.095) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.095) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.098) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:09:57.098) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 16 [DEBUG] (2017-08-26 21:09:57.098) MainWindow.cpp:3838::drawKeypoints() source time = 0.000157 s [DEBUG] (2017-08-26 21:09:57.098) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:09:57.098) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000023 s [DEBUG] (2017-08-26 21:09:57.098) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:09:57.099) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:57.109) MainWindow.cpp:1715::processStats() time= 10 ms [DEBUG] (2017-08-26 21:09:57.110) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:57.110) MainWindow.cpp:1912::updateMapCloud() posesIn=4 constraints=3 mapIdsIn=4 labelsIn=1 [DEBUG] (2017-08-26 21:09:57.110) MainWindow.cpp:1991::updateMapCloud() Update map with 4 locations [DEBUG] (2017-08-26 21:09:57.110) SensorData.cpp:557::uncompressData() 5 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:57.110) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:09:57.110) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:57.110) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:09:57.111) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:57.111) Camera.cpp:100::takeImage() Time capturing image = 0.016171s [DEBUG] (2017-08-26 21:09:57.111) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.112) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.133) Camera.cpp:100::takeImage() Time capturing image = 0.021771s [DEBUG] (2017-08-26 21:09:57.133) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.134) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.138) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000855s [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:09:57.140) MainWindow.cpp:1796::processStats() time= 31 ms [DEBUG] (2017-08-26 21:09:57.143) Camera.cpp:100::takeImage() Time capturing image = 0.009913s [DEBUG] (2017-08-26 21:09:57.143) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.144) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.144) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:09:57.144) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:09:57.144) MainWindow.cpp:1874::processStats() Updating GUI time = 0.062000s [DEBUG] (2017-08-26 21:09:57.156) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.156) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.157) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073003,-0.265548,0.409471 rpy=0.001233,-0.646353,0.164022 [DEBUG] (2017-08-26 21:09:57.160) Camera.cpp:100::takeImage() Time capturing image = 0.016429s [DEBUG] (2017-08-26 21:09:57.160) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.160) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.177) Camera.cpp:100::takeImage() Time capturing image = 0.016757s [DEBUG] (2017-08-26 21:09:57.177) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.177) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.192) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.192) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.196) Camera.cpp:100::takeImage() Time capturing image = 0.019463s [DEBUG] (2017-08-26 21:09:57.197) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.197) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.210) Camera.cpp:100::takeImage() Time capturing image = 0.013440s [DEBUG] (2017-08-26 21:09:57.210) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.211) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.227) Camera.cpp:100::takeImage() Time capturing image = 0.016142s [DEBUG] (2017-08-26 21:09:57.227) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.227) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.227) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.227) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.228) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.079307,-0.266278,0.412085 rpy=0.003570,-0.620167,0.173335 [DEBUG] (2017-08-26 21:09:57.243) Camera.cpp:100::takeImage() Time capturing image = 0.016550s [DEBUG] (2017-08-26 21:09:57.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.244) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.259) Camera.cpp:100::takeImage() Time capturing image = 0.015895s [DEBUG] (2017-08-26 21:09:57.260) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.260) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.285) Camera.cpp:100::takeImage() Time capturing image = 0.024732s [DEBUG] (2017-08-26 21:09:57.285) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.285) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.293) Camera.cpp:100::takeImage() Time capturing image = 0.008593s [DEBUG] (2017-08-26 21:09:57.294) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.294) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.295) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.295) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.296) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.084287,-0.266724,0.413269 rpy=0.007874,-0.598879,0.175273 [DEBUG] (2017-08-26 21:09:57.310) Camera.cpp:100::takeImage() Time capturing image = 0.016508s [DEBUG] (2017-08-26 21:09:57.310) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.311) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.326) Camera.cpp:100::takeImage() Time capturing image = 0.016047s [DEBUG] (2017-08-26 21:09:57.327) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.327) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.329) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.329) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.343) Camera.cpp:100::takeImage() Time capturing image = 0.016595s [DEBUG] (2017-08-26 21:09:57.344) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.344) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.360) Camera.cpp:100::takeImage() Time capturing image = 0.016380s [DEBUG] (2017-08-26 21:09:57.360) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.360) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.361) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.361) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.362) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.089264,-0.267549,0.415145 rpy=0.008581,-0.575967,0.182707 [DEBUG] (2017-08-26 21:09:57.377) Camera.cpp:100::takeImage() Time capturing image = 0.017048s [DEBUG] (2017-08-26 21:09:57.377) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.377) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.396) Camera.cpp:100::takeImage() Time capturing image = 0.018570s [DEBUG] (2017-08-26 21:09:57.396) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.396) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.396) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.396) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.411) Camera.cpp:100::takeImage() Time capturing image = 0.014892s [DEBUG] (2017-08-26 21:09:57.411) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.411) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.426) Camera.cpp:100::takeImage() Time capturing image = 0.015306s [DEBUG] (2017-08-26 21:09:57.427) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.427) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.429) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.430) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.431) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.094083,-0.269250,0.416657 rpy=0.011638,-0.554877,0.189293 [DEBUG] (2017-08-26 21:09:57.444) Camera.cpp:100::takeImage() Time capturing image = 0.017393s [DEBUG] (2017-08-26 21:09:57.444) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.444) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.460) Camera.cpp:100::takeImage() Time capturing image = 0.015703s [DEBUG] (2017-08-26 21:09:57.460) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.460) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.465) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.465) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.477) Camera.cpp:100::takeImage() Time capturing image = 0.017282s [DEBUG] (2017-08-26 21:09:57.478) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.478) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.493) Camera.cpp:100::takeImage() Time capturing image = 0.015769s [DEBUG] (2017-08-26 21:09:57.494) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.494) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.501) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.501) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.503) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099618,-0.271939,0.418849 rpy=0.015552,-0.533265,0.193799 [DEBUG] (2017-08-26 21:09:57.510) Camera.cpp:100::takeImage() Time capturing image = 0.016704s [DEBUG] (2017-08-26 21:09:57.510) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.511) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.527) Camera.cpp:100::takeImage() Time capturing image = 0.016212s [DEBUG] (2017-08-26 21:09:57.527) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.527) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.538) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.538) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.544) Camera.cpp:100::takeImage() Time capturing image = 0.016836s [DEBUG] (2017-08-26 21:09:57.544) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.544) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.560) Camera.cpp:100::takeImage() Time capturing image = 0.016119s [DEBUG] (2017-08-26 21:09:57.560) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.560) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.573) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.573) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.574) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105404,-0.274836,0.421250 rpy=0.018827,-0.508808,0.200375 [DEBUG] (2017-08-26 21:09:57.577) Camera.cpp:100::takeImage() Time capturing image = 0.016740s [DEBUG] (2017-08-26 21:09:57.577) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.577) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.593) Camera.cpp:100::takeImage() Time capturing image = 0.016400s [DEBUG] (2017-08-26 21:09:57.594) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.594) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.609) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.609) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.610) Camera.cpp:100::takeImage() Time capturing image = 0.016715s [DEBUG] (2017-08-26 21:09:57.610) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.611) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.627) Camera.cpp:100::takeImage() Time capturing image = 0.016137s [DEBUG] (2017-08-26 21:09:57.627) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.627) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.644) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.644) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.644) Camera.cpp:100::takeImage() Time capturing image = 0.016837s [DEBUG] (2017-08-26 21:09:57.644) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.644) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.645) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110044,-0.277898,0.422834 rpy=0.021829,-0.486334,0.209899 [DEBUG] (2017-08-26 21:09:57.660) Camera.cpp:100::takeImage() Time capturing image = 0.016060s [DEBUG] (2017-08-26 21:09:57.660) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.660) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.677) Camera.cpp:100::takeImage() Time capturing image = 0.016548s [DEBUG] (2017-08-26 21:09:57.677) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.677) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.679) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.679) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.694) Camera.cpp:100::takeImage() Time capturing image = 0.017260s [DEBUG] (2017-08-26 21:09:57.694) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.695) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.710) Camera.cpp:100::takeImage() Time capturing image = 0.016111s [DEBUG] (2017-08-26 21:09:57.711) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.711) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.712) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.712) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.713) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113957,-0.281187,0.424379 rpy=0.026240,-0.464139,0.223617 [DEBUG] (2017-08-26 21:09:57.727) Camera.cpp:100::takeImage() Time capturing image = 0.016490s [DEBUG] (2017-08-26 21:09:57.727) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.727) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.747) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.747) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.756) Camera.cpp:100::takeImage() Time capturing image = 0.028338s [DEBUG] (2017-08-26 21:09:57.756) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.756) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.765) Camera.cpp:100::takeImage() Time capturing image = 0.009545s [DEBUG] (2017-08-26 21:09:57.766) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.766) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.778) Camera.cpp:100::takeImage() Time capturing image = 0.012205s [DEBUG] (2017-08-26 21:09:57.778) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.778) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.789) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.789) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.790) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116532,-0.283590,0.425034 rpy=0.026688,-0.447976,0.244339 [DEBUG] (2017-08-26 21:09:57.794) Camera.cpp:100::takeImage() Time capturing image = 0.015674s [DEBUG] (2017-08-26 21:09:57.794) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.794) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.814) Camera.cpp:100::takeImage() Time capturing image = 0.020329s [DEBUG] (2017-08-26 21:09:57.814) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.815) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.821) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.821) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.827) Camera.cpp:100::takeImage() Time capturing image = 0.012838s [DEBUG] (2017-08-26 21:09:57.827) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.828) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.845) Camera.cpp:100::takeImage() Time capturing image = 0.017823s [DEBUG] (2017-08-26 21:09:57.845) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.846) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.847) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.847) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.860) Camera.cpp:100::takeImage() Time capturing image = 0.014325s [DEBUG] (2017-08-26 21:09:57.860) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.860) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.872) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.872) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.873) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119215,-0.285016,0.426090 rpy=0.024117,-0.429883,0.268814 [DEBUG] (2017-08-26 21:09:57.877) Camera.cpp:100::takeImage() Time capturing image = 0.016726s [DEBUG] (2017-08-26 21:09:57.877) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:57.877) RtabmapThread.cpp:630::addData() Added data 477 [ INFO] (2017-08-26 21:09:57.877) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:57.877) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:57.877) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:57.877) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=52)... [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:57.877) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:09:57.877) CameraThread.cpp:129::mainLoop() [ INFO] (2017-08-26 21:09:57.878) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:57.880) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:57.880) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:57.880) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:57.880) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 35 words... [DEBUG] (2017-08-26 21:09:57.881) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 15 -> 31 [DEBUG] (2017-08-26 21:09:57.881) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 35 words... done! [DEBUG] (2017-08-26 21:09:57.881) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=35 removed=0) [DEBUG] (2017-08-26 21:09:57.881) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:57.892) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:57.892) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:57.894) Camera.cpp:100::takeImage() Time capturing image = 0.016893s [DEBUG] (2017-08-26 21:09:57.895) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.895) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.899) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:57.899) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:57.899) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:57.900) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.900) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.901) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.123050,-0.285900,0.426975 rpy=0.020243,-0.409428,0.289741 [DEBUG] (2017-08-26 21:09:57.937) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.937) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.955) Camera.cpp:100::takeImage() Time capturing image = 0.060564s [DEBUG] (2017-08-26 21:09:57.955) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.960) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.965) Camera.cpp:100::takeImage() Time capturing image = 0.009692s [DEBUG] (2017-08-26 21:09:57.965) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.965) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:57.975) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:57.975) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:57.976) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.126096,-0.286123,0.427271 rpy=0.015183,-0.391693,0.305276 [DEBUG] (2017-08-26 21:09:57.981) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.082041 s, keypoints extracted = 41 (mask empty=0) [DEBUG] (2017-08-26 21:09:57.981) Memory.cpp:3409::createSignature() time keypoints (41) = 0.103351s [DEBUG] (2017-08-26 21:09:57.984) Camera.cpp:100::takeImage() Time capturing image = 0.018744s [DEBUG] (2017-08-26 21:09:57.984) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:57.984) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.005) Camera.cpp:100::takeImage() Time capturing image = 0.021093s [DEBUG] (2017-08-26 21:09:58.005) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.005) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.009) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.009) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.022) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 41, remaining kpts=41 [DEBUG] (2017-08-26 21:09:58.022) Memory.cpp:3414::createSignature() time descriptors (41) = 0.041385s [DEBUG] (2017-08-26 21:09:58.022) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=23 [DEBUG] (2017-08-26 21:09:58.022) Memory.cpp:3427::createSignature() time keypoints 3D (41) = 0.000111s [DEBUG] (2017-08-26 21:09:58.022) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:58.022) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:58.022) Memory.cpp:3539::createSignature() time descriptor and memory update (41 of size=64) = 0.000165s [DEBUG] (2017-08-26 21:09:58.022) VWDictionary.cpp:593::addNewWords() id=9 descriptors=41 [DEBUG] (2017-08-26 21:09:58.022) VWDictionary.cpp:686::addNewWords() newPts.total()=41 [DEBUG] (2017-08-26 21:09:58.024) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.001249 s [DEBUG] (2017-08-26 21:09:58.024) Camera.cpp:100::takeImage() Time capturing image = 0.018988s [DEBUG] (2017-08-26 21:09:58.024) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.024) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000748 s [DEBUG] (2017-08-26 21:09:58.024) VWDictionary.cpp:874::addNewWords() 8 new words added... [DEBUG] (2017-08-26 21:09:58.024) VWDictionary.cpp:876::addNewWords() 33 duplicated words added (from current image = 9)... [DEBUG] (2017-08-26 21:09:58.025) VWDictionary.cpp:877::addNewWords() total time 0.002077s [DEBUG] (2017-08-26 21:09:58.025) Memory.cpp:3599::createSignature() time addNewWords 0.002148s indexed=52 not=8 [DEBUG] (2017-08-26 21:09:58.025) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:58.025) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.034) Camera.cpp:100::takeImage() Time capturing image = 0.009703s [DEBUG] (2017-08-26 21:09:58.034) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.034) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:3897::createSignature() time compressing data (id=9) 0.017323s [DEBUG] (2017-08-26 21:09:58.042) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:626::update() time creating signature=164.669983 ms [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:711::addSignatureToStm() adding 9 [DEBUG] (2017-08-26 21:09:58.042) Signature.cpp:121::addLink() Add link 9 to 8 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:58.042) Signature.cpp:121::addLink() Add link 8 to 9 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:773::addSignatureToStm() 41 words ref for the signature 9 [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:781::addSignatureToStm() time = 0.000202s [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:2813::rehearsal() Comparing with signature (8)... [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:2836::rehearsal() merged=0, sim=0.179775 t=0.000054s [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:647::update() time rehearsal=0.354052 ms [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:700::update() totalTimer = 0.165085s [DEBUG] (2017-08-26 21:09:58.042) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:58.042) Rtabmap.cpp:1002::process() Processing signature 9 w=0 [ INFO] (2017-08-26 21:09:58.042) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.165205s [DEBUG] (2017-08-26 21:09:58.043) Rtabmap.cpp:1158::process() Added pose xyz=0.097484,-0.326990,0.358774 rpy=0.031789,0.078637,2.113462 (odom=xyz=0.097484,-0.326990,0.358774 rpy=0.031789,0.078637,2.113462) [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000105s [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:58.043) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:58.043) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000039 s [DEBUG] (2017-08-26 21:09:58.043) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:58.043) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:58.043) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000092s [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000284s [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:58.043) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.043) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000066s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000172s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000022s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:575::updatePrediction() time copying = 0.000021s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000370s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000080s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:58.043) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000628s [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:58.043) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000041s [DEBUG] (2017-08-26 21:09:58.044) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:58.044) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000047s, joining (actual overhead) = 0.000058s [DEBUG] (2017-08-26 21:09:58.044) Camera.cpp:100::takeImage() Time capturing image = 0.009321s [DEBUG] (2017-08-26 21:09:58.044) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.044) Graph.cpp:1661::getNodesInRadius() found nodes=7 [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:1721::process() near nodes=7, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:1807::process() timeReactivations=0.000234s [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:09:58.044) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:58.044) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.044) Rtabmap.cpp:1899::process() nearestIds=8/8 [DEBUG] (2017-08-26 21:09:58.044) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:58.044) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:58.044) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000220s [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:2307::process() timeMapOptimization=0.000077s [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:58.044) Rtabmap.cpp:2430::process() Time creating stats = 0.000203... [DEBUG] (2017-08-26 21:09:58.044) Memory.cpp:2187::removeRawData() id=9 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:58.044) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:58.045) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000199s... 0 signatures removed [ INFO] (2017-08-26 21:09:58.045) Rtabmap.cpp:2500::process() Total time processing = 0.167304s... [ INFO] (2017-08-26 21:09:58.045) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000053... [DEBUG] (2017-08-26 21:09:58.045) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.130448,-0.287477,0.427706 rpy=0.012341,-0.370964,0.320694 [ INFO] (2017-08-26 21:09:58.045) Rtabmap.cpp:2624::process() Adding data 9 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:58.045) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:58.045) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:58.045) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:58.045) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 9 [DEBUG] (2017-08-26 21:09:58.046) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000929s [DEBUG] (2017-08-26 21:09:58.046) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:58.046) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:58.046) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:58.046) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000041s... [DEBUG] (2017-08-26 21:09:58.046) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:58.046) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:58.047) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:58.047) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:58.060) Camera.cpp:100::takeImage() Time capturing image = 0.016080s [DEBUG] (2017-08-26 21:09:58.060) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.060) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.072) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.072) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.077) Camera.cpp:100::takeImage() Time capturing image = 0.017310s [DEBUG] (2017-08-26 21:09:58.077) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.078) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.093) Camera.cpp:100::takeImage() Time capturing image = 0.015930s [DEBUG] (2017-08-26 21:09:58.093) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.094) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.096) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.096) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.097) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.134267,-0.288562,0.427634 rpy=0.011620,-0.352131,0.335396 [DEBUG] (2017-08-26 21:09:58.110) Camera.cpp:100::takeImage() Time capturing image = 0.016507s [DEBUG] (2017-08-26 21:09:58.110) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.110) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.117) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.117) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.127) Camera.cpp:100::takeImage() Time capturing image = 0.016681s [DEBUG] (2017-08-26 21:09:58.127) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.127) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.134) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.134) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.135) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.138097,-0.289792,0.427614 rpy=0.008856,-0.333331,0.355796 [DEBUG] (2017-08-26 21:09:58.144) Camera.cpp:100::takeImage() Time capturing image = 0.016611s [DEBUG] (2017-08-26 21:09:58.144) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.144) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.159) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.159) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.160) Camera.cpp:100::takeImage() Time capturing image = 0.016191s [DEBUG] (2017-08-26 21:09:58.160) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.160) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.176) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.176) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.177) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.141745,-0.290285,0.427508 rpy=0.002752,-0.313677,0.377610 [DEBUG] (2017-08-26 21:09:58.179) Camera.cpp:100::takeImage() Time capturing image = 0.018508s [DEBUG] (2017-08-26 21:09:58.179) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.179) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.193) Camera.cpp:100::takeImage() Time capturing image = 0.014273s [DEBUG] (2017-08-26 21:09:58.193) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.193) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.200) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.200) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.210) Camera.cpp:100::takeImage() Time capturing image = 0.017067s [DEBUG] (2017-08-26 21:09:58.210) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.211) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.218) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.218) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.219) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.144706,-0.290572,0.427415 rpy=-0.005329,-0.295665,0.397162 [DEBUG] (2017-08-26 21:09:58.226) Camera.cpp:100::takeImage() Time capturing image = 0.015885s [DEBUG] (2017-08-26 21:09:58.226) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.227) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.240) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.240) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.244) Camera.cpp:100::takeImage() Time capturing image = 0.017077s [DEBUG] (2017-08-26 21:09:58.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.244) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.260) Camera.cpp:100::takeImage() Time capturing image = 0.015923s [DEBUG] (2017-08-26 21:09:58.260) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.260) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.263) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.264) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.264) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.147328,-0.289975,0.427041 rpy=-0.017543,-0.276822,0.418760 [DEBUG] (2017-08-26 21:09:58.277) Camera.cpp:100::takeImage() Time capturing image = 0.017108s [DEBUG] (2017-08-26 21:09:58.277) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.277) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.283) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.283) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.293) Camera.cpp:100::takeImage() Time capturing image = 0.015782s [DEBUG] (2017-08-26 21:09:58.293) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.293) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.304) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.304) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.310) Camera.cpp:100::takeImage() Time capturing image = 0.017168s [DEBUG] (2017-08-26 21:09:58.310) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.310) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.326) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.326) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.326) Camera.cpp:100::takeImage() Time capturing image = 0.015922s [DEBUG] (2017-08-26 21:09:58.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.326) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.343) Camera.cpp:100::takeImage() Time capturing image = 0.016982s [DEBUG] (2017-08-26 21:09:58.343) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.344) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.344) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.344) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.345) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.149982,-0.289161,0.426117 rpy=-0.029908,-0.256453,0.437921 [DEBUG] (2017-08-26 21:09:58.360) Camera.cpp:100::takeImage() Time capturing image = 0.016580s [DEBUG] (2017-08-26 21:09:58.360) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.360) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.367) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.367) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.368) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.153203,-0.289199,0.425131 rpy=-0.037267,-0.236999,0.454509 [DEBUG] (2017-08-26 21:09:58.378) Camera.cpp:100::takeImage() Time capturing image = 0.017734s [DEBUG] (2017-08-26 21:09:58.378) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.378) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.387) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.387) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.393) Camera.cpp:100::takeImage() Time capturing image = 0.014640s [DEBUG] (2017-08-26 21:09:58.393) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.393) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.407) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.407) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.408) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.156681,-0.290489,0.424184 rpy=-0.036632,-0.219691,0.465869 [DEBUG] (2017-08-26 21:09:58.410) Camera.cpp:100::takeImage() Time capturing image = 0.017107s [DEBUG] (2017-08-26 21:09:58.410) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.410) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.426) Camera.cpp:100::takeImage() Time capturing image = 0.015982s [DEBUG] (2017-08-26 21:09:58.426) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.426) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.431) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.431) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.443) Camera.cpp:100::takeImage() Time capturing image = 0.016590s [DEBUG] (2017-08-26 21:09:58.443) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.443) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.449) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.449) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.450) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.160549,-0.291725,0.423440 rpy=-0.033577,-0.203497,0.480758 [DEBUG] (2017-08-26 21:09:58.459) Camera.cpp:100::takeImage() Time capturing image = 0.016397s [DEBUG] (2017-08-26 21:09:58.459) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.460) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.471) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.471) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.477) Camera.cpp:100::takeImage() Time capturing image = 0.017061s [DEBUG] (2017-08-26 21:09:58.477) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.477) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.492) Camera.cpp:100::takeImage() Time capturing image = 0.015772s [DEBUG] (2017-08-26 21:09:58.493) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.493) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.493) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.493) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.494) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.164108,-0.292414,0.422560 rpy=-0.030551,-0.190285,0.487959 [DEBUG] (2017-08-26 21:09:58.510) Camera.cpp:100::takeImage() Time capturing image = 0.017207s [DEBUG] (2017-08-26 21:09:58.510) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.510) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.511) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.511) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.512) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.166414,-0.293366,0.421401 rpy=-0.029256,-0.180718,0.498763 [DEBUG] (2017-08-26 21:09:58.526) Camera.cpp:100::takeImage() Time capturing image = 0.016446s [DEBUG] (2017-08-26 21:09:58.527) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.527) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.534) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.534) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.544) Camera.cpp:100::takeImage() Time capturing image = 0.017493s [DEBUG] (2017-08-26 21:09:58.544) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.544) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.554) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.554) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.555) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.167278,-0.294308,0.419831 rpy=-0.031266,-0.172042,0.517992 [DEBUG] (2017-08-26 21:09:58.559) Camera.cpp:100::takeImage() Time capturing image = 0.014992s [DEBUG] (2017-08-26 21:09:58.559) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.559) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.574) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.574) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.576) Camera.cpp:100::takeImage() Time capturing image = 0.017064s [DEBUG] (2017-08-26 21:09:58.576) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.577) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.591) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.591) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.593) Camera.cpp:100::takeImage() Time capturing image = 0.016022s [DEBUG] (2017-08-26 21:09:58.593) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.593) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.610) Camera.cpp:100::takeImage() Time capturing image = 0.017247s [DEBUG] (2017-08-26 21:09:58.610) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.610) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.614) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.614) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.614) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.166412,-0.296302,0.417658 rpy=-0.034783,-0.165766,0.543124 [DEBUG] (2017-08-26 21:09:58.627) Camera.cpp:100::takeImage() Time capturing image = 0.016670s [DEBUG] (2017-08-26 21:09:58.627) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.627) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.640) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.640) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.644) Camera.cpp:100::takeImage() Time capturing image = 0.017023s [DEBUG] (2017-08-26 21:09:58.644) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.644) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.659) Camera.cpp:100::takeImage() Time capturing image = 0.015101s [DEBUG] (2017-08-26 21:09:58.659) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.659) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.665) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.665) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.676) Camera.cpp:100::takeImage() Time capturing image = 0.016766s [DEBUG] (2017-08-26 21:09:58.676) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.676) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.685) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.685) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.686) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.164226,-0.297541,0.415420 rpy=-0.037849,-0.159210,0.569887 [DEBUG] (2017-08-26 21:09:58.692) Camera.cpp:100::takeImage() Time capturing image = 0.016273s [DEBUG] (2017-08-26 21:09:58.693) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.693) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.709) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.709) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.709) Camera.cpp:100::takeImage() Time capturing image = 0.016625s [DEBUG] (2017-08-26 21:09:58.709) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.709) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.710) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.161720,-0.298401,0.411914 rpy=-0.043516,-0.149677,0.599521 [DEBUG] (2017-08-26 21:09:58.726) Camera.cpp:100::takeImage() Time capturing image = 0.016449s [DEBUG] (2017-08-26 21:09:58.726) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.726) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.734) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.734) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.735) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.155121,-0.299802,0.403494 rpy=-0.054916,-0.135165,0.655769 [DEBUG] (2017-08-26 21:09:58.743) Camera.cpp:100::takeImage() Time capturing image = 0.016593s [DEBUG] (2017-08-26 21:09:58.743) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.743) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.755) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.755) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.759) Camera.cpp:100::takeImage() Time capturing image = 0.016311s [DEBUG] (2017-08-26 21:09:58.759) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.759) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.774) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:09:58.774) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:09:58.774) SensorData.cpp:557::uncompressData() 6 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:58.775) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:09:58.776) Camera.cpp:100::takeImage() Time capturing image = 0.016692s [DEBUG] (2017-08-26 21:09:58.776) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.776) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.787) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:3838::drawKeypoints() source time = 0.000019 s [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000018 s [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:09:58.790) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:58.792) Camera.cpp:100::takeImage() Time capturing image = 0.016330s [DEBUG] (2017-08-26 21:09:58.792) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.793) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.798) MainWindow.cpp:1715::processStats() time= 8 ms [DEBUG] (2017-08-26 21:09:58.798) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:09:58.798) MainWindow.cpp:1912::updateMapCloud() posesIn=5 constraints=4 mapIdsIn=5 labelsIn=1 [DEBUG] (2017-08-26 21:09:58.798) MainWindow.cpp:1991::updateMapCloud() Update map with 5 locations [DEBUG] (2017-08-26 21:09:58.798) SensorData.cpp:557::uncompressData() 6 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:09:58.798) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:09:58.799) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:58.799) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:09:58.800) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:09:58.809) Camera.cpp:100::takeImage() Time capturing image = 0.016743s [DEBUG] (2017-08-26 21:09:58.809) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.810) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.813) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000782s [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:09:58.814) MainWindow.cpp:1796::processStats() time= 16 ms [DEBUG] (2017-08-26 21:09:58.819) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:09:58.819) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:09:58.819) MainWindow.cpp:1874::processStats() Updating GUI time = 0.045000s [DEBUG] (2017-08-26 21:09:58.825) Camera.cpp:100::takeImage() Time capturing image = 0.015867s [DEBUG] (2017-08-26 21:09:58.825) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.826) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.827) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.827) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.828) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.150826,-0.300460,0.399119 rpy=-0.057237,-0.131208,0.684713 [DEBUG] (2017-08-26 21:09:58.844) Camera.cpp:100::takeImage() Time capturing image = 0.018379s [DEBUG] (2017-08-26 21:09:58.844) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.844) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.855) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.855) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.859) Camera.cpp:100::takeImage() Time capturing image = 0.015384s [DEBUG] (2017-08-26 21:09:58.860) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.860) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.877) Camera.cpp:100::takeImage() Time capturing image = 0.017392s [DEBUG] (2017-08-26 21:09:58.877) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.877) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:58.877) RtabmapThread.cpp:630::addData() Added data 535 [ INFO] (2017-08-26 21:09:58.878) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:58.878) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:58.878) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:58.878) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=60)... [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:608::update() time preUpdate=0.033140 ms [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:58.878) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 8 words... [ INFO] (2017-08-26 21:09:58.878) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 8 words... done! [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=8 removed=0) [DEBUG] (2017-08-26 21:09:58.878) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:58.883) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.883) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.894) Camera.cpp:100::takeImage() Time capturing image = 0.016782s [DEBUG] (2017-08-26 21:09:58.894) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.894) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.896) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:58.896) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:58.911) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:58.911) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:58.911) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:58.911) Camera.cpp:100::takeImage() Time capturing image = 0.017009s [DEBUG] (2017-08-26 21:09:58.911) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.911) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.912) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.912) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.913) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.147469,-0.302021,0.395658 rpy=-0.055153,-0.127423,0.708019 [DEBUG] (2017-08-26 21:09:58.945) Camera.cpp:100::takeImage() Time capturing image = 0.033723s [DEBUG] (2017-08-26 21:09:58.945) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.945) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.953) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.953) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.954) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.144191,-0.304213,0.393963 rpy=-0.052966,-0.125835,0.729721 [DEBUG] (2017-08-26 21:09:58.972) Camera.cpp:100::takeImage() Time capturing image = 0.026851s [DEBUG] (2017-08-26 21:09:58.972) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.972) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.982) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:58.982) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:58.989) Camera.cpp:100::takeImage() Time capturing image = 0.017215s [DEBUG] (2017-08-26 21:09:58.990) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:58.990) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:58.996) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.085746 s, keypoints extracted = 13 (mask empty=0) [DEBUG] (2017-08-26 21:09:58.996) Memory.cpp:3409::createSignature() time keypoints (13) = 0.118568s [DEBUG] (2017-08-26 21:09:59.000) Camera.cpp:100::takeImage() Time capturing image = 0.010452s [DEBUG] (2017-08-26 21:09:59.000) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.000) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.011) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.012) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.012) Camera.cpp:100::takeImage() Time capturing image = 0.011346s [DEBUG] (2017-08-26 21:09:59.012) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.012) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.015) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 13, remaining kpts=13 [DEBUG] (2017-08-26 21:09:59.015) Memory.cpp:3414::createSignature() time descriptors (13) = 0.018227s [DEBUG] (2017-08-26 21:09:59.015) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=25 [DEBUG] (2017-08-26 21:09:59.015) Memory.cpp:3427::createSignature() time keypoints 3D (13) = 0.000100s [DEBUG] (2017-08-26 21:09:59.015) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:59.015) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:59.015) Memory.cpp:3539::createSignature() time descriptor and memory update (13 of size=64) = 0.000083s [DEBUG] (2017-08-26 21:09:59.015) VWDictionary.cpp:593::addNewWords() id=10 descriptors=13 [DEBUG] (2017-08-26 21:09:59.015) VWDictionary.cpp:686::addNewWords() newPts.total()=13 [DEBUG] (2017-08-26 21:09:59.015) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000452 s [DEBUG] (2017-08-26 21:09:59.016) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000259 s [DEBUG] (2017-08-26 21:09:59.016) VWDictionary.cpp:874::addNewWords() 2 new words added... [DEBUG] (2017-08-26 21:09:59.016) VWDictionary.cpp:876::addNewWords() 11 duplicated words added (from current image = 1)... [DEBUG] (2017-08-26 21:09:59.016) VWDictionary.cpp:877::addNewWords() total time 0.000947s [DEBUG] (2017-08-26 21:09:59.016) Memory.cpp:3599::createSignature() time addNewWords 0.001021s indexed=60 not=2 [DEBUG] (2017-08-26 21:09:59.016) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:3897::createSignature() time compressing data (id=10) 0.010779s [DEBUG] (2017-08-26 21:09:59.027) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:626::update() time creating signature=148.972031 ms [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:711::addSignatureToStm() adding 10 [DEBUG] (2017-08-26 21:09:59.027) Signature.cpp:121::addLink() Add link 10 to 9 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:59.027) Signature.cpp:121::addLink() Add link 9 to 10 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:773::addSignatureToStm() 13 words ref for the signature 10 [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:781::addSignatureToStm() time = 0.000168s [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:2813::rehearsal() Comparing with signature (9)... [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:2836::rehearsal() merged=0, sim=0.121951 t=0.000043s [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:647::update() time rehearsal=0.283003 ms [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:700::update() totalTimer = 0.149316s [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:59.027) Rtabmap.cpp:1002::process() Processing signature 10 w=0 [ INFO] (2017-08-26 21:09:59.027) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.149439s [DEBUG] (2017-08-26 21:09:59.027) Rtabmap.cpp:1158::process() Added pose xyz=0.097745,-0.321843,0.348672 rpy=0.079467,-0.001091,2.348166 (odom=xyz=0.097745,-0.321843,0.348672 rpy=0.079467,-0.001091,2.348166) [ INFO] (2017-08-26 21:09:59.027) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000115s [ INFO] (2017-08-26 21:09:59.027) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:09:59.027) Camera.cpp:100::takeImage() Time capturing image = 0.015513s [DEBUG] (2017-08-26 21:09:59.027) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:09:59.028) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.028) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.028) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000155 s [DEBUG] (2017-08-26 21:09:59.028) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-08-26 21:09:59.028) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:09:59.028) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000025s [ INFO] (2017-08-26 21:09:59.028) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000663s [ INFO] (2017-08-26 21:09:59.028) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000028s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000021s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:575::updatePrediction() time copying = 0.000021s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000109s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000276s, rows=1, cols=1 [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=1, _posterior size=1 [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000088s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:208::computePosterior() sum=2.000000 [DEBUG] (2017-08-26 21:09:59.028) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:09:59.028) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000524s [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:1373::process() Highest hypothesis=0, value=0.000000, timeHypothesesCreation=0.000043s [DEBUG] (2017-08-26 21:09:59.029) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:09:59.029) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000041s, joining (actual overhead) = 0.000058s [DEBUG] (2017-08-26 21:09:59.029) Graph.cpp:1661::getNodesInRadius() found nodes=8 [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:1721::process() near nodes=8, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:1807::process() timeReactivations=0.000195s [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000021s [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:1899::process() nearestIds=9/9 [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000132s [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2307::process() timeMapOptimization=0.000020s [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2430::process() Time creating stats = 0.000168... [DEBUG] (2017-08-26 21:09:59.029) Memory.cpp:2187::removeRawData() id=10 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:09:59.029) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000160s... 0 signatures removed [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2500::process() Total time processing = 0.151561s... [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000041... [ INFO] (2017-08-26 21:09:59.029) Rtabmap.cpp:2624::process() Adding data 10 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:09:59.029) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:09:59.030) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:09:59.030) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 10 [DEBUG] (2017-08-26 21:09:59.031) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001028s [DEBUG] (2017-08-26 21:09:59.031) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:09:59.031) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:09:59.031) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:09:59.031) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:09:59.031) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000112s... [DEBUG] (2017-08-26 21:09:59.031) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:09:59.032) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:09:59.032) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:09:59.040) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.040) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.041) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.140582,-0.307106,0.392667 rpy=-0.049564,-0.125308,0.749273 [DEBUG] (2017-08-26 21:09:59.048) Camera.cpp:100::takeImage() Time capturing image = 0.020681s [DEBUG] (2017-08-26 21:09:59.049) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.049) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.061) Camera.cpp:100::takeImage() Time capturing image = 0.012319s [DEBUG] (2017-08-26 21:09:59.061) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.061) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.065) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.065) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.066) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.137125,-0.309855,0.391978 rpy=-0.045325,-0.127171,0.767349 [DEBUG] (2017-08-26 21:09:59.082) Camera.cpp:100::takeImage() Time capturing image = 0.020769s [DEBUG] (2017-08-26 21:09:59.082) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.082) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.090) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.091) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.094) Camera.cpp:100::takeImage() Time capturing image = 0.011880s [DEBUG] (2017-08-26 21:09:59.094) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.095) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.112) Camera.cpp:100::takeImage() Time capturing image = 0.017098s [DEBUG] (2017-08-26 21:09:59.112) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.112) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.113) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.114) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.114) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.133646,-0.312470,0.391253 rpy=-0.040898,-0.130189,0.780265 [DEBUG] (2017-08-26 21:09:59.126) Camera.cpp:100::takeImage() Time capturing image = 0.014545s [DEBUG] (2017-08-26 21:09:59.126) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.127) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.140) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.140) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.144) Camera.cpp:100::takeImage() Time capturing image = 0.017806s [DEBUG] (2017-08-26 21:09:59.144) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.145) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.160) Camera.cpp:100::takeImage() Time capturing image = 0.015116s [DEBUG] (2017-08-26 21:09:59.160) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.160) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.180) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.180) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.182) Camera.cpp:100::takeImage() Time capturing image = 0.021980s [DEBUG] (2017-08-26 21:09:59.182) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.182) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.193) Camera.cpp:100::takeImage() Time capturing image = 0.010926s [DEBUG] (2017-08-26 21:09:59.193) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.193) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.209) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.209) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.210) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.130512,-0.314498,0.390266 rpy=-0.039443,-0.132903,0.792682 [DEBUG] (2017-08-26 21:09:59.210) Camera.cpp:100::takeImage() Time capturing image = 0.017410s [DEBUG] (2017-08-26 21:09:59.211) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.211) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.227) Camera.cpp:100::takeImage() Time capturing image = 0.016079s [DEBUG] (2017-08-26 21:09:59.227) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.227) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.240) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.240) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.241) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.127514,-0.315233,0.389383 rpy=-0.040011,-0.135771,0.800697 [DEBUG] (2017-08-26 21:09:59.244) Camera.cpp:100::takeImage() Time capturing image = 0.017107s [DEBUG] (2017-08-26 21:09:59.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.244) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.261) Camera.cpp:100::takeImage() Time capturing image = 0.016362s [DEBUG] (2017-08-26 21:09:59.261) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.261) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.271) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.271) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.279) Camera.cpp:100::takeImage() Time capturing image = 0.017942s [DEBUG] (2017-08-26 21:09:59.279) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.279) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.295) Camera.cpp:100::takeImage() Time capturing image = 0.016446s [DEBUG] (2017-08-26 21:09:59.296) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.296) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.300) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.300) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.301) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.124711,-0.316396,0.388469 rpy=-0.043292,-0.138198,0.813510 [DEBUG] (2017-08-26 21:09:59.310) Camera.cpp:100::takeImage() Time capturing image = 0.014529s [DEBUG] (2017-08-26 21:09:59.311) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.311) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.327) Camera.cpp:100::takeImage() Time capturing image = 0.016091s [DEBUG] (2017-08-26 21:09:59.327) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.327) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.328) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.328) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.343) Camera.cpp:100::takeImage() Time capturing image = 0.016121s [DEBUG] (2017-08-26 21:09:59.344) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.344) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.359) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.359) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.360) Camera.cpp:100::takeImage() Time capturing image = 0.015854s [DEBUG] (2017-08-26 21:09:59.360) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119707,-0.317364,0.387091 rpy=-0.053001,-0.140938,0.840330 [DEBUG] (2017-08-26 21:09:59.360) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.360) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.379) Camera.cpp:100::takeImage() Time capturing image = 0.019138s [DEBUG] (2017-08-26 21:09:59.379) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.380) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.391) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.391) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.392) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:59.392) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:59.401) Camera.cpp:100::takeImage() Time capturing image = 0.021666s [DEBUG] (2017-08-26 21:09:59.401) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.401) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.421) Camera.cpp:100::takeImage() Time capturing image = 0.020036s [DEBUG] (2017-08-26 21:09:59.421) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.431) Camera.cpp:100::takeImage() Time capturing image = 0.009521s [DEBUG] (2017-08-26 21:09:59.431) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.431) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.432) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.432) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.444) Camera.cpp:100::takeImage() Time capturing image = 0.013031s [DEBUG] (2017-08-26 21:09:59.444) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.445) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.460) Camera.cpp:100::takeImage() Time capturing image = 0.015231s [DEBUG] (2017-08-26 21:09:59.460) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.460) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.467) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.467) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.468) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114063,-0.318909,0.384915 rpy=-0.065649,-0.144020,0.870933 [DEBUG] (2017-08-26 21:09:59.469) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:59.469) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:59.477) Camera.cpp:100::takeImage() Time capturing image = 0.016797s [DEBUG] (2017-08-26 21:09:59.477) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.477) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.493) Camera.cpp:100::takeImage() Time capturing image = 0.015700s [DEBUG] (2017-08-26 21:09:59.493) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.493) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.510) Camera.cpp:100::takeImage() Time capturing image = 0.017235s [DEBUG] (2017-08-26 21:09:59.510) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.510) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.512) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.513) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.530) Camera.cpp:100::takeImage() Time capturing image = 0.019415s [DEBUG] (2017-08-26 21:09:59.530) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.530) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.543) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.543) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.544) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.108376,-0.320544,0.382290 rpy=-0.078542,-0.145978,0.900666 [DEBUG] (2017-08-26 21:09:59.544) Camera.cpp:100::takeImage() Time capturing image = 0.013705s [DEBUG] (2017-08-26 21:09:59.544) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.544) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.560) Camera.cpp:100::takeImage() Time capturing image = 0.015665s [DEBUG] (2017-08-26 21:09:59.560) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.560) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.574) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.574) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.575) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103002,-0.323149,0.379486 rpy=-0.088432,-0.146690,0.926934 [DEBUG] (2017-08-26 21:09:59.576) Camera.cpp:100::takeImage() Time capturing image = 0.015883s [DEBUG] (2017-08-26 21:09:59.577) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.577) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.593) Camera.cpp:100::takeImage() Time capturing image = 0.016261s [DEBUG] (2017-08-26 21:09:59.593) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.593) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.608) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.608) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.611) Camera.cpp:100::takeImage() Time capturing image = 0.017830s [DEBUG] (2017-08-26 21:09:59.611) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.611) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.626) Camera.cpp:100::takeImage() Time capturing image = 0.014688s [DEBUG] (2017-08-26 21:09:59.626) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.626) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.638) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.638) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.639) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099475,-0.325821,0.377853 rpy=-0.092008,-0.147463,0.948332 [DEBUG] (2017-08-26 21:09:59.644) Camera.cpp:100::takeImage() Time capturing image = 0.018149s [DEBUG] (2017-08-26 21:09:59.644) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.644) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.660) Camera.cpp:100::takeImage() Time capturing image = 0.016013s [DEBUG] (2017-08-26 21:09:59.660) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.661) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.667) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.667) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.678) Camera.cpp:100::takeImage() Time capturing image = 0.017913s [DEBUG] (2017-08-26 21:09:59.679) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.679) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.695) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.695) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.696) Camera.cpp:100::takeImage() Time capturing image = 0.017182s [DEBUG] (2017-08-26 21:09:59.696) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098381,-0.328144,0.377843 rpy=-0.088151,-0.148949,0.960803 [DEBUG] (2017-08-26 21:09:59.696) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.696) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.710) Camera.cpp:100::takeImage() Time capturing image = 0.014110s [DEBUG] (2017-08-26 21:09:59.710) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.711) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.725) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.725) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.727) Camera.cpp:100::takeImage() Time capturing image = 0.016387s [DEBUG] (2017-08-26 21:09:59.727) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.727) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.745) Camera.cpp:100::takeImage() Time capturing image = 0.017648s [DEBUG] (2017-08-26 21:09:59.745) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.745) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.756) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.756) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.757) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097896,-0.329817,0.378344 rpy=-0.081385,-0.149864,0.976043 [DEBUG] (2017-08-26 21:09:59.760) Camera.cpp:100::takeImage() Time capturing image = 0.015518s [DEBUG] (2017-08-26 21:09:59.761) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.761) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.777) Camera.cpp:100::takeImage() Time capturing image = 0.016084s [DEBUG] (2017-08-26 21:09:59.777) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.777) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.787) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.787) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.793) Camera.cpp:100::takeImage() Time capturing image = 0.016128s [DEBUG] (2017-08-26 21:09:59.793) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.794) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.811) Camera.cpp:100::takeImage() Time capturing image = 0.017156s [DEBUG] (2017-08-26 21:09:59.811) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.811) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.819) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.819) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.820) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097569,-0.330875,0.379024 rpy=-0.077046,-0.148903,0.996023 [DEBUG] (2017-08-26 21:09:59.827) Camera.cpp:100::takeImage() Time capturing image = 0.015697s [DEBUG] (2017-08-26 21:09:59.827) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.827) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.844) Camera.cpp:100::takeImage() Time capturing image = 0.016959s [DEBUG] (2017-08-26 21:09:59.845) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.845) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.853) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.853) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.861) Camera.cpp:100::takeImage() Time capturing image = 0.015952s [DEBUG] (2017-08-26 21:09:59.861) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.861) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.878) Camera.cpp:100::takeImage() Time capturing image = 0.016533s [DEBUG] (2017-08-26 21:09:59.878) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:09:59.878) RtabmapThread.cpp:630::addData() Added data 594 [ INFO] (2017-08-26 21:09:59.878) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:09:59.878) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:09:59.878) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:09:59.878) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:608::update() time preUpdate=0.043869 ms [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:09:59.878) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:09:59.879) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:09:59.879) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 2 words... [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 2 words... done! [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=2 removed=0) [DEBUG] (2017-08-26 21:09:59.880) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:09:59.884) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.885) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.886) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098124,-0.331881,0.380201 rpy=-0.071676,-0.145763,1.015520 [DEBUG] (2017-08-26 21:09:59.899) Camera.cpp:100::takeImage() Time capturing image = 0.020436s [DEBUG] (2017-08-26 21:09:59.900) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.900) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.901) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:09:59.901) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:09:59.906) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:09:59.906) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:59.906) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:09:59.911) Camera.cpp:100::takeImage() Time capturing image = 0.011443s [DEBUG] (2017-08-26 21:09:59.911) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.915) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.915) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.917) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:09:59.917) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:09:59.920) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.939) Camera.cpp:100::takeImage() Time capturing image = 0.027984s [DEBUG] (2017-08-26 21:09:59.939) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.940) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.958) Camera.cpp:100::takeImage() Time capturing image = 0.018308s [DEBUG] (2017-08-26 21:09:59.958) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.959) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.983) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:09:59.983) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:09:59.989) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099514,-0.332402,0.381779 rpy=-0.063991,-0.140348,1.041494 [DEBUG] (2017-08-26 21:09:59.993) Camera.cpp:100::takeImage() Time capturing image = 0.034760s [DEBUG] (2017-08-26 21:09:59.993) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:09:59.995) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:09:59.997) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.090937 s, keypoints extracted = 0 (mask empty=0) [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3409::createSignature() time keypoints (0) = 0.118786s [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3414::createSignature() time descriptors (0) = 0.000033s [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=23 [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3427::createSignature() time keypoints 3D (0) = 0.000050s [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3603::createSignature() id 11 is a bad signature [DEBUG] (2017-08-26 21:09:59.997) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:00.005) Camera.cpp:100::takeImage() Time capturing image = 0.012581s [DEBUG] (2017-08-26 21:10:00.006) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.006) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.016) Camera.cpp:100::takeImage() Time capturing image = 0.010184s [DEBUG] (2017-08-26 21:10:00.016) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:3897::createSignature() time compressing data (id=11) 0.023501s [DEBUG] (2017-08-26 21:10:00.021) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:626::update() time creating signature=142.621033 ms [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:711::addSignatureToStm() adding 11 [DEBUG] (2017-08-26 21:10:00.021) Signature.cpp:121::addLink() Add link 11 to 10 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:00.021) Signature.cpp:121::addLink() Add link 10 to 11 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 11 [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:781::addSignatureToStm() time = 0.000173s [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:647::update() time rehearsal=0.223160 ms [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:700::update() totalTimer = 0.142920s [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:00.021) Rtabmap.cpp:1002::process() Processing signature 11 w=0 [ INFO] (2017-08-26 21:10:00.021) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.143042s [DEBUG] (2017-08-26 21:10:00.021) Rtabmap.cpp:1158::process() Added pose xyz=0.113054,-0.338661,0.355503 rpy=0.062864,-0.035877,2.556847 (odom=xyz=0.113054,-0.338661,0.355503 rpy=0.062864,-0.035877,2.556847) [ INFO] (2017-08-26 21:10:00.021) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000105s [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:00.021) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:00.021) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000112s, joining (actual overhead) = 0.000061s [DEBUG] (2017-08-26 21:10:00.022) Graph.cpp:1661::getNodesInRadius() found nodes=9 [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:1721::process() near nodes=9, max local immunized=0, ratio=0.250000 WM=1 [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:1807::process() timeReactivations=0.000367s [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000021s [DEBUG] (2017-08-26 21:10:00.022) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:00.022) Rtabmap.cpp:1899::process() nearestIds=10/10 [DEBUG] (2017-08-26 21:10:00.022) Rtabmap.cpp:1908::process() nearestPoses=0 [DEBUG] (2017-08-26 21:10:00.022) Rtabmap.cpp:1912::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:00.022) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000135s [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2430::process() Time creating stats = 0.000177... [DEBUG] (2017-08-26 21:10:00.022) Memory.cpp:2187::removeRawData() id=11 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:00.022) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000245s... 0 signatures removed [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2500::process() Total time processing = 0.144195s... [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000040... [ INFO] (2017-08-26 21:10:00.022) Rtabmap.cpp:2624::process() Adding data 11 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:00.023) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:00.023) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:00.023) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:00.023) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 11 [DEBUG] (2017-08-26 21:10:00.024) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001252s [DEBUG] (2017-08-26 21:10:00.024) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:00.024) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:00.025) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:00.025) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:00.025) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:00.025) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:00.025) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:00.025) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000034s... [DEBUG] (2017-08-26 21:10:00.027) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.028) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.028) Camera.cpp:100::takeImage() Time capturing image = 0.010954s [DEBUG] (2017-08-26 21:10:00.028) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.028) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.043) Camera.cpp:100::takeImage() Time capturing image = 0.015140s [DEBUG] (2017-08-26 21:10:00.043) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.044) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.057) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.058) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.059) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100460,-0.332945,0.383150 rpy=-0.057969,-0.132864,1.081935 [DEBUG] (2017-08-26 21:10:00.060) Camera.cpp:100::takeImage() Time capturing image = 0.016148s [DEBUG] (2017-08-26 21:10:00.060) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.060) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.078) Camera.cpp:100::takeImage() Time capturing image = 0.017497s [DEBUG] (2017-08-26 21:10:00.078) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.078) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.093) Camera.cpp:100::takeImage() Time capturing image = 0.014745s [DEBUG] (2017-08-26 21:10:00.093) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.093) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.093) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.096) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.097) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:00.098) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:00.113) Camera.cpp:100::takeImage() Time capturing image = 0.019834s [DEBUG] (2017-08-26 21:10:00.113) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.114) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.127) Camera.cpp:100::takeImage() Time capturing image = 0.014205s [DEBUG] (2017-08-26 21:10:00.128) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.128) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.134) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.134) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.135) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101660,-0.332264,0.384527 rpy=-0.054217,-0.124704,1.115211 [DEBUG] (2017-08-26 21:10:00.143) Camera.cpp:100::takeImage() Time capturing image = 0.015438s [DEBUG] (2017-08-26 21:10:00.143) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.143) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.159) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.160) Camera.cpp:100::takeImage() Time capturing image = 0.017051s [DEBUG] (2017-08-26 21:10:00.160) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.161) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.177) Camera.cpp:100::takeImage() Time capturing image = 0.016313s [DEBUG] (2017-08-26 21:10:00.177) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.177) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.185) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.185) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.186) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103946,-0.329875,0.385569 rpy=-0.052063,-0.112001,1.146303 [DEBUG] (2017-08-26 21:10:00.193) Camera.cpp:100::takeImage() Time capturing image = 0.015671s [DEBUG] (2017-08-26 21:10:00.193) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.194) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.208) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.208) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.210) Camera.cpp:100::takeImage() Time capturing image = 0.017249s [DEBUG] (2017-08-26 21:10:00.210) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.210) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.226) Camera.cpp:100::takeImage() Time capturing image = 0.015763s [DEBUG] (2017-08-26 21:10:00.226) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.226) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.233) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.233) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.234) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105565,-0.325950,0.385973 rpy=-0.056773,-0.094257,1.172704 [DEBUG] (2017-08-26 21:10:00.244) Camera.cpp:100::takeImage() Time capturing image = 0.017484s [DEBUG] (2017-08-26 21:10:00.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.244) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.257) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.257) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.259) Camera.cpp:100::takeImage() Time capturing image = 0.015130s [DEBUG] (2017-08-26 21:10:00.259) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.259) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.277) Camera.cpp:100::takeImage() Time capturing image = 0.017878s [DEBUG] (2017-08-26 21:10:00.277) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.277) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.283) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.283) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.284) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106381,-0.322664,0.385925 rpy=-0.064865,-0.077399,1.192501 [DEBUG] (2017-08-26 21:10:00.293) Camera.cpp:100::takeImage() Time capturing image = 0.015627s [DEBUG] (2017-08-26 21:10:00.293) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.293) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.307) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.307) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.310) Camera.cpp:100::takeImage() Time capturing image = 0.016929s [DEBUG] (2017-08-26 21:10:00.310) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.310) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.326) Camera.cpp:100::takeImage() Time capturing image = 0.016025s [DEBUG] (2017-08-26 21:10:00.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.326) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.330) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.330) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.331) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.107936,-0.319417,0.386016 rpy=-0.072046,-0.060270,1.212761 [DEBUG] (2017-08-26 21:10:00.332) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:00.332) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:00.343) Camera.cpp:100::takeImage() Time capturing image = 0.016621s [DEBUG] (2017-08-26 21:10:00.343) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.343) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.359) Camera.cpp:100::takeImage() Time capturing image = 0.016193s [DEBUG] (2017-08-26 21:10:00.359) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.360) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.368) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.368) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.377) Camera.cpp:100::takeImage() Time capturing image = 0.017671s [DEBUG] (2017-08-26 21:10:00.377) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.377) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.391) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.391) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.399) Camera.cpp:100::takeImage() Time capturing image = 0.015226s [DEBUG] (2017-08-26 21:10:00.399) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.399) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.400) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.109376,-0.316638,0.386170 rpy=-0.076724,-0.046230,1.233316 [DEBUG] (2017-08-26 21:10:00.401) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:00.401) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:00.409) Camera.cpp:100::takeImage() Time capturing image = 0.009895s [DEBUG] (2017-08-26 21:10:00.409) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.409) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.425) Camera.cpp:100::takeImage() Time capturing image = 0.015684s [DEBUG] (2017-08-26 21:10:00.425) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.425) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.442) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.442) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.442) Camera.cpp:100::takeImage() Time capturing image = 0.016993s [DEBUG] (2017-08-26 21:10:00.442) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.442) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.458) Camera.cpp:100::takeImage() Time capturing image = 0.015651s [DEBUG] (2017-08-26 21:10:00.458) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.458) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.470) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.470) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.471) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.111827,-0.314205,0.386257 rpy=-0.083875,-0.033127,1.260262 [DEBUG] (2017-08-26 21:10:00.475) Camera.cpp:100::takeImage() Time capturing image = 0.016736s [DEBUG] (2017-08-26 21:10:00.475) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.475) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.491) Camera.cpp:100::takeImage() Time capturing image = 0.016069s [DEBUG] (2017-08-26 21:10:00.491) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.491) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.495) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.495) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.496) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112661,-0.314073,0.385928 rpy=-0.086519,-0.030681,1.272383 [DEBUG] (2017-08-26 21:10:00.508) Camera.cpp:100::takeImage() Time capturing image = 0.017113s [DEBUG] (2017-08-26 21:10:00.508) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.508) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.523) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.523) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.524) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:00.524) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:00.524) Camera.cpp:100::takeImage() Time capturing image = 0.016035s [DEBUG] (2017-08-26 21:10:00.524) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.525) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.541) Camera.cpp:100::takeImage() Time capturing image = 0.016869s [DEBUG] (2017-08-26 21:10:00.541) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.542) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.558) Camera.cpp:100::takeImage() Time capturing image = 0.016070s [DEBUG] (2017-08-26 21:10:00.558) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.558) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.561) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.561) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.575) Camera.cpp:100::takeImage() Time capturing image = 0.016788s [DEBUG] (2017-08-26 21:10:00.575) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.575) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.588) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.588) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.589) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:00.589) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:00.591) Camera.cpp:100::takeImage() Time capturing image = 0.016089s [DEBUG] (2017-08-26 21:10:00.591) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.591) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.608) Camera.cpp:100::takeImage() Time capturing image = 0.016905s [DEBUG] (2017-08-26 21:10:00.608) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.608) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.624) Camera.cpp:100::takeImage() Time capturing image = 0.016198s [DEBUG] (2017-08-26 21:10:00.624) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.624) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.626) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.626) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.627) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113989,-0.314238,0.385246 rpy=-0.088164,-0.029491,1.282608 [DEBUG] (2017-08-26 21:10:00.641) Camera.cpp:100::takeImage() Time capturing image = 0.016833s [DEBUG] (2017-08-26 21:10:00.641) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.641) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.654) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.654) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.657) Camera.cpp:100::takeImage() Time capturing image = 0.016119s [DEBUG] (2017-08-26 21:10:00.658) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.658) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.675) Camera.cpp:100::takeImage() Time capturing image = 0.016962s [DEBUG] (2017-08-26 21:10:00.675) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.675) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.676) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:00.677) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:00.677) SensorData.cpp:557::uncompressData() 7 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:00.677) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:00.689) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:00.691) Camera.cpp:100::takeImage() Time capturing image = 0.016627s [DEBUG] (2017-08-26 21:10:00.691) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:1676::processStats() time= 2 ms [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 24 [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:3838::drawKeypoints() source time = 0.000221 s [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000021 s [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:00.692) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:00.695) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.701) MainWindow.cpp:1715::processStats() time= 9 ms [DEBUG] (2017-08-26 21:10:00.702) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:00.702) MainWindow.cpp:1912::updateMapCloud() posesIn=6 constraints=5 mapIdsIn=6 labelsIn=1 [DEBUG] (2017-08-26 21:10:00.702) MainWindow.cpp:1991::updateMapCloud() Update map with 6 locations [DEBUG] (2017-08-26 21:10:00.702) SensorData.cpp:557::uncompressData() 7 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:00.702) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:00.702) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:00.702) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:00.703) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:00.708) Camera.cpp:100::takeImage() Time capturing image = 0.016648s [DEBUG] (2017-08-26 21:10:00.708) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.712) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.724) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000879s [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:00.725) Camera.cpp:100::takeImage() Time capturing image = 0.016817s [DEBUG] (2017-08-26 21:10:00.725) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.725) MainWindow.cpp:1796::processStats() time= 24 ms [DEBUG] (2017-08-26 21:10:00.726) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.730) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:00.730) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:00.730) MainWindow.cpp:1874::processStats() Updating GUI time = 0.053000s [DEBUG] (2017-08-26 21:10:00.742) Camera.cpp:100::takeImage() Time capturing image = 0.016679s [DEBUG] (2017-08-26 21:10:00.742) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.742) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.744) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.745) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.746) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115392,-0.314742,0.384313 rpy=-0.089297,-0.029320,1.294119 [DEBUG] (2017-08-26 21:10:00.758) Camera.cpp:100::takeImage() Time capturing image = 0.015651s [DEBUG] (2017-08-26 21:10:00.758) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.758) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.774) Camera.cpp:100::takeImage() Time capturing image = 0.016242s [DEBUG] (2017-08-26 21:10:00.774) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.775) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.779) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.779) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.780) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117013,-0.316107,0.383140 rpy=-0.087392,-0.029191,1.311537 [DEBUG] (2017-08-26 21:10:00.792) Camera.cpp:100::takeImage() Time capturing image = 0.017111s [DEBUG] (2017-08-26 21:10:00.792) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.792) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.808) Camera.cpp:100::takeImage() Time capturing image = 0.015790s [DEBUG] (2017-08-26 21:10:00.808) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.808) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.811) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.811) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.825) Camera.cpp:100::takeImage() Time capturing image = 0.016862s [DEBUG] (2017-08-26 21:10:00.825) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.825) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.842) Camera.cpp:100::takeImage() Time capturing image = 0.016658s [DEBUG] (2017-08-26 21:10:00.842) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.842) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.843) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.843) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.844) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119069,-0.318151,0.382262 rpy=-0.083518,-0.030396,1.333150 [DEBUG] (2017-08-26 21:10:00.858) Camera.cpp:100::takeImage() Time capturing image = 0.016183s [DEBUG] (2017-08-26 21:10:00.858) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.859) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.875) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.875) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.882) Camera.cpp:100::takeImage() Time capturing image = 0.023730s [DEBUG] (2017-08-26 21:10:00.882) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.883) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:00.883) RtabmapThread.cpp:630::addData() Added data 653 [ INFO] (2017-08-26 21:10:00.883) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:00.883) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:00.883) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:00.883) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:608::update() time preUpdate=0.036955 ms [DEBUG] (2017-08-26 21:10:00.883) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:00.884) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:00.884) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:00.896) Camera.cpp:100::takeImage() Time capturing image = 0.013234s [DEBUG] (2017-08-26 21:10:00.896) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:00.896) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:00.896) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:00.896) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.896) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.900) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:00.900) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:00.905) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:00.905) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:00.905) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:00.909) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.909) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.910) Camera.cpp:100::takeImage() Time capturing image = 0.013979s [DEBUG] (2017-08-26 21:10:00.910) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.910) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.939) Camera.cpp:100::takeImage() Time capturing image = 0.028926s [DEBUG] (2017-08-26 21:10:00.939) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.939) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.940) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.940) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.941) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.121403,-0.319481,0.382002 rpy=-0.077088,-0.028860,1.357175 [DEBUG] (2017-08-26 21:10:00.969) Camera.cpp:100::takeImage() Time capturing image = 0.029348s [DEBUG] (2017-08-26 21:10:00.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.976) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:00.976) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:00.987) Camera.cpp:100::takeImage() Time capturing image = 0.018346s [DEBUG] (2017-08-26 21:10:00.987) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:00.988) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:00.991) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.086125 s, keypoints extracted = 1 (mask empty=0) [DEBUG] (2017-08-26 21:10:00.991) Memory.cpp:3409::createSignature() time keypoints (1) = 0.107403s [DEBUG] (2017-08-26 21:10:00.994) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 1, remaining kpts=1 [DEBUG] (2017-08-26 21:10:00.994) Memory.cpp:3414::createSignature() time descriptors (1) = 0.002866s [DEBUG] (2017-08-26 21:10:00.994) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=21 [DEBUG] (2017-08-26 21:10:00.994) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:00.994) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:00.994) Memory.cpp:3603::createSignature() id 12 is a bad signature [DEBUG] (2017-08-26 21:10:00.994) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:01.003) Camera.cpp:100::takeImage() Time capturing image = 0.015934s [DEBUG] (2017-08-26 21:10:01.003) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.004) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.008) Memory.cpp:3897::createSignature() time compressing data (id=12) 0.014637s [DEBUG] (2017-08-26 21:10:01.009) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:626::update() time creating signature=125.107048 ms [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:711::addSignatureToStm() adding 12 [DEBUG] (2017-08-26 21:10:01.009) Signature.cpp:121::addLink() Add link 12 to 11 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:01.009) Signature.cpp:121::addLink() Add link 11 to 12 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:739::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 12 [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:781::addSignatureToStm() time = 0.000169s [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:647::update() time rehearsal=0.219107 ms [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 1 from STM in WM... [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:700::update() totalTimer = 0.125430s [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1002::process() Processing signature 12 w=0 [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.125808s [DEBUG] (2017-08-26 21:10:01.009) Rtabmap.cpp:1158::process() Added pose xyz=0.103126,-0.340946,0.359329 rpy=0.026509,-0.027972,2.715347 (odom=xyz=0.103126,-0.340946,0.359329 rpy=0.026509,-0.027972,2.715347) [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000103s [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:01.009) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000034s, joining (actual overhead) = 0.000060s [DEBUG] (2017-08-26 21:10:01.009) Graph.cpp:1661::getNodesInRadius() found nodes=10 [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1721::process() near nodes=10, max local immunized=0, ratio=0.250000 WM=2 [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1807::process() timeReactivations=0.000195s [ INFO] (2017-08-26 21:10:01.009) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:01.009) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:01.009) Rtabmap.cpp:1899::process() nearestIds=11/11 [DEBUG] (2017-08-26 21:10:01.009) Rtabmap.cpp:1908::process() nearestPoses=1 [DEBUG] (2017-08-26 21:10:01.009) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.258255 [DEBUG] (2017-08-26 21:10:01.010) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:01.010) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:01.010) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:01.010) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000371s [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2307::process() timeMapOptimization=0.000022s [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2430::process() Time creating stats = 0.000147... [DEBUG] (2017-08-26 21:10:01.010) Memory.cpp:2187::removeRawData() id=12 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:01.010) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000128s... 0 signatures removed [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2500::process() Total time processing = 0.126875s... [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000038... [ INFO] (2017-08-26 21:10:01.010) Rtabmap.cpp:2624::process() Adding data 12 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:01.010) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:01.010) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:01.010) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:01.011) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 12 [DEBUG] (2017-08-26 21:10:01.011) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000894s [DEBUG] (2017-08-26 21:10:01.011) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:01.013) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:01.013) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.013) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.014) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.123288,-0.320790,0.382310 rpy=-0.066054,-0.021128,1.386854 [DEBUG] (2017-08-26 21:10:01.015) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:01.015) Camera.cpp:100::takeImage() Time capturing image = 0.011206s [DEBUG] (2017-08-26 21:10:01.015) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.015) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:01.015) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.015) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:01.015) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:01.016) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:01.016) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000187s... [DEBUG] (2017-08-26 21:10:01.025) Camera.cpp:100::takeImage() Time capturing image = 0.010653s [DEBUG] (2017-08-26 21:10:01.026) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.026) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.042) Camera.cpp:100::takeImage() Time capturing image = 0.016451s [DEBUG] (2017-08-26 21:10:01.042) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.042) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.045) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.045) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.046) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.125313,-0.322391,0.382710 rpy=-0.053904,-0.014295,1.409206 [DEBUG] (2017-08-26 21:10:01.059) Camera.cpp:100::takeImage() Time capturing image = 0.016375s [DEBUG] (2017-08-26 21:10:01.059) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.059) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.076) Camera.cpp:100::takeImage() Time capturing image = 0.017195s [DEBUG] (2017-08-26 21:10:01.076) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.076) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.078) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.078) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.092) Camera.cpp:100::takeImage() Time capturing image = 0.015859s [DEBUG] (2017-08-26 21:10:01.092) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.092) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.109) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.109) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.109) Camera.cpp:100::takeImage() Time capturing image = 0.016790s [DEBUG] (2017-08-26 21:10:01.109) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.109) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.110) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.127018,-0.323860,0.383511 rpy=-0.042374,-0.010441,1.428987 [DEBUG] (2017-08-26 21:10:01.125) Camera.cpp:100::takeImage() Time capturing image = 0.015591s [DEBUG] (2017-08-26 21:10:01.125) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.125) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.141) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.141) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.142) Camera.cpp:100::takeImage() Time capturing image = 0.016802s [DEBUG] (2017-08-26 21:10:01.142) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.142) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.158) Camera.cpp:100::takeImage() Time capturing image = 0.015890s [DEBUG] (2017-08-26 21:10:01.158) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.158) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.171) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.172) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.173) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.128313,-0.326264,0.384424 rpy=-0.032924,-0.013426,1.448414 [DEBUG] (2017-08-26 21:10:01.175) Camera.cpp:100::takeImage() Time capturing image = 0.016759s [DEBUG] (2017-08-26 21:10:01.175) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.175) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.191) Camera.cpp:100::takeImage() Time capturing image = 0.015949s [DEBUG] (2017-08-26 21:10:01.191) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.191) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.202) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.202) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.208) Camera.cpp:100::takeImage() Time capturing image = 0.016834s [DEBUG] (2017-08-26 21:10:01.208) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.208) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.224) Camera.cpp:100::takeImage() Time capturing image = 0.016066s [DEBUG] (2017-08-26 21:10:01.224) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.224) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.231) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.231) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.232) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.129193,-0.329152,0.385505 rpy=-0.026750,-0.019061,1.466599 [DEBUG] (2017-08-26 21:10:01.242) Camera.cpp:100::takeImage() Time capturing image = 0.017819s [DEBUG] (2017-08-26 21:10:01.242) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.242) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.257) Camera.cpp:100::takeImage() Time capturing image = 0.015176s [DEBUG] (2017-08-26 21:10:01.258) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.258) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.263) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.263) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.274) Camera.cpp:100::takeImage() Time capturing image = 0.016917s [DEBUG] (2017-08-26 21:10:01.275) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.275) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.287) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.287) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.288) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.129476,-0.332310,0.386603 rpy=-0.021871,-0.026423,1.488221 [DEBUG] (2017-08-26 21:10:01.291) Camera.cpp:100::takeImage() Time capturing image = 0.016240s [DEBUG] (2017-08-26 21:10:01.291) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.291) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.308) Camera.cpp:100::takeImage() Time capturing image = 0.016658s [DEBUG] (2017-08-26 21:10:01.308) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.308) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.311) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.311) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.324) Camera.cpp:100::takeImage() Time capturing image = 0.016418s [DEBUG] (2017-08-26 21:10:01.325) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.325) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.331) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.331) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.332) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.130265,-0.335186,0.387596 rpy=-0.017253,-0.033135,1.505392 [DEBUG] (2017-08-26 21:10:01.342) Camera.cpp:100::takeImage() Time capturing image = 0.016946s [DEBUG] (2017-08-26 21:10:01.342) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.342) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.358) Camera.cpp:100::takeImage() Time capturing image = 0.015893s [DEBUG] (2017-08-26 21:10:01.358) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.358) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.363) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.363) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.379) Camera.cpp:100::takeImage() Time capturing image = 0.021483s [DEBUG] (2017-08-26 21:10:01.380) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.380) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.387) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.131242,-0.337086,0.388521 rpy=-0.014489,-0.034278,1.521722 [DEBUG] (2017-08-26 21:10:01.391) Camera.cpp:100::takeImage() Time capturing image = 0.011775s [DEBUG] (2017-08-26 21:10:01.391) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.392) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.411) Camera.cpp:100::takeImage() Time capturing image = 0.019320s [DEBUG] (2017-08-26 21:10:01.411) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.411) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.412) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.412) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.424) Camera.cpp:100::takeImage() Time capturing image = 0.013128s [DEBUG] (2017-08-26 21:10:01.424) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.425) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.438) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.439) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.439) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.131854,-0.338011,0.389122 rpy=-0.011999,-0.029380,1.536520 [DEBUG] (2017-08-26 21:10:01.441) Camera.cpp:100::takeImage() Time capturing image = 0.017075s [DEBUG] (2017-08-26 21:10:01.441) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.442) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.457) Camera.cpp:100::takeImage() Time capturing image = 0.015532s [DEBUG] (2017-08-26 21:10:01.457) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.457) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.459) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.459) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.478) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.478) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.479) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132025,-0.338209,0.389085 rpy=-0.010852,-0.020570,1.549712 [DEBUG] (2017-08-26 21:10:01.481) Camera.cpp:100::takeImage() Time capturing image = 0.023916s [DEBUG] (2017-08-26 21:10:01.481) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.481) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.491) Camera.cpp:100::takeImage() Time capturing image = 0.009392s [DEBUG] (2017-08-26 21:10:01.491) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.491) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.501) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.501) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.507) Camera.cpp:100::takeImage() Time capturing image = 0.016397s [DEBUG] (2017-08-26 21:10:01.507) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.508) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.523) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.523) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.524) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132655,-0.337880,0.388713 rpy=-0.010526,-0.010975,1.561363 [DEBUG] (2017-08-26 21:10:01.525) Camera.cpp:100::takeImage() Time capturing image = 0.017257s [DEBUG] (2017-08-26 21:10:01.525) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.525) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.545) Camera.cpp:100::takeImage() Time capturing image = 0.019927s [DEBUG] (2017-08-26 21:10:01.545) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.545) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.549) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.549) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.557) Camera.cpp:100::takeImage() Time capturing image = 0.012498s [DEBUG] (2017-08-26 21:10:01.558) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.558) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.573) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.573) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.574) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132796,-0.337164,0.388101 rpy=-0.011966,-0.001378,1.572418 [DEBUG] (2017-08-26 21:10:01.577) Camera.cpp:100::takeImage() Time capturing image = 0.019270s [DEBUG] (2017-08-26 21:10:01.577) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.577) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.591) Camera.cpp:100::takeImage() Time capturing image = 0.014336s [DEBUG] (2017-08-26 21:10:01.592) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.594) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.598) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.598) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.609) Camera.cpp:100::takeImage() Time capturing image = 0.017095s [DEBUG] (2017-08-26 21:10:01.609) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.609) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.619) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.620) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.620) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132175,-0.336570,0.387283 rpy=-0.015020,0.006539,1.586632 [DEBUG] (2017-08-26 21:10:01.625) Camera.cpp:100::takeImage() Time capturing image = 0.016494s [DEBUG] (2017-08-26 21:10:01.625) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.626) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.642) Camera.cpp:100::takeImage() Time capturing image = 0.016354s [DEBUG] (2017-08-26 21:10:01.642) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.642) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.642) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.642) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.657) Camera.cpp:100::takeImage() Time capturing image = 0.014916s [DEBUG] (2017-08-26 21:10:01.657) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.657) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.663) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.663) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.664) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.131761,-0.336473,0.386319 rpy=-0.017952,0.011498,1.598202 [DEBUG] (2017-08-26 21:10:01.675) Camera.cpp:100::takeImage() Time capturing image = 0.017713s [DEBUG] (2017-08-26 21:10:01.675) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.675) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.686) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.686) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.694) Camera.cpp:100::takeImage() Time capturing image = 0.018670s [DEBUG] (2017-08-26 21:10:01.694) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.694) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.708) Camera.cpp:100::takeImage() Time capturing image = 0.013843s [DEBUG] (2017-08-26 21:10:01.708) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.708) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.711) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.711) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.712) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132033,-0.336496,0.385521 rpy=-0.019537,0.016358,1.608384 [DEBUG] (2017-08-26 21:10:01.725) Camera.cpp:100::takeImage() Time capturing image = 0.016997s [DEBUG] (2017-08-26 21:10:01.725) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.726) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.735) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.735) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.741) Camera.cpp:100::takeImage() Time capturing image = 0.015768s [DEBUG] (2017-08-26 21:10:01.741) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.741) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.757) Camera.cpp:100::takeImage() Time capturing image = 0.015755s [DEBUG] (2017-08-26 21:10:01.757) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.757) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.758) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.758) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.759) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132326,-0.336229,0.384393 rpy=-0.019246,0.022800,1.621858 [DEBUG] (2017-08-26 21:10:01.774) Camera.cpp:100::takeImage() Time capturing image = 0.016780s [DEBUG] (2017-08-26 21:10:01.774) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.774) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.785) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.785) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.790) Camera.cpp:100::takeImage() Time capturing image = 0.016202s [DEBUG] (2017-08-26 21:10:01.791) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.791) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.807) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.808) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132830,-0.335929,0.383458 rpy=-0.016631,0.027443,1.635927 [DEBUG] (2017-08-26 21:10:01.810) Camera.cpp:100::takeImage() Time capturing image = 0.019122s [DEBUG] (2017-08-26 21:10:01.810) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.810) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.824) Camera.cpp:100::takeImage() Time capturing image = 0.013569s [DEBUG] (2017-08-26 21:10:01.824) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.824) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.833) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.833) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.840) Camera.cpp:100::takeImage() Time capturing image = 0.015704s [DEBUG] (2017-08-26 21:10:01.840) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.841) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.854) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.854) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.855) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.133448,-0.335790,0.382492 rpy=-0.012613,0.029817,1.647171 [DEBUG] (2017-08-26 21:10:01.856) Camera.cpp:100::takeImage() Time capturing image = 0.015940s [DEBUG] (2017-08-26 21:10:01.857) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.857) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.874) Camera.cpp:100::takeImage() Time capturing image = 0.017097s [DEBUG] (2017-08-26 21:10:01.874) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.874) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.876) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.876) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.890) Camera.cpp:100::takeImage() Time capturing image = 0.016109s [DEBUG] (2017-08-26 21:10:01.890) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.890) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:01.890) RtabmapThread.cpp:630::addData() Added data 713 [ INFO] (2017-08-26 21:10:01.890) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:01.890) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:01.891) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:01.891) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:01.891) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:01.891) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:01.891) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:01.891) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:01.891) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:01.898) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.898) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.899) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.135102,-0.335652,0.381079 rpy=-0.005862,0.034635,1.656795 [DEBUG] (2017-08-26 21:10:01.909) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:01.909) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:01.913) Camera.cpp:100::takeImage() Time capturing image = 0.023201s [DEBUG] (2017-08-26 21:10:01.913) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.914) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.917) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:01.917) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:01.917) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:01.918) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.918) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.924) Camera.cpp:100::takeImage() Time capturing image = 0.010214s [DEBUG] (2017-08-26 21:10:01.924) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.924) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.938) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.939) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.940) Camera.cpp:100::takeImage() Time capturing image = 0.016451s [DEBUG] (2017-08-26 21:10:01.941) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.941) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.962) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.962) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.963) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.137370,-0.335480,0.379318 rpy=0.002693,0.039347,1.666692 [DEBUG] (2017-08-26 21:10:01.963) Camera.cpp:100::takeImage() Time capturing image = 0.022687s [DEBUG] (2017-08-26 21:10:01.964) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.964) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:01.984) Camera.cpp:100::takeImage() Time capturing image = 0.019852s [DEBUG] (2017-08-26 21:10:01.987) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:01.987) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:01.988) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.139913,-0.335409,0.377475 rpy=0.010752,0.043029,1.672841 [DEBUG] (2017-08-26 21:10:01.990) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:01.990) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.005) Camera.cpp:100::takeImage() Time capturing image = 0.014312s [DEBUG] (2017-08-26 21:10:02.005) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.005) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.015) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.015) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.017) Camera.cpp:100::takeImage() Time capturing image = 0.012143s [DEBUG] (2017-08-26 21:10:02.017) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.018) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.024) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.107207 s, keypoints extracted = 0 (mask empty=0) [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3409::createSignature() time keypoints (0) = 0.133876s [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3414::createSignature() time descriptors (0) = 0.000032s [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=19 [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3427::createSignature() time keypoints 3D (0) = 0.000051s [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3603::createSignature() id 13 is a bad signature [DEBUG] (2017-08-26 21:10:02.025) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:02.027) Camera.cpp:100::takeImage() Time capturing image = 0.009175s [DEBUG] (2017-08-26 21:10:02.027) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.027) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.040) Camera.cpp:100::takeImage() Time capturing image = 0.012879s [DEBUG] (2017-08-26 21:10:02.040) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.040) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:3897::createSignature() time compressing data (id=13) 0.018268s [DEBUG] (2017-08-26 21:10:02.043) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:626::update() time creating signature=152.399063 ms [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:711::addSignatureToStm() adding 13 [DEBUG] (2017-08-26 21:10:02.043) Signature.cpp:121::addLink() Add link 13 to 12 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:02.043) Signature.cpp:121::addLink() Add link 12 to 13 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:739::addSignatureToStm() Min STM id = 3 [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 13 [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:781::addSignatureToStm() time = 0.000169s [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:647::update() time rehearsal=0.219107 ms [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 3 from STM in WM... [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:700::update() totalTimer = 0.152708s [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:02.043) Rtabmap.cpp:1002::process() Processing signature 13 w=0 [ INFO] (2017-08-26 21:10:02.043) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.152829s [DEBUG] (2017-08-26 21:10:02.043) Rtabmap.cpp:1158::process() Added pose xyz=0.112542,-0.335542,0.359029 rpy=0.033445,-0.059877,2.830220 (odom=xyz=0.112542,-0.335542,0.359029 rpy=0.033445,-0.059877,2.830220) [ INFO] (2017-08-26 21:10:02.043) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000104s [DEBUG] (2017-08-26 21:10:02.043) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:02.044) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000187s, joining (actual overhead) = 0.000059s [DEBUG] (2017-08-26 21:10:02.044) Graph.cpp:1661::getNodesInRadius() found nodes=11 [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:1721::process() near nodes=11, max local immunized=0, ratio=0.250000 WM=3 [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:1807::process() timeReactivations=0.000208s [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000023s [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:1899::process() nearestIds=12/12 [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:1908::process() nearestPoses=2 [DEBUG] (2017-08-26 21:10:02.044) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.184927 [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:2999::getPaths() 3 <- 1 [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:2999::getPaths() 3 <- 3 [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:02.044) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:02.044) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000566s [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:2307::process() timeMapOptimization=0.000023s [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:02.044) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:02.045) Rtabmap.cpp:2430::process() Time creating stats = 0.000171... [DEBUG] (2017-08-26 21:10:02.045) Memory.cpp:2187::removeRawData() id=13 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:02.045) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:02.045) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000224s... 0 signatures removed [ INFO] (2017-08-26 21:10:02.045) Rtabmap.cpp:2500::process() Total time processing = 0.154231s... [ INFO] (2017-08-26 21:10:02.045) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000041... [ INFO] (2017-08-26 21:10:02.045) Rtabmap.cpp:2624::process() Adding data 13 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:02.045) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:02.045) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:02.045) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:02.045) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 13 [DEBUG] (2017-08-26 21:10:02.046) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000970s [DEBUG] (2017-08-26 21:10:02.046) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:02.046) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:02.048) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:02.048) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:02.049) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:02.049) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:02.049) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:02.049) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000036s... [DEBUG] (2017-08-26 21:10:02.059) Camera.cpp:100::takeImage() Time capturing image = 0.018739s [DEBUG] (2017-08-26 21:10:02.059) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.059) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.070) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.070) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.072) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.142615,-0.335240,0.375441 rpy=0.019911,0.047656,1.680693 [DEBUG] (2017-08-26 21:10:02.077) Camera.cpp:100::takeImage() Time capturing image = 0.017407s [DEBUG] (2017-08-26 21:10:02.077) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.077) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.094) Camera.cpp:100::takeImage() Time capturing image = 0.016583s [DEBUG] (2017-08-26 21:10:02.094) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.097) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.098) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.098) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.109) Camera.cpp:100::takeImage() Time capturing image = 0.011909s [DEBUG] (2017-08-26 21:10:02.109) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.109) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.123) Camera.cpp:100::takeImage() Time capturing image = 0.013467s [DEBUG] (2017-08-26 21:10:02.123) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.123) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.124) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.124) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.125) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.145097,-0.334967,0.373223 rpy=0.029744,0.052006,1.694930 [DEBUG] (2017-08-26 21:10:02.140) Camera.cpp:100::takeImage() Time capturing image = 0.017087s [DEBUG] (2017-08-26 21:10:02.140) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.140) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.150) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.150) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.157) Camera.cpp:100::takeImage() Time capturing image = 0.017148s [DEBUG] (2017-08-26 21:10:02.157) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.157) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.174) Camera.cpp:100::takeImage() Time capturing image = 0.016862s [DEBUG] (2017-08-26 21:10:02.174) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.174) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.174) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.175) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.175) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.146406,-0.334809,0.371919 rpy=0.037051,0.054806,1.707804 [DEBUG] (2017-08-26 21:10:02.189) Camera.cpp:100::takeImage() Time capturing image = 0.015139s [DEBUG] (2017-08-26 21:10:02.190) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.190) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.200) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.200) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.201) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.147390,-0.334178,0.370203 rpy=0.043698,0.057995,1.722310 [DEBUG] (2017-08-26 21:10:02.210) Camera.cpp:100::takeImage() Time capturing image = 0.019922s [DEBUG] (2017-08-26 21:10:02.210) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.210) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.225) Camera.cpp:100::takeImage() Time capturing image = 0.015197s [DEBUG] (2017-08-26 21:10:02.225) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.225) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.227) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.227) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.242) Camera.cpp:100::takeImage() Time capturing image = 0.017278s [DEBUG] (2017-08-26 21:10:02.243) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.243) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.250) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.250) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.251) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.147425,-0.332443,0.367187 rpy=0.050320,0.064201,1.746682 [DEBUG] (2017-08-26 21:10:02.256) Camera.cpp:100::takeImage() Time capturing image = 0.013304s [DEBUG] (2017-08-26 21:10:02.256) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.256) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.272) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.272) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.273) Camera.cpp:100::takeImage() Time capturing image = 0.016372s [DEBUG] (2017-08-26 21:10:02.273) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.273) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.290) Camera.cpp:100::takeImage() Time capturing image = 0.016282s [DEBUG] (2017-08-26 21:10:02.290) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.290) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.293) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.294) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.295) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.146243,-0.331420,0.365929 rpy=0.051742,0.067685,1.760424 [DEBUG] (2017-08-26 21:10:02.306) Camera.cpp:100::takeImage() Time capturing image = 0.016404s [DEBUG] (2017-08-26 21:10:02.307) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.307) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.317) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.317) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.322) Camera.cpp:100::takeImage() Time capturing image = 0.015152s [DEBUG] (2017-08-26 21:10:02.323) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.323) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.335) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:02.335) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:02.336) SensorData.cpp:557::uncompressData() 8 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:02.336) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:02.339) Camera.cpp:100::takeImage() Time capturing image = 0.016188s [DEBUG] (2017-08-26 21:10:02.339) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.339) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.348) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:1676::processStats() time= 2 ms [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 89 [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:3838::drawKeypoints() source time = 0.000322 s [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000021 s [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:02.351) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:02.356) Camera.cpp:100::takeImage() Time capturing image = 0.016451s [DEBUG] (2017-08-26 21:10:02.356) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.356) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.359) MainWindow.cpp:1715::processStats() time= 8 ms [DEBUG] (2017-08-26 21:10:02.359) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:02.359) MainWindow.cpp:1912::updateMapCloud() posesIn=7 constraints=6 mapIdsIn=7 labelsIn=1 [DEBUG] (2017-08-26 21:10:02.360) MainWindow.cpp:1991::updateMapCloud() Update map with 7 locations [DEBUG] (2017-08-26 21:10:02.360) SensorData.cpp:557::uncompressData() 8 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:02.360) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:02.360) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:02.360) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:02.361) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:02.376) Camera.cpp:100::takeImage() Time capturing image = 0.019987s [DEBUG] (2017-08-26 21:10:02.376) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.376) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.378) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:02.381) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000977s [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:02.382) MainWindow.cpp:1796::processStats() time= 23 ms [DEBUG] (2017-08-26 21:10:02.385) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:02.385) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:02.385) MainWindow.cpp:1874::processStats() Updating GUI time = 0.050000s [DEBUG] (2017-08-26 21:10:02.389) Camera.cpp:100::takeImage() Time capturing image = 0.012727s [DEBUG] (2017-08-26 21:10:02.389) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.389) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.393) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.393) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.408) Camera.cpp:100::takeImage() Time capturing image = 0.019256s [DEBUG] (2017-08-26 21:10:02.408) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.409) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.419) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.419) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.420) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.142257,-0.330679,0.364302 rpy=0.051078,0.071491,1.773691 [DEBUG] (2017-08-26 21:10:02.427) Camera.cpp:100::takeImage() Time capturing image = 0.018206s [DEBUG] (2017-08-26 21:10:02.428) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.428) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.439) Camera.cpp:100::takeImage() Time capturing image = 0.010956s [DEBUG] (2017-08-26 21:10:02.439) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.439) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.443) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.443) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.444) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.139968,-0.329125,0.363312 rpy=0.049499,0.076456,1.789935 [DEBUG] (2017-08-26 21:10:02.455) Camera.cpp:100::takeImage() Time capturing image = 0.015648s [DEBUG] (2017-08-26 21:10:02.455) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.455) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.461) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.461) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.479) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.479) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.480) Camera.cpp:100::takeImage() Time capturing image = 0.024665s [DEBUG] (2017-08-26 21:10:02.480) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.480) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.489) Camera.cpp:100::takeImage() Time capturing image = 0.009428s [DEBUG] (2017-08-26 21:10:02.489) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.490) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.500) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.500) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.501) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.136983,-0.327539,0.362129 rpy=0.045875,0.082018,1.807459 [DEBUG] (2017-08-26 21:10:02.506) Camera.cpp:100::takeImage() Time capturing image = 0.016715s [DEBUG] (2017-08-26 21:10:02.506) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.507) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.524) Camera.cpp:100::takeImage() Time capturing image = 0.017393s [DEBUG] (2017-08-26 21:10:02.524) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.524) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.526) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.526) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.527) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.134526,-0.326345,0.360966 rpy=0.042024,0.087106,1.821832 [DEBUG] (2017-08-26 21:10:02.539) Camera.cpp:100::takeImage() Time capturing image = 0.014841s [DEBUG] (2017-08-26 21:10:02.539) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.539) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.554) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.554) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.556) Camera.cpp:100::takeImage() Time capturing image = 0.016996s [DEBUG] (2017-08-26 21:10:02.556) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.556) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.574) Camera.cpp:100::takeImage() Time capturing image = 0.017456s [DEBUG] (2017-08-26 21:10:02.574) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.574) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.581) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.581) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.582) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.132268,-0.324926,0.359652 rpy=0.038411,0.091946,1.835302 [DEBUG] (2017-08-26 21:10:02.589) Camera.cpp:100::takeImage() Time capturing image = 0.015583s [DEBUG] (2017-08-26 21:10:02.590) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.590) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.606) Camera.cpp:100::takeImage() Time capturing image = 0.015843s [DEBUG] (2017-08-26 21:10:02.606) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.606) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.608) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.608) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.624) Camera.cpp:100::takeImage() Time capturing image = 0.018421s [DEBUG] (2017-08-26 21:10:02.624) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.624) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.629) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.629) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.630) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.129407,-0.323284,0.358393 rpy=0.034678,0.096304,1.850321 [DEBUG] (2017-08-26 21:10:02.639) Camera.cpp:100::takeImage() Time capturing image = 0.014760s [DEBUG] (2017-08-26 21:10:02.639) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.639) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.654) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.654) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.655) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:02.655) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:02.657) Camera.cpp:100::takeImage() Time capturing image = 0.017977s [DEBUG] (2017-08-26 21:10:02.657) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.658) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.672) Camera.cpp:100::takeImage() Time capturing image = 0.014866s [DEBUG] (2017-08-26 21:10:02.672) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.673) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.690) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.690) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.691) Camera.cpp:100::takeImage() Time capturing image = 0.018669s [DEBUG] (2017-08-26 21:10:02.691) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.127116,-0.322315,0.357582 rpy=0.031382,0.098530,1.864755 [DEBUG] (2017-08-26 21:10:02.691) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.691) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.706) Camera.cpp:100::takeImage() Time capturing image = 0.014327s [DEBUG] (2017-08-26 21:10:02.706) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.706) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.713) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.713) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.714) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:02.714) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:02.722) Camera.cpp:100::takeImage() Time capturing image = 0.016135s [DEBUG] (2017-08-26 21:10:02.723) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.723) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.740) Camera.cpp:100::takeImage() Time capturing image = 0.017191s [DEBUG] (2017-08-26 21:10:02.740) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.740) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.748) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.748) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.749) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.125144,-0.321888,0.356911 rpy=0.029297,0.099122,1.878844 [DEBUG] (2017-08-26 21:10:02.755) Camera.cpp:100::takeImage() Time capturing image = 0.014898s [DEBUG] (2017-08-26 21:10:02.755) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.756) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.771) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.771) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.772) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:02.772) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:02.773) Camera.cpp:100::takeImage() Time capturing image = 0.017324s [DEBUG] (2017-08-26 21:10:02.773) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.773) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.789) Camera.cpp:100::takeImage() Time capturing image = 0.015791s [DEBUG] (2017-08-26 21:10:02.789) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.789) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.805) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.805) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.806) Camera.cpp:100::takeImage() Time capturing image = 0.016481s [DEBUG] (2017-08-26 21:10:02.806) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.806) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.822) Camera.cpp:100::takeImage() Time capturing image = 0.015748s [DEBUG] (2017-08-26 21:10:02.822) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.822) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.826) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.826) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.827) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.123047,-0.322131,0.356086 rpy=0.028265,0.098838,1.896004 [DEBUG] (2017-08-26 21:10:02.828) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:02.828) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:02.840) Camera.cpp:100::takeImage() Time capturing image = 0.017665s [DEBUG] (2017-08-26 21:10:02.840) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.840) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.855) Camera.cpp:100::takeImage() Time capturing image = 0.015030s [DEBUG] (2017-08-26 21:10:02.855) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.856) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.862) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.862) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.863) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.121133,-0.322531,0.355313 rpy=0.028363,0.098104,1.914326 [DEBUG] (2017-08-26 21:10:02.872) Camera.cpp:100::takeImage() Time capturing image = 0.016892s [DEBUG] (2017-08-26 21:10:02.873) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.873) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.889) Camera.cpp:100::takeImage() Time capturing image = 0.016647s [DEBUG] (2017-08-26 21:10:02.889) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.890) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.890) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.892) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:02.892) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:02.893) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.913) Camera.cpp:100::takeImage() Time capturing image = 0.020291s [DEBUG] (2017-08-26 21:10:02.913) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.913) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:02.914) RtabmapThread.cpp:630::addData() Added data 774 [ INFO] (2017-08-26 21:10:02.914) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:02.914) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:02.914) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:02.914) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:02.914) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:02.914) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:02.922) Camera.cpp:100::takeImage() Time capturing image = 0.009031s [DEBUG] (2017-08-26 21:10:02.922) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.922) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.923) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:02.923) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:02.923) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:02.925) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.925) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.926) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119237,-0.322935,0.354935 rpy=0.029226,0.097072,1.931798 [DEBUG] (2017-08-26 21:10:02.929) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:02.929) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:02.934) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:02.934) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:02.934) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:02.948) Camera.cpp:100::takeImage() Time capturing image = 0.025697s [DEBUG] (2017-08-26 21:10:02.948) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.950) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.956) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.956) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.957) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:02.957) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:02.986) Camera.cpp:100::takeImage() Time capturing image = 0.037848s [DEBUG] (2017-08-26 21:10:02.986) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:02.986) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:02.997) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:02.997) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:02.998) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116980,-0.323702,0.354265 rpy=0.030799,0.094893,1.951322 [DEBUG] (2017-08-26 21:10:03.016) Camera.cpp:100::takeImage() Time capturing image = 0.029720s [DEBUG] (2017-08-26 21:10:03.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.016) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.025) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.091099 s, keypoints extracted = 9 (mask empty=0) [DEBUG] (2017-08-26 21:10:03.026) Memory.cpp:3409::createSignature() time keypoints (9) = 0.111490s [DEBUG] (2017-08-26 21:10:03.031) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.031) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.033) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.033) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.036) Camera.cpp:100::takeImage() Time capturing image = 0.019532s [DEBUG] (2017-08-26 21:10:03.036) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.036) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.037) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 9, remaining kpts=9 [DEBUG] (2017-08-26 21:10:03.037) Memory.cpp:3414::createSignature() time descriptors (9) = 0.011506s [DEBUG] (2017-08-26 21:10:03.037) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=18 [DEBUG] (2017-08-26 21:10:03.037) Memory.cpp:3427::createSignature() time keypoints 3D (9) = 0.000086s [DEBUG] (2017-08-26 21:10:03.037) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:03.037) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:03.037) Memory.cpp:3539::createSignature() time descriptor and memory update (9 of size=64) = 0.000078s [DEBUG] (2017-08-26 21:10:03.037) VWDictionary.cpp:593::addNewWords() id=14 descriptors=9 [DEBUG] (2017-08-26 21:10:03.037) VWDictionary.cpp:686::addNewWords() newPts.total()=9 [DEBUG] (2017-08-26 21:10:03.038) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000340 s [DEBUG] (2017-08-26 21:10:03.038) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000247 s [DEBUG] (2017-08-26 21:10:03.038) VWDictionary.cpp:874::addNewWords() 6 new words added... [DEBUG] (2017-08-26 21:10:03.038) VWDictionary.cpp:876::addNewWords() 3 duplicated words added (from current image = 1)... [DEBUG] (2017-08-26 21:10:03.038) VWDictionary.cpp:877::addNewWords() total time 0.000650s [DEBUG] (2017-08-26 21:10:03.038) Memory.cpp:3599::createSignature() time addNewWords 0.000718s indexed=62 not=6 [DEBUG] (2017-08-26 21:10:03.038) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:03.046) Camera.cpp:100::takeImage() Time capturing image = 0.009953s [DEBUG] (2017-08-26 21:10:03.046) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.046) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.056) Camera.cpp:100::takeImage() Time capturing image = 0.009803s [DEBUG] (2017-08-26 21:10:03.057) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.057) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.058) Memory.cpp:3897::createSignature() time compressing data (id=14) 0.020363s [DEBUG] (2017-08-26 21:10:03.058) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:03.058) Memory.cpp:626::update() time creating signature=144.428009 ms [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:711::addSignatureToStm() adding 14 [DEBUG] (2017-08-26 21:10:03.059) Signature.cpp:121::addLink() Add link 14 to 13 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:03.059) Signature.cpp:121::addLink() Add link 13 to 14 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:739::addSignatureToStm() Min STM id = 4 [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:773::addSignatureToStm() 9 words ref for the signature 14 [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:781::addSignatureToStm() time = 0.000174s [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:2813::rehearsal() Comparing with signature (13)... [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:2836::rehearsal() merged=0, sim=0.000000 t=0.000026s [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:647::update() time rehearsal=0.300884 ms [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 4 from STM in WM... [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:700::update() totalTimer = 0.144820s [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:03.059) Rtabmap.cpp:1002::process() Processing signature 14 w=0 [ INFO] (2017-08-26 21:10:03.059) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.144945s [DEBUG] (2017-08-26 21:10:03.059) Rtabmap.cpp:1158::process() Added pose xyz=0.118605,-0.330858,0.356970 rpy=0.028220,-0.025236,2.894484 (odom=xyz=0.118605,-0.330858,0.356970 rpy=0.028220,-0.025236,2.894484) [ INFO] (2017-08-26 21:10:03.059) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000103s [ INFO] (2017-08-26 21:10:03.059) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:03.059) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000049 s [DEBUG] (2017-08-26 21:10:03.059) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=4 [DEBUG] (2017-08-26 21:10:03.059) Rtabmap.cpp:3183::adjustLikelihood() values.size=2 [DEBUG] (2017-08-26 21:10:03.059) Rtabmap.cpp:3230::adjustLikelihood() mean=0.102520, stdDev=0.104049, max=0.000000, maxId=0, time=0.000019s [ INFO] (2017-08-26 21:10:03.059) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000184s [ INFO] (2017-08-26 21:10:03.059) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000024s [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000022s [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:495::updatePrediction() From added id 1, 0 neighbors to update. [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:495::updatePrediction() From added id 3, 0 neighbors to update. [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:495::updatePrediction() From added id 4, 0 neighbors to update. [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000149s [DEBUG] (2017-08-26 21:10:03.059) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000021s [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:575::updatePrediction() time copying = 0.000198s [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000027s [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=3, Copied=0 [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000536s, rows=4, cols=4 [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=4, _posterior size=4 [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000216s [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000026s [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:208::computePosterior() sum=1.900000 [DEBUG] (2017-08-26 21:10:03.060) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:10:03.060) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000920s [ INFO] (2017-08-26 21:10:03.060) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:03.060) Rtabmap.cpp:1373::process() Highest hypothesis=4, value=0.052632, timeHypothesesCreation=0.000050s [DEBUG] (2017-08-26 21:10:03.060) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:03.060) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:03.060) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000036s, joining (actual overhead) = 0.000064s [ INFO] (2017-08-26 21:10:03.060) Rtabmap.cpp:1462::process() Retrieving locations... around id=4 [DEBUG] (2017-08-26 21:10:03.060) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:03.060) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:03.060) Rtabmap.cpp:1483::process() neighbors of 4 in time = 13 [DEBUG] (2017-08-26 21:10:03.060) Rtabmap.cpp:1514::process() nt=4 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1514::process() nt=1 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1537::process() neighbors of 4 in space = 13 [ INFO] (2017-08-26 21:10:03.061) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=3, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000295s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:03.061) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.072035 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Graph.cpp:1661::getNodesInRadius() found nodes=12 [ INFO] (2017-08-26 21:10:03.061) Rtabmap.cpp:1721::process() near nodes=12, max local immunized=1, ratio=0.250000 WM=4 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1748::process() local node 4 (0.072035 m) immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1748::process() local node 3 (0.182603 m) immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Rtabmap.cpp:1748::process() local node 1 (0.253198 m) immunized=1 [DEBUG] (2017-08-26 21:10:03.061) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:03.061) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:03.061) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:03.061) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:03.061) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:03.061) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:03.061) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000019s [DEBUG] (2017-08-26 21:10:03.061) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:03.062) Memory.cpp:4120::reactivateSignatures() time = 0.000324s [ INFO] (2017-08-26 21:10:03.062) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000057s) [ INFO] (2017-08-26 21:10:03.062) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000057s [ INFO] (2017-08-26 21:10:03.062) Rtabmap.cpp:1807::process() timeReactivations=0.001613s [ INFO] (2017-08-26 21:10:03.062) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000024s [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:1899::process() nearestIds=13/13 [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:1908::process() nearestPoses=3 [DEBUG] (2017-08-26 21:10:03.062) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.072035 [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:2999::getPaths() 4 <- 1 [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:2999::getPaths() 4 <- 3 [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:2999::getPaths() 4 <- 4 [DEBUG] (2017-08-26 21:10:03.062) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:03.063) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:03.063) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:03.063) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000907s [ INFO] (2017-08-26 21:10:03.063) Rtabmap.cpp:2307::process() timeMapOptimization=0.000095s [ INFO] (2017-08-26 21:10:03.063) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:03.063) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:03.063) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:03.064) Rtabmap.cpp:2430::process() Time creating stats = 0.001236... [DEBUG] (2017-08-26 21:10:03.064) Memory.cpp:2187::removeRawData() id=14 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:03.064) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:03.064) Rtabmap.cpp:2476::process() Ignoring location 14 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:03.064) Memory.cpp:2114::deleteLocation() Deleting location 14 [DEBUG] (2017-08-26 21:10:03.064) Memory.cpp:1894::moveToTrash() id=14 [DEBUG] (2017-08-26 21:10:03.064) Signature.cpp:160::removeLink() Removed link 14 from 13 [DEBUG] (2017-08-26 21:10:03.064) Memory.cpp:3929::disableWordsRef() id=14 [DEBUG] (2017-08-26 21:10:03.065) Memory.cpp:3945::disableWordsRef() 9 words total ref removed from signature 14... (total active ref = 239) [DEBUG] (2017-08-26 21:10:03.065) DBDriver.cpp:368::asyncSave() s=14 [ INFO] (2017-08-26 21:10:03.065) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000605s... 1 signatures removed [ INFO] (2017-08-26 21:10:03.065) Rtabmap.cpp:2500::process() Total time processing = 0.150770s... [DEBUG] (2017-08-26 21:10:03.065) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:03.065) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:03.065) Rtabmap.cpp:2542::process() Refresh local map from 13 [DEBUG] (2017-08-26 21:10:03.065) Rtabmap.cpp:2544::process() id=13 _optimizedPoses=13 [DEBUG] (2017-08-26 21:10:03.065) Rtabmap.cpp:2557::process() Removed 14 from local map [ INFO] (2017-08-26 21:10:03.065) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000162... [ INFO] (2017-08-26 21:10:03.065) Rtabmap.cpp:2624::process() Adding data 14 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:03.065) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:03.065) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:03.065) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:03.065) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 14 [DEBUG] (2017-08-26 21:10:03.067) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001092s [DEBUG] (2017-08-26 21:10:03.067) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:03.067) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:03.067) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:03.067) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:03.068) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:03.068) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:03.068) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:03.069) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:03.069) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000145s [DEBUG] (2017-08-26 21:10:03.069) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:03.069) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:03.069) DBDriverSqlite3.cpp:4240::stepNode() Save node 14 [DEBUG] (2017-08-26 21:10:03.069) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000554s [DEBUG] (2017-08-26 21:10:03.070) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000080s [DEBUG] (2017-08-26 21:10:03.070) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000503s [DEBUG] (2017-08-26 21:10:03.070) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:03.070) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 14 (image=76416 depth=46144) depth2d = 0 [DEBUG] (2017-08-26 21:10:03.071) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000811s [DEBUG] (2017-08-26 21:10:03.071) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000063s [DEBUG] (2017-08-26 21:10:03.071) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.002104... [DEBUG] (2017-08-26 21:10:03.071) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:03.072) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001259s [DEBUG] (2017-08-26 21:10:03.072) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003892s... [DEBUG] (2017-08-26 21:10:03.073) Camera.cpp:100::takeImage() Time capturing image = 0.016168s [DEBUG] (2017-08-26 21:10:03.073) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.073) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.080) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.080) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.081) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115106,-0.324513,0.353845 rpy=0.032770,0.092199,1.968209 [DEBUG] (2017-08-26 21:10:03.089) Camera.cpp:100::takeImage() Time capturing image = 0.016107s [DEBUG] (2017-08-26 21:10:03.089) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.090) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.106) Camera.cpp:100::takeImage() Time capturing image = 0.016072s [DEBUG] (2017-08-26 21:10:03.106) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.106) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.111) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.112) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.122) Camera.cpp:100::takeImage() Time capturing image = 0.016101s [DEBUG] (2017-08-26 21:10:03.122) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.122) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.140) Camera.cpp:100::takeImage() Time capturing image = 0.017614s [DEBUG] (2017-08-26 21:10:03.140) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.140) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.142) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.142) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.143) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113858,-0.325213,0.353415 rpy=0.034221,0.090198,1.982500 [DEBUG] (2017-08-26 21:10:03.155) Camera.cpp:100::takeImage() Time capturing image = 0.015348s [DEBUG] (2017-08-26 21:10:03.156) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.156) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.170) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.170) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.173) Camera.cpp:100::takeImage() Time capturing image = 0.017169s [DEBUG] (2017-08-26 21:10:03.173) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.173) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.189) Camera.cpp:100::takeImage() Time capturing image = 0.015642s [DEBUG] (2017-08-26 21:10:03.189) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.190) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.190) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.191) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112415,-0.325460,0.353110 rpy=0.035649,0.089240,1.999133 [DEBUG] (2017-08-26 21:10:03.192) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.206) Camera.cpp:100::takeImage() Time capturing image = 0.013412s [DEBUG] (2017-08-26 21:10:03.206) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.206) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.215) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.215) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.222) Camera.cpp:100::takeImage() Time capturing image = 0.015844s [DEBUG] (2017-08-26 21:10:03.222) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.222) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.238) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.238) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.239) Camera.cpp:100::takeImage() Time capturing image = 0.016480s [DEBUG] (2017-08-26 21:10:03.239) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110450,-0.325637,0.352780 rpy=0.036539,0.089614,2.017767 [DEBUG] (2017-08-26 21:10:03.239) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.239) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.255) Camera.cpp:100::takeImage() Time capturing image = 0.016122s [DEBUG] (2017-08-26 21:10:03.256) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.256) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.258) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.258) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.272) Camera.cpp:100::takeImage() Time capturing image = 0.016503s [DEBUG] (2017-08-26 21:10:03.273) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.273) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.282) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.282) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.283) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.108779,-0.325762,0.352812 rpy=0.036407,0.090157,2.030967 [DEBUG] (2017-08-26 21:10:03.289) Camera.cpp:100::takeImage() Time capturing image = 0.015983s [DEBUG] (2017-08-26 21:10:03.289) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.292) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.306) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.307) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.311) Camera.cpp:100::takeImage() Time capturing image = 0.018536s [DEBUG] (2017-08-26 21:10:03.311) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.311) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.322) Camera.cpp:100::takeImage() Time capturing image = 0.011036s [DEBUG] (2017-08-26 21:10:03.322) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.322) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.333) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.333) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.334) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106799,-0.325354,0.352906 rpy=0.035691,0.091089,2.042330 [DEBUG] (2017-08-26 21:10:03.342) Camera.cpp:100::takeImage() Time capturing image = 0.019811s [DEBUG] (2017-08-26 21:10:03.342) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.342) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.355) Camera.cpp:100::takeImage() Time capturing image = 0.012616s [DEBUG] (2017-08-26 21:10:03.355) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.355) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.359) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.359) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.372) Camera.cpp:100::takeImage() Time capturing image = 0.016561s [DEBUG] (2017-08-26 21:10:03.372) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.372) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.387) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104986,-0.324889,0.353532 rpy=0.035540,0.091723,2.054892 [DEBUG] (2017-08-26 21:10:03.388) Camera.cpp:100::takeImage() Time capturing image = 0.015759s [DEBUG] (2017-08-26 21:10:03.388) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.388) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.388) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.388) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.405) Camera.cpp:100::takeImage() Time capturing image = 0.017148s [DEBUG] (2017-08-26 21:10:03.406) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.406) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.422) Camera.cpp:100::takeImage() Time capturing image = 0.016158s [DEBUG] (2017-08-26 21:10:03.422) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.422) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.422) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.439) Camera.cpp:100::takeImage() Time capturing image = 0.016727s [DEBUG] (2017-08-26 21:10:03.439) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.439) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.447) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.447) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.448) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.448) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.455) Camera.cpp:100::takeImage() Time capturing image = 0.016124s [DEBUG] (2017-08-26 21:10:03.455) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.455) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.473) Camera.cpp:100::takeImage() Time capturing image = 0.017541s [DEBUG] (2017-08-26 21:10:03.473) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.473) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.484) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.484) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.485) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103776,-0.324371,0.354383 rpy=0.035761,0.091579,2.065230 [DEBUG] (2017-08-26 21:10:03.489) Camera.cpp:100::takeImage() Time capturing image = 0.016534s [DEBUG] (2017-08-26 21:10:03.490) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.490) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.507) Camera.cpp:100::takeImage() Time capturing image = 0.017556s [DEBUG] (2017-08-26 21:10:03.508) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.508) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.509) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.509) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.523) Camera.cpp:100::takeImage() Time capturing image = 0.015178s [DEBUG] (2017-08-26 21:10:03.523) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.523) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.532) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.532) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.533) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101963,-0.324474,0.355400 rpy=0.035577,0.090481,2.076735 [DEBUG] (2017-08-26 21:10:03.539) Camera.cpp:100::takeImage() Time capturing image = 0.015021s [DEBUG] (2017-08-26 21:10:03.539) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.539) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.555) Camera.cpp:100::takeImage() Time capturing image = 0.016730s [DEBUG] (2017-08-26 21:10:03.556) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.556) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.558) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.558) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.559) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100318,-0.324990,0.356508 rpy=0.034406,0.087857,2.088252 [DEBUG] (2017-08-26 21:10:03.572) Camera.cpp:100::takeImage() Time capturing image = 0.015859s [DEBUG] (2017-08-26 21:10:03.572) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.572) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.584) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.584) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.590) Camera.cpp:100::takeImage() Time capturing image = 0.017674s [DEBUG] (2017-08-26 21:10:03.590) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.590) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.605) Camera.cpp:100::takeImage() Time capturing image = 0.014935s [DEBUG] (2017-08-26 21:10:03.605) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.605) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.609) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.609) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.610) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098796,-0.325928,0.357647 rpy=0.032829,0.083752,2.100562 [DEBUG] (2017-08-26 21:10:03.611) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.611) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.621) Camera.cpp:100::takeImage() Time capturing image = 0.016077s [DEBUG] (2017-08-26 21:10:03.621) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.622) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.644) Camera.cpp:100::takeImage() Time capturing image = 0.022472s [DEBUG] (2017-08-26 21:10:03.644) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.645) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.645) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.645) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.655) Camera.cpp:100::takeImage() Time capturing image = 0.010471s [DEBUG] (2017-08-26 21:10:03.656) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.656) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.672) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.672) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.673) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097484,-0.326990,0.358774 rpy=0.031789,0.078637,2.113462 [DEBUG] (2017-08-26 21:10:03.673) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.673) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.677) Camera.cpp:100::takeImage() Time capturing image = 0.021763s [DEBUG] (2017-08-26 21:10:03.678) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.678) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.689) Camera.cpp:100::takeImage() Time capturing image = 0.011431s [DEBUG] (2017-08-26 21:10:03.689) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.690) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.707) Camera.cpp:100::takeImage() Time capturing image = 0.017632s [DEBUG] (2017-08-26 21:10:03.707) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.707) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.710) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.710) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.721) Camera.cpp:100::takeImage() Time capturing image = 0.014286s [DEBUG] (2017-08-26 21:10:03.722) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.722) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.737) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.737) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.739) Camera.cpp:100::takeImage() Time capturing image = 0.017230s [DEBUG] (2017-08-26 21:10:03.739) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.739) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.756) Camera.cpp:100::takeImage() Time capturing image = 0.016981s [DEBUG] (2017-08-26 21:10:03.756) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.756) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.765) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.765) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.766) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096775,-0.327995,0.359924 rpy=0.031808,0.073219,2.124466 [DEBUG] (2017-08-26 21:10:03.776) Camera.cpp:100::takeImage() Time capturing image = 0.019616s [DEBUG] (2017-08-26 21:10:03.776) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.776) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.789) Camera.cpp:100::takeImage() Time capturing image = 0.012746s [DEBUG] (2017-08-26 21:10:03.789) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.789) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.792) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.792) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.793) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096209,-0.329774,0.361536 rpy=0.034844,0.058676,2.146563 [DEBUG] (2017-08-26 21:10:03.807) Camera.cpp:100::takeImage() Time capturing image = 0.018068s [DEBUG] (2017-08-26 21:10:03.807) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.808) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.816) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.816) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.817) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.817) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.822) Camera.cpp:100::takeImage() Time capturing image = 0.014808s [DEBUG] (2017-08-26 21:10:03.822) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.823) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.839) Camera.cpp:100::takeImage() Time capturing image = 0.016936s [DEBUG] (2017-08-26 21:10:03.840) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.840) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.849) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.849) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.850) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095928,-0.330347,0.361837 rpy=0.038053,0.051317,2.158003 [DEBUG] (2017-08-26 21:10:03.855) Camera.cpp:100::takeImage() Time capturing image = 0.015285s [DEBUG] (2017-08-26 21:10:03.855) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.855) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.871) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.871) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.872) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.872) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.873) Camera.cpp:100::takeImage() Time capturing image = 0.017831s [DEBUG] (2017-08-26 21:10:03.873) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.873) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.888) Camera.cpp:100::takeImage() Time capturing image = 0.014757s [DEBUG] (2017-08-26 21:10:03.888) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.888) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.903) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.903) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.904) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095559,-0.330893,0.361981 rpy=0.042271,0.045354,2.169960 [DEBUG] (2017-08-26 21:10:03.905) Camera.cpp:100::takeImage() Time capturing image = 0.016872s [DEBUG] (2017-08-26 21:10:03.905) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.905) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.921) Camera.cpp:100::takeImage() Time capturing image = 0.015991s [DEBUG] (2017-08-26 21:10:03.921) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.921) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:03.921) RtabmapThread.cpp:630::addData() Added data 833 [ INFO] (2017-08-26 21:10:03.921) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:03.921) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:03.922) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:03.922) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:608::update() time preUpdate=0.109911 ms [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:03.922) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:03.922) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:03.922) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:03.922) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:03.922) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:03.928) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.928) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.929) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:03.929) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:03.941) Camera.cpp:100::takeImage() Time capturing image = 0.020147s [DEBUG] (2017-08-26 21:10:03.941) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.941) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.944) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:03.944) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:03.950) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:03.950) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:03.950) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:03.954) Camera.cpp:100::takeImage() Time capturing image = 0.012813s [DEBUG] (2017-08-26 21:10:03.954) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.964) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:03.964) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:03.965) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095905,-0.331430,0.361766 rpy=0.049371,0.039818,2.182884 [DEBUG] (2017-08-26 21:10:03.968) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:03.984) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:03.984) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:03.984) SensorData.cpp:557::uncompressData() 9 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:03.985) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:03.995) Camera.cpp:100::takeImage() Time capturing image = 0.040555s [DEBUG] (2017-08-26 21:10:03.995) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:03.995) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.001) MainWindow.cpp:1632::processStats() time= 17 ms [DEBUG] (2017-08-26 21:10:04.003) MainWindow.cpp:1676::processStats() time= 2 ms [DEBUG] (2017-08-26 21:10:04.003) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 41 [DEBUG] (2017-08-26 21:10:04.003) MainWindow.cpp:3838::drawKeypoints() source time = 0.000189 s [DEBUG] (2017-08-26 21:10:04.003) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:04.003) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000021 s [DEBUG] (2017-08-26 21:10:04.004) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:04.004) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:04.005) Camera.cpp:100::takeImage() Time capturing image = 0.010330s [DEBUG] (2017-08-26 21:10:04.005) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.006) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.011) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:04.011) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:04.011) MainWindow.cpp:1912::updateMapCloud() posesIn=8 constraints=7 mapIdsIn=8 labelsIn=1 [DEBUG] (2017-08-26 21:10:04.011) MainWindow.cpp:1991::updateMapCloud() Update map with 8 locations [DEBUG] (2017-08-26 21:10:04.012) SensorData.cpp:557::uncompressData() 9 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:04.012) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:04.012) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:04.012) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:04.013) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:04.037) Camera.cpp:100::takeImage() Time capturing image = 0.031571s [DEBUG] (2017-08-26 21:10:04.037) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.037) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.046) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:04.047) Camera.cpp:100::takeImage() Time capturing image = 0.009940s [DEBUG] (2017-08-26 21:10:04.047) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.047) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000888s [DEBUG] (2017-08-26 21:10:04.047) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:04.048) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:04.048) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:04.048) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:04.048) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:04.048) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:04.048) MainWindow.cpp:1796::processStats() time= 37 ms [DEBUG] (2017-08-26 21:10:04.048) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.048) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.098789 s, keypoints extracted = 0 (mask empty=0) [DEBUG] (2017-08-26 21:10:04.048) Memory.cpp:3409::createSignature() time keypoints (0) = 0.126703s [DEBUG] (2017-08-26 21:10:04.048) Memory.cpp:3414::createSignature() time descriptors (0) = 0.000031s [DEBUG] (2017-08-26 21:10:04.049) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=18 [DEBUG] (2017-08-26 21:10:04.049) Memory.cpp:3427::createSignature() time keypoints 3D (0) = 0.000048s [DEBUG] (2017-08-26 21:10:04.049) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:04.049) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:04.049) Memory.cpp:3603::createSignature() id 15 is a bad signature [DEBUG] (2017-08-26 21:10:04.049) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:04.051) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:04.051) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:04.051) MainWindow.cpp:1874::processStats() Updating GUI time = 0.067000s [DEBUG] (2017-08-26 21:10:04.057) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.057) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.057) Camera.cpp:100::takeImage() Time capturing image = 0.010022s [DEBUG] (2017-08-26 21:10:04.058) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.058) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:3897::createSignature() time compressing data (id=15) 0.020232s [DEBUG] (2017-08-26 21:10:04.069) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:626::update() time creating signature=147.183182 ms [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:711::addSignatureToStm() adding 15 [DEBUG] (2017-08-26 21:10:04.069) Signature.cpp:121::addLink() Add link 15 to 13 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:04.069) Signature.cpp:121::addLink() Add link 13 to 15 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:739::addSignatureToStm() Min STM id = 5 [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 15 [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:781::addSignatureToStm() time = 0.000248s [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:647::update() time rehearsal=0.295877 ms [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:700::update() totalTimer = 0.147620s [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:04.069) Rtabmap.cpp:1002::process() Processing signature 15 w=0 [ INFO] (2017-08-26 21:10:04.069) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.147743s [DEBUG] (2017-08-26 21:10:04.069) Rtabmap.cpp:1158::process() Added pose xyz=0.117843,-0.330269,0.359493 rpy=0.048266,-0.032053,2.847230 (odom=xyz=0.117843,-0.330269,0.359493 rpy=0.048266,-0.032053,2.847230) [ INFO] (2017-08-26 21:10:04.069) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000101s [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:04.069) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:04.069) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003892s, joining (actual overhead) = 0.000059s [DEBUG] (2017-08-26 21:10:04.070) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.072211 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:04.070) Graph.cpp:1661::getNodesInRadius() found nodes=12 [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:1721::process() near nodes=12, max local immunized=1, ratio=0.250000 WM=4 [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:1807::process() timeReactivations=0.000328s [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:1899::process() nearestIds=13/13 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:1908::process() nearestPoses=3 [DEBUG] (2017-08-26 21:10:04.070) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.072211 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:2999::getPaths() 4 <- 1 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:2999::getPaths() 4 <- 3 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:2999::getPaths() 4 <- 4 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:04.070) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:04.070) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000388s [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2430::process() Time creating stats = 0.000157... [DEBUG] (2017-08-26 21:10:04.070) Memory.cpp:2187::removeRawData() id=15 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:04.070) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:04.070) Rtabmap.cpp:2476::process() Ignoring location 15 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:04.071) Memory.cpp:2114::deleteLocation() Deleting location 15 [DEBUG] (2017-08-26 21:10:04.071) Memory.cpp:1894::moveToTrash() id=15 [DEBUG] (2017-08-26 21:10:04.071) Signature.cpp:160::removeLink() Removed link 15 from 13 [DEBUG] (2017-08-26 21:10:04.071) Memory.cpp:3929::disableWordsRef() id=15 [DEBUG] (2017-08-26 21:10:04.071) DBDriver.cpp:368::asyncSave() s=15 [ INFO] (2017-08-26 21:10:04.071) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000334s... 1 signatures removed [ INFO] (2017-08-26 21:10:04.071) Rtabmap.cpp:2500::process() Total time processing = 0.149174s... [DEBUG] (2017-08-26 21:10:04.071) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:04.071) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:04.071) Rtabmap.cpp:2542::process() Refresh local map from 13 [DEBUG] (2017-08-26 21:10:04.071) Rtabmap.cpp:2544::process() id=13 _optimizedPoses=13 [DEBUG] (2017-08-26 21:10:04.071) Rtabmap.cpp:2557::process() Removed 15 from local map [ INFO] (2017-08-26 21:10:04.071) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000155... [ INFO] (2017-08-26 21:10:04.071) Rtabmap.cpp:2624::process() Adding data 15 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:04.071) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:04.071) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:04.071) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:04.071) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 15 [DEBUG] (2017-08-26 21:10:04.072) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000946s [DEBUG] (2017-08-26 21:10:04.072) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:04.072) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:04.073) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:04.073) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:04.073) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:04.073) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:04.073) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:04.073) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000036s [DEBUG] (2017-08-26 21:10:04.074) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:4240::stepNode() Save node 15 [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000368s [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000089s [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000141s [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:04.074) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 15 (image=74209 depth=46124) depth2d = 0 [DEBUG] (2017-08-26 21:10:04.075) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000545s [DEBUG] (2017-08-26 21:10:04.075) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000057s [DEBUG] (2017-08-26 21:10:04.075) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001281... [DEBUG] (2017-08-26 21:10:04.075) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:04.076) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001139s [DEBUG] (2017-08-26 21:10:04.076) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.002680s... [DEBUG] (2017-08-26 21:10:04.077) Camera.cpp:100::takeImage() Time capturing image = 0.019362s [DEBUG] (2017-08-26 21:10:04.077) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.077) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.082) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.082) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.083) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096803,-0.331792,0.361360 rpy=0.057662,0.034627,2.193768 [DEBUG] (2017-08-26 21:10:04.088) Camera.cpp:100::takeImage() Time capturing image = 0.010418s [DEBUG] (2017-08-26 21:10:04.088) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.088) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.106) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.106) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.107) Camera.cpp:100::takeImage() Time capturing image = 0.019216s [DEBUG] (2017-08-26 21:10:04.107) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.107) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.121) Camera.cpp:100::takeImage() Time capturing image = 0.013680s [DEBUG] (2017-08-26 21:10:04.121) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.121) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.129) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.129) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.130) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097857,-0.332174,0.360841 rpy=0.064859,0.029115,2.202058 [DEBUG] (2017-08-26 21:10:04.144) Camera.cpp:100::takeImage() Time capturing image = 0.022829s [DEBUG] (2017-08-26 21:10:04.144) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.144) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.150) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.150) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.155) Camera.cpp:100::takeImage() Time capturing image = 0.010500s [DEBUG] (2017-08-26 21:10:04.155) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.155) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.170) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.170) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.173) Camera.cpp:100::takeImage() Time capturing image = 0.018330s [DEBUG] (2017-08-26 21:10:04.173) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.173) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.187) Camera.cpp:100::takeImage() Time capturing image = 0.014031s [DEBUG] (2017-08-26 21:10:04.187) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.188) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.194) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.194) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.195) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098281,-0.332488,0.359802 rpy=0.072318,0.023182,2.212371 [DEBUG] (2017-08-26 21:10:04.205) Camera.cpp:100::takeImage() Time capturing image = 0.017679s [DEBUG] (2017-08-26 21:10:04.205) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.205) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.214) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.214) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.215) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098943,-0.332563,0.358664 rpy=0.079549,0.017937,2.224165 [DEBUG] (2017-08-26 21:10:04.221) Camera.cpp:100::takeImage() Time capturing image = 0.015304s [DEBUG] (2017-08-26 21:10:04.221) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.221) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.237) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.237) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.238) Camera.cpp:100::takeImage() Time capturing image = 0.017094s [DEBUG] (2017-08-26 21:10:04.238) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.238) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.254) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.254) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.254) Camera.cpp:100::takeImage() Time capturing image = 0.016010s [DEBUG] (2017-08-26 21:10:04.254) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.254) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.255) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099640,-0.332489,0.357722 rpy=0.086029,0.014218,2.231940 [DEBUG] (2017-08-26 21:10:04.271) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.271) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.272) Camera.cpp:100::takeImage() Time capturing image = 0.018142s [DEBUG] (2017-08-26 21:10:04.272) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.273) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.288) Camera.cpp:100::takeImage() Time capturing image = 0.015554s [DEBUG] (2017-08-26 21:10:04.288) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.288) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.289) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.289) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.290) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100467,-0.331947,0.356358 rpy=0.093103,0.011234,2.238358 [DEBUG] (2017-08-26 21:10:04.309) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.309) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.314) Camera.cpp:100::takeImage() Time capturing image = 0.025695s [DEBUG] (2017-08-26 21:10:04.314) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.314) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.324) Camera.cpp:100::takeImage() Time capturing image = 0.009674s [DEBUG] (2017-08-26 21:10:04.324) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.324) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.339) Camera.cpp:100::takeImage() Time capturing image = 0.015011s [DEBUG] (2017-08-26 21:10:04.339) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.339) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.340) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.340) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.341) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101202,-0.330598,0.354878 rpy=0.099381,0.009841,2.244051 [DEBUG] (2017-08-26 21:10:04.354) Camera.cpp:100::takeImage() Time capturing image = 0.015206s [DEBUG] (2017-08-26 21:10:04.354) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.355) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.369) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.370) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.377) Camera.cpp:100::takeImage() Time capturing image = 0.022114s [DEBUG] (2017-08-26 21:10:04.377) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.377) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.388) Camera.cpp:100::takeImage() Time capturing image = 0.011321s [DEBUG] (2017-08-26 21:10:04.388) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.388) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.398) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.398) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.399) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101689,-0.328861,0.353711 rpy=0.104174,0.009699,2.248441 [DEBUG] (2017-08-26 21:10:04.410) Camera.cpp:100::takeImage() Time capturing image = 0.021307s [DEBUG] (2017-08-26 21:10:04.410) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.410) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.422) Camera.cpp:100::takeImage() Time capturing image = 0.011563s [DEBUG] (2017-08-26 21:10:04.422) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.423) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.423) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.440) Camera.cpp:100::takeImage() Time capturing image = 0.018596s [DEBUG] (2017-08-26 21:10:04.440) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.441) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.448) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.448) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.449) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102049,-0.327478,0.352374 rpy=0.108237,0.009965,2.253993 [DEBUG] (2017-08-26 21:10:04.454) Camera.cpp:100::takeImage() Time capturing image = 0.013739s [DEBUG] (2017-08-26 21:10:04.454) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.455) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.472) Camera.cpp:100::takeImage() Time capturing image = 0.017985s [DEBUG] (2017-08-26 21:10:04.473) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.473) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.475) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.475) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.488) Camera.cpp:100::takeImage() Time capturing image = 0.015111s [DEBUG] (2017-08-26 21:10:04.488) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.488) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.503) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.503) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.504) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101692,-0.326609,0.351180 rpy=0.108849,0.009701,2.263033 [DEBUG] (2017-08-26 21:10:04.505) Camera.cpp:100::takeImage() Time capturing image = 0.017310s [DEBUG] (2017-08-26 21:10:04.505) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.505) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.521) Camera.cpp:100::takeImage() Time capturing image = 0.015671s [DEBUG] (2017-08-26 21:10:04.521) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.521) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.532) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.532) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.538) Camera.cpp:100::takeImage() Time capturing image = 0.017262s [DEBUG] (2017-08-26 21:10:04.539) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.539) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.554) Camera.cpp:100::takeImage() Time capturing image = 0.015639s [DEBUG] (2017-08-26 21:10:04.554) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.555) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.558) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.558) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.559) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100851,-0.326485,0.350505 rpy=0.105846,0.008515,2.271263 [DEBUG] (2017-08-26 21:10:04.572) Camera.cpp:100::takeImage() Time capturing image = 0.017370s [DEBUG] (2017-08-26 21:10:04.572) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.572) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.582) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.582) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.588) Camera.cpp:100::takeImage() Time capturing image = 0.015677s [DEBUG] (2017-08-26 21:10:04.588) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.588) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.605) Camera.cpp:100::takeImage() Time capturing image = 0.017190s [DEBUG] (2017-08-26 21:10:04.605) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.605) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.609) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.609) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.610) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099814,-0.326405,0.349989 rpy=0.101159,0.007647,2.278877 [DEBUG] (2017-08-26 21:10:04.621) Camera.cpp:100::takeImage() Time capturing image = 0.015647s [DEBUG] (2017-08-26 21:10:04.621) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.621) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.638) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.638) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.639) Camera.cpp:100::takeImage() Time capturing image = 0.018187s [DEBUG] (2017-08-26 21:10:04.639) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.640) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.655) Camera.cpp:100::takeImage() Time capturing image = 0.015321s [DEBUG] (2017-08-26 21:10:04.655) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.655) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.666) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.666) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.667) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098667,-0.326049,0.349515 rpy=0.095763,0.008476,2.285627 [DEBUG] (2017-08-26 21:10:04.674) Camera.cpp:100::takeImage() Time capturing image = 0.018729s [DEBUG] (2017-08-26 21:10:04.674) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.674) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.688) Camera.cpp:100::takeImage() Time capturing image = 0.014098s [DEBUG] (2017-08-26 21:10:04.688) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.688) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.695) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.695) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.705) Camera.cpp:100::takeImage() Time capturing image = 0.017390s [DEBUG] (2017-08-26 21:10:04.706) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.706) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.719) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.719) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.720) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097714,-0.325055,0.349215 rpy=0.091510,0.010608,2.292334 [DEBUG] (2017-08-26 21:10:04.721) Camera.cpp:100::takeImage() Time capturing image = 0.015825s [DEBUG] (2017-08-26 21:10:04.722) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.722) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.739) Camera.cpp:100::takeImage() Time capturing image = 0.017743s [DEBUG] (2017-08-26 21:10:04.739) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.740) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.745) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.745) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.755) Camera.cpp:100::takeImage() Time capturing image = 0.015261s [DEBUG] (2017-08-26 21:10:04.755) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.755) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.772) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.772) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.773) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097093,-0.324039,0.349154 rpy=0.088508,0.012799,2.298603 [DEBUG] (2017-08-26 21:10:04.775) Camera.cpp:100::takeImage() Time capturing image = 0.020217s [DEBUG] (2017-08-26 21:10:04.775) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.776) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.787) Camera.cpp:100::takeImage() Time capturing image = 0.012025s [DEBUG] (2017-08-26 21:10:04.788) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.788) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.801) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.801) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.805) Camera.cpp:100::takeImage() Time capturing image = 0.017206s [DEBUG] (2017-08-26 21:10:04.805) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.805) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.820) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.820) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.821) Camera.cpp:100::takeImage() Time capturing image = 0.015843s [DEBUG] (2017-08-26 21:10:04.821) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.821) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.840) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.840) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.841) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096673,-0.323067,0.348934 rpy=0.085739,0.014235,2.304039 [DEBUG] (2017-08-26 21:10:04.845) Camera.cpp:100::takeImage() Time capturing image = 0.023802s [DEBUG] (2017-08-26 21:10:04.845) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.845) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.855) Camera.cpp:100::takeImage() Time capturing image = 0.010043s [DEBUG] (2017-08-26 21:10:04.855) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.856) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.866) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.866) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.871) Camera.cpp:100::takeImage() Time capturing image = 0.015473s [DEBUG] (2017-08-26 21:10:04.871) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.871) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.888) Camera.cpp:100::takeImage() Time capturing image = 0.016538s [DEBUG] (2017-08-26 21:10:04.888) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.888) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.889) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.889) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.890) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096177,-0.321958,0.348613 rpy=0.082806,0.014929,2.308704 [DEBUG] (2017-08-26 21:10:04.905) Camera.cpp:100::takeImage() Time capturing image = 0.016346s [DEBUG] (2017-08-26 21:10:04.905) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.905) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.914) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.914) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.915) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095874,-0.321613,0.348476 rpy=0.080373,0.014088,2.314768 [DEBUG] (2017-08-26 21:10:04.921) Camera.cpp:100::takeImage() Time capturing image = 0.015434s [DEBUG] (2017-08-26 21:10:04.921) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.921) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.936) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.936) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.937) Camera.cpp:100::takeImage() Time capturing image = 0.016154s [DEBUG] (2017-08-26 21:10:04.937) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:04.938) RtabmapThread.cpp:630::addData() Added data 893 [ INFO] (2017-08-26 21:10:04.938) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:04.938) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:04.938) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:04.938) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:04.938) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:04.938) CameraThread.cpp:129::mainLoop() [ INFO] (2017-08-26 21:10:04.938) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:04.939) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:04.939) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:04.940) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:04.954) Camera.cpp:100::takeImage() Time capturing image = 0.015472s [DEBUG] (2017-08-26 21:10:04.954) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.954) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.954) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:04.955) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:04.958) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.958) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.960) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:04.960) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:04.960) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:04.971) Camera.cpp:100::takeImage() Time capturing image = 0.016749s [DEBUG] (2017-08-26 21:10:04.971) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:04.971) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:04.986) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:04.986) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:04.987) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095256,-0.321650,0.348429 rpy=0.077679,0.011958,2.321645 [DEBUG] (2017-08-26 21:10:05.003) Camera.cpp:100::takeImage() Time capturing image = 0.031799s [DEBUG] (2017-08-26 21:10:05.003) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.003) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.021) Camera.cpp:100::takeImage() Time capturing image = 0.018154s [DEBUG] (2017-08-26 21:10:05.023) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.023) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.028) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.028) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.041) Camera.cpp:100::takeImage() Time capturing image = 0.018106s [DEBUG] (2017-08-26 21:10:05.042) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.042) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.045) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.084548 s, keypoints extracted = 1 (mask empty=0) [DEBUG] (2017-08-26 21:10:05.045) Memory.cpp:3409::createSignature() time keypoints (1) = 0.106871s [DEBUG] (2017-08-26 21:10:05.048) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 1, remaining kpts=1 [DEBUG] (2017-08-26 21:10:05.048) Memory.cpp:3414::createSignature() time descriptors (1) = 0.002762s [DEBUG] (2017-08-26 21:10:05.048) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=18 [DEBUG] (2017-08-26 21:10:05.048) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:05.048) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:05.048) Memory.cpp:3603::createSignature() id 16 is a bad signature [DEBUG] (2017-08-26 21:10:05.048) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:05.052) Camera.cpp:100::takeImage() Time capturing image = 0.010300s [DEBUG] (2017-08-26 21:10:05.052) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.052) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:3897::createSignature() time compressing data (id=16) 0.011281s [DEBUG] (2017-08-26 21:10:05.059) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:626::update() time creating signature=121.106148 ms [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:711::addSignatureToStm() adding 16 [DEBUG] (2017-08-26 21:10:05.059) Signature.cpp:121::addLink() Add link 16 to 13 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:05.059) Signature.cpp:121::addLink() Add link 13 to 16 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:739::addSignatureToStm() Min STM id = 5 [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 16 [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:781::addSignatureToStm() time = 0.000177s [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:647::update() time rehearsal=0.229836 ms [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:700::update() totalTimer = 0.121404s [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:05.059) Rtabmap.cpp:1002::process() Processing signature 16 w=0 [ INFO] (2017-08-26 21:10:05.059) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.121526s [DEBUG] (2017-08-26 21:10:05.059) Rtabmap.cpp:1158::process() Added pose xyz=0.076323,-0.329356,0.352828 rpy=-0.074294,0.074434,2.598939 (odom=xyz=0.076323,-0.329356,0.352828 rpy=-0.074294,0.074434,2.598939) [ INFO] (2017-08-26 21:10:05.059) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000109s [DEBUG] (2017-08-26 21:10:05.059) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:05.060) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:05.060) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.002680s, joining (actual overhead) = 0.000061s [DEBUG] (2017-08-26 21:10:05.060) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.060477 [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:05.060) Graph.cpp:1661::getNodesInRadius() found nodes=12 [ INFO] (2017-08-26 21:10:05.060) Rtabmap.cpp:1721::process() near nodes=12, max local immunized=1, ratio=0.250000 WM=4 [ INFO] (2017-08-26 21:10:05.060) Rtabmap.cpp:1807::process() timeReactivations=0.000572s [ INFO] (2017-08-26 21:10:05.060) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000026s [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:1899::process() nearestIds=13/13 [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:1908::process() nearestPoses=3 [DEBUG] (2017-08-26 21:10:05.060) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.060477 [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:2999::getPaths() 4 <- 1 [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:2999::getPaths() 4 <- 3 [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:2999::getPaths() 4 <- 4 [DEBUG] (2017-08-26 21:10:05.060) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:05.061) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:05.061) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000423s [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2307::process() timeMapOptimization=0.000023s [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2430::process() Time creating stats = 0.000354... [DEBUG] (2017-08-26 21:10:05.061) Memory.cpp:2187::removeRawData() id=16 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:05.061) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000154s... 0 signatures removed [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2500::process() Total time processing = 0.123269s... [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000040... [ INFO] (2017-08-26 21:10:05.061) Rtabmap.cpp:2624::process() Adding data 16 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:05.061) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:05.061) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:05.062) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:05.062) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 16 [DEBUG] (2017-08-26 21:10:05.063) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001004s [DEBUG] (2017-08-26 21:10:05.063) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:05.063) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:05.063) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:05.063) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:05.063) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:05.063) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:05.064) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:05.064) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000068s... [DEBUG] (2017-08-26 21:10:05.064) Camera.cpp:100::takeImage() Time capturing image = 0.012015s [DEBUG] (2017-08-26 21:10:05.065) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.065) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.065) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.065) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.066) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.094923,-0.321740,0.348374 rpy=0.076141,0.009403,2.328253 [DEBUG] (2017-08-26 21:10:05.075) Camera.cpp:100::takeImage() Time capturing image = 0.010515s [DEBUG] (2017-08-26 21:10:05.076) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.076) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.088) Camera.cpp:100::takeImage() Time capturing image = 0.012663s [DEBUG] (2017-08-26 21:10:05.088) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.089) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.095) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.095) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.105) Camera.cpp:100::takeImage() Time capturing image = 0.016785s [DEBUG] (2017-08-26 21:10:05.105) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.105) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.121) Camera.cpp:100::takeImage() Time capturing image = 0.015465s [DEBUG] (2017-08-26 21:10:05.121) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.121) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.125) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.125) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.126) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.094947,-0.321750,0.348529 rpy=0.076289,0.007618,2.333496 [DEBUG] (2017-08-26 21:10:05.137) Camera.cpp:100::takeImage() Time capturing image = 0.016143s [DEBUG] (2017-08-26 21:10:05.137) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.137) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.154) Camera.cpp:100::takeImage() Time capturing image = 0.016521s [DEBUG] (2017-08-26 21:10:05.154) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.154) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.158) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.171) Camera.cpp:100::takeImage() Time capturing image = 0.016943s [DEBUG] (2017-08-26 21:10:05.171) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.171) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.187) Camera.cpp:100::takeImage() Time capturing image = 0.016053s [DEBUG] (2017-08-26 21:10:05.187) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.188) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.190) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.190) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.191) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095402,-0.321590,0.348579 rpy=0.077302,0.005531,2.338454 [DEBUG] (2017-08-26 21:10:05.205) Camera.cpp:100::takeImage() Time capturing image = 0.017531s [DEBUG] (2017-08-26 21:10:05.205) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.205) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.220) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.220) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.220) Camera.cpp:100::takeImage() Time capturing image = 0.015285s [DEBUG] (2017-08-26 21:10:05.220) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.221) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.238) Camera.cpp:100::takeImage() Time capturing image = 0.017798s [DEBUG] (2017-08-26 21:10:05.238) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.239) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.248) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.248) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.249) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096158,-0.321508,0.348650 rpy=0.078605,0.003774,2.342103 [DEBUG] (2017-08-26 21:10:05.250) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:05.250) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:05.254) Camera.cpp:100::takeImage() Time capturing image = 0.015193s [DEBUG] (2017-08-26 21:10:05.254) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.254) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.271) Camera.cpp:100::takeImage() Time capturing image = 0.016857s [DEBUG] (2017-08-26 21:10:05.271) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.271) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.285) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.286) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.287) Camera.cpp:100::takeImage() Time capturing image = 0.016056s [DEBUG] (2017-08-26 21:10:05.287) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.287) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.306) Camera.cpp:100::takeImage() Time capturing image = 0.018571s [DEBUG] (2017-08-26 21:10:05.306) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.306) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.314) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.314) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.315) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096971,-0.321709,0.348740 rpy=0.079381,0.001641,2.344779 [DEBUG] (2017-08-26 21:10:05.326) Camera.cpp:100::takeImage() Time capturing image = 0.019804s [DEBUG] (2017-08-26 21:10:05.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.326) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.340) Camera.cpp:100::takeImage() Time capturing image = 0.014136s [DEBUG] (2017-08-26 21:10:05.340) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.340) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.346) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.346) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.347) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097745,-0.321843,0.348672 rpy=0.079467,-0.001091,2.348166 [DEBUG] (2017-08-26 21:10:05.355) Camera.cpp:100::takeImage() Time capturing image = 0.014274s [DEBUG] (2017-08-26 21:10:05.355) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.355) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.371) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.371) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.371) Camera.cpp:100::takeImage() Time capturing image = 0.016222s [DEBUG] (2017-08-26 21:10:05.371) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.372) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.387) Camera.cpp:100::takeImage() Time capturing image = 0.015525s [DEBUG] (2017-08-26 21:10:05.387) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.388) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.397) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.397) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.398) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098488,-0.322304,0.348672 rpy=0.079398,-0.003765,2.353468 [DEBUG] (2017-08-26 21:10:05.398) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:05.398) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:05.404) Camera.cpp:100::takeImage() Time capturing image = 0.016203s [DEBUG] (2017-08-26 21:10:05.404) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.404) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.422) Camera.cpp:100::takeImage() Time capturing image = 0.017228s [DEBUG] (2017-08-26 21:10:05.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.422) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.432) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.432) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.433) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099244,-0.322862,0.348561 rpy=0.079544,-0.006340,2.360831 [DEBUG] (2017-08-26 21:10:05.437) Camera.cpp:100::takeImage() Time capturing image = 0.015020s [DEBUG] (2017-08-26 21:10:05.437) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.437) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.453) Camera.cpp:100::takeImage() Time capturing image = 0.015962s [DEBUG] (2017-08-26 21:10:05.454) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.454) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.455) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.455) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.470) Camera.cpp:100::takeImage() Time capturing image = 0.016237s [DEBUG] (2017-08-26 21:10:05.470) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.470) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.477) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.477) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.478) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099938,-0.323481,0.348492 rpy=0.079839,-0.008525,2.369293 [DEBUG] (2017-08-26 21:10:05.487) Camera.cpp:100::takeImage() Time capturing image = 0.016648s [DEBUG] (2017-08-26 21:10:05.487) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.487) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.500) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.500) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.504) Camera.cpp:100::takeImage() Time capturing image = 0.016059s [DEBUG] (2017-08-26 21:10:05.504) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.504) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.520) Camera.cpp:100::takeImage() Time capturing image = 0.015998s [DEBUG] (2017-08-26 21:10:05.520) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.520) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.523) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.523) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.524) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100636,-0.323897,0.348527 rpy=0.079796,-0.010008,2.376191 [DEBUG] (2017-08-26 21:10:05.537) Camera.cpp:100::takeImage() Time capturing image = 0.016816s [DEBUG] (2017-08-26 21:10:05.537) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.538) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.546) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.546) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.554) Camera.cpp:100::takeImage() Time capturing image = 0.016360s [DEBUG] (2017-08-26 21:10:05.554) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.554) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.564) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:05.564) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:05.564) SensorData.cpp:557::uncompressData() 10 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:05.565) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:05.571) Camera.cpp:100::takeImage() Time capturing image = 0.017000s [DEBUG] (2017-08-26 21:10:05.571) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.571) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.577) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:05.580) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:05.580) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 13 [DEBUG] (2017-08-26 21:10:05.581) MainWindow.cpp:3838::drawKeypoints() source time = 0.000101 s [DEBUG] (2017-08-26 21:10:05.581) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:05.581) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:05.581) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:05.581) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:05.588) Camera.cpp:100::takeImage() Time capturing image = 0.017039s [DEBUG] (2017-08-26 21:10:05.588) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.588) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.591) MainWindow.cpp:1715::processStats() time= 9 ms [DEBUG] (2017-08-26 21:10:05.591) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:05.591) MainWindow.cpp:1912::updateMapCloud() posesIn=9 constraints=8 mapIdsIn=9 labelsIn=1 [DEBUG] (2017-08-26 21:10:05.591) MainWindow.cpp:1991::updateMapCloud() Update map with 9 locations [DEBUG] (2017-08-26 21:10:05.591) SensorData.cpp:557::uncompressData() 10 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:05.591) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:05.591) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:05.591) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:05.592) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:05.604) Camera.cpp:100::takeImage() Time capturing image = 0.015280s [DEBUG] (2017-08-26 21:10:05.604) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.604) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.612) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000762s [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:05.614) MainWindow.cpp:1796::processStats() time= 23 ms [DEBUG] (2017-08-26 21:10:05.617) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:05.618) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:05.618) MainWindow.cpp:1874::processStats() Updating GUI time = 0.054000s [DEBUG] (2017-08-26 21:10:05.621) Camera.cpp:100::takeImage() Time capturing image = 0.017533s [DEBUG] (2017-08-26 21:10:05.621) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.622) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.625) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.625) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.626) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101230,-0.324326,0.348508 rpy=0.078986,-0.011145,2.384249 [DEBUG] (2017-08-26 21:10:05.638) Camera.cpp:100::takeImage() Time capturing image = 0.016036s [DEBUG] (2017-08-26 21:10:05.638) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.638) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.648) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.648) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.653) Camera.cpp:100::takeImage() Time capturing image = 0.015675s [DEBUG] (2017-08-26 21:10:05.654) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.654) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.670) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.670) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.671) Camera.cpp:100::takeImage() Time capturing image = 0.017231s [DEBUG] (2017-08-26 21:10:05.671) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.671) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.671) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101733,-0.324969,0.348527 rpy=0.076992,-0.012217,2.394679 [DEBUG] (2017-08-26 21:10:05.687) Camera.cpp:100::takeImage() Time capturing image = 0.016265s [DEBUG] (2017-08-26 21:10:05.687) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.688) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.696) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.697) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.705) Camera.cpp:100::takeImage() Time capturing image = 0.017254s [DEBUG] (2017-08-26 21:10:05.705) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.705) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.720) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.720) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.721) Camera.cpp:100::takeImage() Time capturing image = 0.015625s [DEBUG] (2017-08-26 21:10:05.721) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.721) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.736) Camera.cpp:100::takeImage() Time capturing image = 0.015677s [DEBUG] (2017-08-26 21:10:05.737) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.737) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.747) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.747) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.748) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102176,-0.325605,0.348542 rpy=0.074565,-0.013231,2.403821 [DEBUG] (2017-08-26 21:10:05.753) Camera.cpp:100::takeImage() Time capturing image = 0.016370s [DEBUG] (2017-08-26 21:10:05.753) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.753) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.773) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.773) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.776) Camera.cpp:100::takeImage() Time capturing image = 0.022377s [DEBUG] (2017-08-26 21:10:05.776) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.776) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.787) Camera.cpp:100::takeImage() Time capturing image = 0.010488s [DEBUG] (2017-08-26 21:10:05.787) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.787) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.800) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.800) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.801) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102575,-0.326162,0.348848 rpy=0.072465,-0.013644,2.410781 [DEBUG] (2017-08-26 21:10:05.804) Camera.cpp:100::takeImage() Time capturing image = 0.016292s [DEBUG] (2017-08-26 21:10:05.804) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.804) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.820) Camera.cpp:100::takeImage() Time capturing image = 0.015743s [DEBUG] (2017-08-26 21:10:05.820) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.820) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.828) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.828) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.829) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102965,-0.327016,0.349352 rpy=0.070183,-0.013969,2.417353 [DEBUG] (2017-08-26 21:10:05.838) Camera.cpp:100::takeImage() Time capturing image = 0.017765s [DEBUG] (2017-08-26 21:10:05.838) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.838) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.849) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.849) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.853) Camera.cpp:100::takeImage() Time capturing image = 0.015251s [DEBUG] (2017-08-26 21:10:05.853) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.853) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.870) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.870) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.870) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103036,-0.327825,0.349872 rpy=0.068104,-0.014113,2.422079 [DEBUG] (2017-08-26 21:10:05.871) Camera.cpp:100::takeImage() Time capturing image = 0.017743s [DEBUG] (2017-08-26 21:10:05.871) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.871) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.886) Camera.cpp:100::takeImage() Time capturing image = 0.014709s [DEBUG] (2017-08-26 21:10:05.886) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.886) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.893) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.893) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.903) Camera.cpp:100::takeImage() Time capturing image = 0.017182s [DEBUG] (2017-08-26 21:10:05.903) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.903) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.911) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.911) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.912) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103096,-0.328872,0.350465 rpy=0.066058,-0.014748,2.427552 [DEBUG] (2017-08-26 21:10:05.919) Camera.cpp:100::takeImage() Time capturing image = 0.015918s [DEBUG] (2017-08-26 21:10:05.919) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.919) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.933) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.933) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.936) Camera.cpp:100::takeImage() Time capturing image = 0.016980s [DEBUG] (2017-08-26 21:10:05.936) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.936) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.952) Camera.cpp:100::takeImage() Time capturing image = 0.015913s [DEBUG] (2017-08-26 21:10:05.952) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.952) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:05.953) RtabmapThread.cpp:630::addData() Added data 954 [ INFO] (2017-08-26 21:10:05.953) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:05.953) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:05.953) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:05.953) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=62)... [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:05.953) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:05.953) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:05.953) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:05.953) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:05.953) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:05.957) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.957) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.958) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103108,-0.330077,0.351211 rpy=0.063048,-0.016210,2.433667 [DEBUG] (2017-08-26 21:10:05.969) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:05.969) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:05.970) Camera.cpp:100::takeImage() Time capturing image = 0.017273s [DEBUG] (2017-08-26 21:10:05.970) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:05.970) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:05.974) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:05.974) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:05.974) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:05.975) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.975) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:05.991) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:05.992) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.012) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.012) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.013) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103228,-0.331041,0.352170 rpy=0.060330,-0.017850,2.438886 [DEBUG] (2017-08-26 21:10:06.020) Camera.cpp:100::takeImage() Time capturing image = 0.050429s [DEBUG] (2017-08-26 21:10:06.020) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.020) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.033) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.033) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.034) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103691,-0.331494,0.352968 rpy=0.059238,-0.018671,2.444195 [DEBUG] (2017-08-26 21:10:06.050) Camera.cpp:100::takeImage() Time capturing image = 0.029985s [DEBUG] (2017-08-26 21:10:06.051) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.051) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.058) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.059) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.063) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.088636 s, keypoints extracted = 14 (mask empty=0) [DEBUG] (2017-08-26 21:10:06.063) Memory.cpp:3409::createSignature() time keypoints (14) = 0.109632s [DEBUG] (2017-08-26 21:10:06.063) Camera.cpp:100::takeImage() Time capturing image = 0.012324s [DEBUG] (2017-08-26 21:10:06.063) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.063) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.079) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 14, remaining kpts=14 [DEBUG] (2017-08-26 21:10:06.079) Memory.cpp:3414::createSignature() time descriptors (14) = 0.015901s [DEBUG] (2017-08-26 21:10:06.079) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=17 [DEBUG] (2017-08-26 21:10:06.079) Memory.cpp:3427::createSignature() time keypoints 3D (14) = 0.000088s [DEBUG] (2017-08-26 21:10:06.079) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:06.079) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:06.079) Memory.cpp:3539::createSignature() time descriptor and memory update (14 of size=64) = 0.000079s [DEBUG] (2017-08-26 21:10:06.079) VWDictionary.cpp:593::addNewWords() id=17 descriptors=14 [DEBUG] (2017-08-26 21:10:06.079) VWDictionary.cpp:686::addNewWords() newPts.total()=14 [DEBUG] (2017-08-26 21:10:06.079) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000451 s [DEBUG] (2017-08-26 21:10:06.080) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.080) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000317 s [DEBUG] (2017-08-26 21:10:06.080) VWDictionary.cpp:874::addNewWords() 6 new words added... [DEBUG] (2017-08-26 21:10:06.080) VWDictionary.cpp:876::addNewWords() 8 duplicated words added (from current image = 1)... [DEBUG] (2017-08-26 21:10:06.080) VWDictionary.cpp:877::addNewWords() total time 0.000895s [DEBUG] (2017-08-26 21:10:06.080) Memory.cpp:3599::createSignature() time addNewWords 0.000963s indexed=62 not=6 [DEBUG] (2017-08-26 21:10:06.080) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:06.080) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.080) Camera.cpp:100::takeImage() Time capturing image = 0.017198s [DEBUG] (2017-08-26 21:10:06.080) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.081) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.081) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103493,-0.332589,0.353754 rpy=0.057643,-0.019236,2.450910 [DEBUG] (2017-08-26 21:10:06.090) Camera.cpp:100::takeImage() Time capturing image = 0.009747s [DEBUG] (2017-08-26 21:10:06.090) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.091) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:3897::createSignature() time compressing data (id=17) 0.019743s [DEBUG] (2017-08-26 21:10:06.100) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:626::update() time creating signature=146.581894 ms [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:711::addSignatureToStm() adding 17 [DEBUG] (2017-08-26 21:10:06.100) Signature.cpp:121::addLink() Add link 17 to 16 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:06.100) Signature.cpp:121::addLink() Add link 16 to 17 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:739::addSignatureToStm() Min STM id = 5 [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:773::addSignatureToStm() 14 words ref for the signature 17 [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:781::addSignatureToStm() time = 0.000191s [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:2813::rehearsal() Comparing with signature (16)... [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:2836::rehearsal() merged=0, sim=0.000000 t=0.000025s [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:647::update() time rehearsal=0.284195 ms [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 5 from STM in WM... [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:700::update() totalTimer = 0.146953s [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:06.100) Rtabmap.cpp:1002::process() Processing signature 17 w=0 [ INFO] (2017-08-26 21:10:06.100) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.147234s [DEBUG] (2017-08-26 21:10:06.100) Rtabmap.cpp:1158::process() Added pose xyz=0.072377,-0.315010,0.341279 rpy=-0.098748,0.062789,2.424431 (odom=xyz=0.072377,-0.315010,0.341279 rpy=-0.098748,0.062789,2.424431) [ INFO] (2017-08-26 21:10:06.100) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000100s [ INFO] (2017-08-26 21:10:06.100) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:06.100) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000038 s [DEBUG] (2017-08-26 21:10:06.100) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=5 [DEBUG] (2017-08-26 21:10:06.100) Rtabmap.cpp:3183::adjustLikelihood() values.size=0 [DEBUG] (2017-08-26 21:10:06.100) Rtabmap.cpp:3230::adjustLikelihood() mean=0.000000, stdDev=0.000000, max=0.000000, maxId=0, time=0.000018s [ INFO] (2017-08-26 21:10:06.100) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000169s [ INFO] (2017-08-26 21:10:06.100) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:06.100) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:06.100) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:06.100) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000025s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:495::updatePrediction() From added id 5, 3 neighbors to update. [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:498::updatePrediction() time getting 3 ids to update = 0.000070s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:544::updatePrediction() time updating modified/added 3 ids = 0.000066s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:575::updatePrediction() time copying = 0.000023s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000020s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:597::updatePrediction() Modified=3, Added=1, Copied=0 [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000274s, rows=5, cols=5 [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=5, _posterior size=5 [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000079s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000022s [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:208::computePosterior() sum=1.857895 [DEBUG] (2017-08-26 21:10:06.101) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:10:06.101) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000514s [ INFO] (2017-08-26 21:10:06.101) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:06.101) Rtabmap.cpp:1373::process() Highest hypothesis=3, value=0.076487, timeHypothesesCreation=0.000043s [DEBUG] (2017-08-26 21:10:06.101) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:06.101) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:06.101) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000068s, joining (actual overhead) = 0.000056s [ INFO] (2017-08-26 21:10:06.101) Rtabmap.cpp:1462::process() Retrieving locations... around id=3 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1483::process() neighbors of 3 in time = 14 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1514::process() nt=3 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1514::process() nt=1 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1514::process() nt=4 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1514::process() nt=5 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1537::process() neighbors of 3 in space = 14 [ INFO] (2017-08-26 21:10:06.101) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=4, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000186s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:06.101) Graph.cpp:1606::findNearestNode() Nearest node = 5: 0.007176 [DEBUG] (2017-08-26 21:10:06.101) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:06.102) Graph.cpp:1661::getNodesInRadius() found nodes=13 [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:1721::process() near nodes=13, max local immunized=1, ratio=0.250000 WM=5 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1748::process() local node 5 (0.007176 m) immunized=1 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1748::process() local node 4 (0.051818 m) immunized=1 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1748::process() local node 3 (0.154673 m) immunized=1 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1748::process() local node 1 (0.223156 m) immunized=1 [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:06.102) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:06.102) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000019s [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:06.102) Memory.cpp:4120::reactivateSignatures() time = 0.000126s [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000049s) [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000049s [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:1807::process() timeReactivations=0.000857s [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1899::process() nearestIds=14/14 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1908::process() nearestPoses=4 [DEBUG] (2017-08-26 21:10:06.102) Graph.cpp:1606::findNearestNode() Nearest node = 5: 0.007176 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:2999::getPaths() 5 <- 1 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:2999::getPaths() 5 <- 3 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:2999::getPaths() 5 <- 4 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:2999::getPaths() 5 <- 5 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:06.102) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:06.102) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000385s [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:06.102) Rtabmap.cpp:2430::process() Time creating stats = 0.000189... [DEBUG] (2017-08-26 21:10:06.103) Memory.cpp:2187::removeRawData() id=17 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:06.103) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:06.103) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000132s... 0 signatures removed [ INFO] (2017-08-26 21:10:06.103) Rtabmap.cpp:2500::process() Total time processing = 0.149739s... [ INFO] (2017-08-26 21:10:06.103) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000040... [ INFO] (2017-08-26 21:10:06.103) Rtabmap.cpp:2624::process() Adding data 17 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:06.103) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:06.103) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:06.103) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:06.103) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 17 [DEBUG] (2017-08-26 21:10:06.104) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000934s [DEBUG] (2017-08-26 21:10:06.104) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:06.104) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:06.104) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:06.104) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:06.105) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:06.105) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:06.105) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:06.105) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000164s... [DEBUG] (2017-08-26 21:10:06.105) Camera.cpp:100::takeImage() Time capturing image = 0.014527s [DEBUG] (2017-08-26 21:10:06.105) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.106) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.113) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.113) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.119) Camera.cpp:100::takeImage() Time capturing image = 0.014043s [DEBUG] (2017-08-26 21:10:06.119) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.119) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.135) Camera.cpp:100::takeImage() Time capturing image = 0.016076s [DEBUG] (2017-08-26 21:10:06.135) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.136) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.140) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.140) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.141) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103794,-0.333360,0.354798 rpy=0.056170,-0.019902,2.457686 [DEBUG] (2017-08-26 21:10:06.152) Camera.cpp:100::takeImage() Time capturing image = 0.017002s [DEBUG] (2017-08-26 21:10:06.153) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.153) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.164) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.164) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.169) Camera.cpp:100::takeImage() Time capturing image = 0.016298s [DEBUG] (2017-08-26 21:10:06.169) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.169) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.186) Camera.cpp:100::takeImage() Time capturing image = 0.016934s [DEBUG] (2017-08-26 21:10:06.186) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.186) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.191) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.191) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.202) Camera.cpp:100::takeImage() Time capturing image = 0.015963s [DEBUG] (2017-08-26 21:10:06.202) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.202) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.213) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.213) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.214) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104122,-0.334159,0.355578 rpy=0.054444,-0.020889,2.463542 [DEBUG] (2017-08-26 21:10:06.218) Camera.cpp:100::takeImage() Time capturing image = 0.016080s [DEBUG] (2017-08-26 21:10:06.219) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.219) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.235) Camera.cpp:100::takeImage() Time capturing image = 0.016788s [DEBUG] (2017-08-26 21:10:06.236) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.236) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.237) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.237) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.252) Camera.cpp:100::takeImage() Time capturing image = 0.016138s [DEBUG] (2017-08-26 21:10:06.252) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.252) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.261) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.261) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.262) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104594,-0.335176,0.356368 rpy=0.051995,-0.022201,2.470803 [DEBUG] (2017-08-26 21:10:06.269) Camera.cpp:100::takeImage() Time capturing image = 0.016926s [DEBUG] (2017-08-26 21:10:06.269) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.269) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.282) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.283) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.285) Camera.cpp:100::takeImage() Time capturing image = 0.016416s [DEBUG] (2017-08-26 21:10:06.285) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.286) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.302) Camera.cpp:100::takeImage() Time capturing image = 0.016668s [DEBUG] (2017-08-26 21:10:06.302) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.302) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.304) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.304) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.305) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105100,-0.336097,0.357109 rpy=0.049796,-0.023160,2.478098 [DEBUG] (2017-08-26 21:10:06.318) Camera.cpp:100::takeImage() Time capturing image = 0.016188s [DEBUG] (2017-08-26 21:10:06.319) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.319) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.328) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.328) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.335) Camera.cpp:100::takeImage() Time capturing image = 0.016839s [DEBUG] (2017-08-26 21:10:06.336) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.336) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.348) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.348) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.349) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105506,-0.336574,0.357549 rpy=0.049178,-0.022803,2.483104 [DEBUG] (2017-08-26 21:10:06.352) Camera.cpp:100::takeImage() Time capturing image = 0.016103s [DEBUG] (2017-08-26 21:10:06.352) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.352) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.369) Camera.cpp:100::takeImage() Time capturing image = 0.017020s [DEBUG] (2017-08-26 21:10:06.369) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.369) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.370) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.370) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.385) Camera.cpp:100::takeImage() Time capturing image = 0.016068s [DEBUG] (2017-08-26 21:10:06.385) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.385) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.393) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.393) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.394) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106069,-0.336777,0.357979 rpy=0.049724,-0.021799,2.490287 [DEBUG] (2017-08-26 21:10:06.402) Camera.cpp:100::takeImage() Time capturing image = 0.017008s [DEBUG] (2017-08-26 21:10:06.402) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.402) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.414) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.414) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.418) Camera.cpp:100::takeImage() Time capturing image = 0.015977s [DEBUG] (2017-08-26 21:10:06.418) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.419) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.435) Camera.cpp:100::takeImage() Time capturing image = 0.016900s [DEBUG] (2017-08-26 21:10:06.436) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.436) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.436) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.436) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.437) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106683,-0.336941,0.358287 rpy=0.050308,-0.021194,2.498192 [DEBUG] (2017-08-26 21:10:06.452) Camera.cpp:100::takeImage() Time capturing image = 0.015852s [DEBUG] (2017-08-26 21:10:06.452) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.452) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.459) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.459) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.460) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.107440,-0.337047,0.358376 rpy=0.050767,-0.021864,2.506683 [DEBUG] (2017-08-26 21:10:06.469) Camera.cpp:100::takeImage() Time capturing image = 0.017201s [DEBUG] (2017-08-26 21:10:06.469) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.469) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.480) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.481) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.485) Camera.cpp:100::takeImage() Time capturing image = 0.015746s [DEBUG] (2017-08-26 21:10:06.485) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.485) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.501) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.502) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.502) Camera.cpp:100::takeImage() Time capturing image = 0.017208s [DEBUG] (2017-08-26 21:10:06.502) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.502) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.108476,-0.337258,0.358208 rpy=0.051544,-0.024406,2.513783 [DEBUG] (2017-08-26 21:10:06.502) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.518) Camera.cpp:100::takeImage() Time capturing image = 0.015905s [DEBUG] (2017-08-26 21:10:06.518) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.519) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.525) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.525) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.536) Camera.cpp:100::takeImage() Time capturing image = 0.017139s [DEBUG] (2017-08-26 21:10:06.536) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.536) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.544) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.544) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.553) Camera.cpp:100::takeImage() Time capturing image = 0.017579s [DEBUG] (2017-08-26 21:10:06.553) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.554) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.566) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.566) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.567) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.109750,-0.337599,0.357991 rpy=0.052748,-0.028424,2.520782 [DEBUG] (2017-08-26 21:10:06.569) Camera.cpp:100::takeImage() Time capturing image = 0.015557s [DEBUG] (2017-08-26 21:10:06.569) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.569) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.585) Camera.cpp:100::takeImage() Time capturing image = 0.015922s [DEBUG] (2017-08-26 21:10:06.585) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.585) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.590) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.590) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.591) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110968,-0.337993,0.357730 rpy=0.054309,-0.032712,2.528925 [DEBUG] (2017-08-26 21:10:06.602) Camera.cpp:100::takeImage() Time capturing image = 0.017191s [DEBUG] (2017-08-26 21:10:06.602) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.603) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.610) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.610) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.618) Camera.cpp:100::takeImage() Time capturing image = 0.015903s [DEBUG] (2017-08-26 21:10:06.619) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.619) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.631) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.631) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.636) Camera.cpp:100::takeImage() Time capturing image = 0.016956s [DEBUG] (2017-08-26 21:10:06.636) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.636) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.652) Camera.cpp:100::takeImage() Time capturing image = 0.016699s [DEBUG] (2017-08-26 21:10:06.652) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.653) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.657) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.657) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.658) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112167,-0.338393,0.357218 rpy=0.056621,-0.036354,2.538083 [DEBUG] (2017-08-26 21:10:06.669) Camera.cpp:100::takeImage() Time capturing image = 0.016452s [DEBUG] (2017-08-26 21:10:06.669) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.669) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.676) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.677) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.677) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113167,-0.338517,0.356638 rpy=0.059271,-0.038248,2.545830 [DEBUG] (2017-08-26 21:10:06.685) Camera.cpp:100::takeImage() Time capturing image = 0.016191s [DEBUG] (2017-08-26 21:10:06.685) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.686) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.699) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.699) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.703) Camera.cpp:100::takeImage() Time capturing image = 0.017460s [DEBUG] (2017-08-26 21:10:06.703) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.703) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.716) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.716) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.717) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113411,-0.338494,0.356118 rpy=0.061669,-0.037959,2.551630 [DEBUG] (2017-08-26 21:10:06.719) Camera.cpp:100::takeImage() Time capturing image = 0.015717s [DEBUG] (2017-08-26 21:10:06.719) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.719) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.736) Camera.cpp:100::takeImage() Time capturing image = 0.017038s [DEBUG] (2017-08-26 21:10:06.736) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.736) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.739) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.739) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.752) Camera.cpp:100::takeImage() Time capturing image = 0.015869s [DEBUG] (2017-08-26 21:10:06.752) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.753) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.765) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.765) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.766) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113054,-0.338661,0.355503 rpy=0.062864,-0.035877,2.556847 [DEBUG] (2017-08-26 21:10:06.770) Camera.cpp:100::takeImage() Time capturing image = 0.017203s [DEBUG] (2017-08-26 21:10:06.770) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.770) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.784) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.784) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.785) Camera.cpp:100::takeImage() Time capturing image = 0.015408s [DEBUG] (2017-08-26 21:10:06.785) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.785) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.805) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.805) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.805) Camera.cpp:100::takeImage() Time capturing image = 0.019727s [DEBUG] (2017-08-26 21:10:06.805) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.805) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.806) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112342,-0.338845,0.354996 rpy=0.061987,-0.032491,2.561674 [DEBUG] (2017-08-26 21:10:06.818) Camera.cpp:100::takeImage() Time capturing image = 0.012469s [DEBUG] (2017-08-26 21:10:06.818) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.818) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.824) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.824) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.835) Camera.cpp:100::takeImage() Time capturing image = 0.016902s [DEBUG] (2017-08-26 21:10:06.835) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.842) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.842) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.843) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.111528,-0.339004,0.354736 rpy=0.059647,-0.028666,2.565917 [DEBUG] (2017-08-26 21:10:06.853) Camera.cpp:100::takeImage() Time capturing image = 0.017462s [DEBUG] (2017-08-26 21:10:06.853) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.853) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.859) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.859) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.860) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110066,-0.339337,0.354453 rpy=0.055496,-0.023948,2.570672 [DEBUG] (2017-08-26 21:10:06.873) Camera.cpp:100::takeImage() Time capturing image = 0.019464s [DEBUG] (2017-08-26 21:10:06.873) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.873) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.879) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.879) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.886) Camera.cpp:100::takeImage() Time capturing image = 0.013180s [DEBUG] (2017-08-26 21:10:06.886) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.886) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.900) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.900) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.901) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.108329,-0.339694,0.354342 rpy=0.051089,-0.018941,2.575069 [DEBUG] (2017-08-26 21:10:06.907) Camera.cpp:100::takeImage() Time capturing image = 0.020967s [DEBUG] (2017-08-26 21:10:06.907) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.907) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.916) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:06.916) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:06.916) SensorData.cpp:557::uncompressData() 11 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:06.916) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:06.919) Camera.cpp:100::takeImage() Time capturing image = 0.011289s [DEBUG] (2017-08-26 21:10:06.919) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.919) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.930) MainWindow.cpp:1632::processStats() time= 14 ms [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:3838::drawKeypoints() source time = 0.000020 s [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:06.933) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:06.935) Camera.cpp:100::takeImage() Time capturing image = 0.016232s [DEBUG] (2017-08-26 21:10:06.935) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.935) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.939) MainWindow.cpp:1715::processStats() time= 6 ms [DEBUG] (2017-08-26 21:10:06.940) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:06.940) MainWindow.cpp:1912::updateMapCloud() posesIn=10 constraints=9 mapIdsIn=10 labelsIn=1 [DEBUG] (2017-08-26 21:10:06.940) MainWindow.cpp:1991::updateMapCloud() Update map with 10 locations [DEBUG] (2017-08-26 21:10:06.940) SensorData.cpp:557::uncompressData() 11 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:06.940) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:06.940) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:06.940) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:06.941) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:06.951) Camera.cpp:100::takeImage() Time capturing image = 0.016341s [DEBUG] (2017-08-26 21:10:06.952) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.952) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.962) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000738s [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:06.964) MainWindow.cpp:1796::processStats() time= 24 ms [DEBUG] (2017-08-26 21:10:06.967) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:06.967) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:06.967) MainWindow.cpp:1874::processStats() Updating GUI time = 0.051000s [DEBUG] (2017-08-26 21:10:06.969) Camera.cpp:100::takeImage() Time capturing image = 0.017330s [DEBUG] (2017-08-26 21:10:06.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:06.969) RtabmapThread.cpp:630::addData() Added data 1013 [ INFO] (2017-08-26 21:10:06.969) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:06.969) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:06.970) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:06.970) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=68)... [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:06.970) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:06.970) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:06.970) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:06.970) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:06.970) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 6 words... [ INFO] (2017-08-26 21:10:06.970) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:06.970) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 31 -> 63 [DEBUG] (2017-08-26 21:10:06.971) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 6 words... done! [DEBUG] (2017-08-26 21:10:06.971) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=6 removed=0) [DEBUG] (2017-08-26 21:10:06.971) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:06.974) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.974) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.985) Camera.cpp:100::takeImage() Time capturing image = 0.016048s [DEBUG] (2017-08-26 21:10:06.985) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:06.985) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:06.993) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:06.993) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:06.995) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:06.995) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:06.996) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106758,-0.339970,0.354412 rpy=0.047912,-0.015281,2.579219 [DEBUG] (2017-08-26 21:10:06.998) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:06.998) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:06.998) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:07.013) Camera.cpp:100::takeImage() Time capturing image = 0.027273s [DEBUG] (2017-08-26 21:10:07.013) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.013) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.020) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.020) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.027) Camera.cpp:100::takeImage() Time capturing image = 0.013941s [DEBUG] (2017-08-26 21:10:07.027) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.032) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.038) Camera.cpp:100::takeImage() Time capturing image = 0.011072s [DEBUG] (2017-08-26 21:10:07.038) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.038) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.046) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.046) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.047) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105002,-0.340420,0.354498 rpy=0.045384,-0.012497,2.583371 [DEBUG] (2017-08-26 21:10:07.068) Camera.cpp:100::takeImage() Time capturing image = 0.030194s [DEBUG] (2017-08-26 21:10:07.069) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.069) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.082) Camera.cpp:100::takeImage() Time capturing image = 0.013558s [DEBUG] (2017-08-26 21:10:07.082) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.082) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.085) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.085) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.089) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.090772 s, keypoints extracted = 44 (mask empty=0) [DEBUG] (2017-08-26 21:10:07.089) Memory.cpp:3409::createSignature() time keypoints (44) = 0.119094s [DEBUG] (2017-08-26 21:10:07.106) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.106) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.107) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103240,-0.340853,0.354705 rpy=0.044016,-0.010935,2.590331 [DEBUG] (2017-08-26 21:10:07.112) Camera.cpp:100::takeImage() Time capturing image = 0.029803s [DEBUG] (2017-08-26 21:10:07.112) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.112) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.122) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 44, remaining kpts=44 [DEBUG] (2017-08-26 21:10:07.122) Memory.cpp:3414::createSignature() time descriptors (44) = 0.032745s [DEBUG] (2017-08-26 21:10:07.122) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:07.122) Memory.cpp:3427::createSignature() time keypoints 3D (44) = 0.000107s [DEBUG] (2017-08-26 21:10:07.122) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:07.122) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:07.122) Memory.cpp:3539::createSignature() time descriptor and memory update (44 of size=64) = 0.000080s [DEBUG] (2017-08-26 21:10:07.122) VWDictionary.cpp:593::addNewWords() id=18 descriptors=44 [DEBUG] (2017-08-26 21:10:07.122) VWDictionary.cpp:686::addNewWords() newPts.total()=44 [DEBUG] (2017-08-26 21:10:07.122) Camera.cpp:100::takeImage() Time capturing image = 0.009871s [DEBUG] (2017-08-26 21:10:07.122) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.122) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.123) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.001250 s [DEBUG] (2017-08-26 21:10:07.124) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000841 s [DEBUG] (2017-08-26 21:10:07.124) VWDictionary.cpp:874::addNewWords() 11 new words added... [DEBUG] (2017-08-26 21:10:07.124) VWDictionary.cpp:876::addNewWords() 33 duplicated words added (from current image = 8)... [DEBUG] (2017-08-26 21:10:07.124) VWDictionary.cpp:877::addNewWords() total time 0.002175s [DEBUG] (2017-08-26 21:10:07.124) Memory.cpp:3599::createSignature() time addNewWords 0.002245s indexed=68 not=11 [DEBUG] (2017-08-26 21:10:07.124) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:07.129) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.129) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:3897::createSignature() time compressing data (id=18) 0.014067s [DEBUG] (2017-08-26 21:10:07.138) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:626::update() time creating signature=168.532135 ms [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:711::addSignatureToStm() adding 18 [DEBUG] (2017-08-26 21:10:07.138) Signature.cpp:121::addLink() Add link 18 to 17 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:07.138) Signature.cpp:121::addLink() Add link 17 to 18 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:739::addSignatureToStm() Min STM id = 6 [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:773::addSignatureToStm() 44 words ref for the signature 18 [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:781::addSignatureToStm() time = 0.000155s [DEBUG] (2017-08-26 21:10:07.138) Memory.cpp:2813::rehearsal() Comparing with signature (17)... [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:2836::rehearsal() merged=0, sim=0.181818 t=0.000035s [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:647::update() time rehearsal=0.262976 ms [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 6 from STM in WM... [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:700::update() totalTimer = 0.168881s [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:07.139) Rtabmap.cpp:1002::process() Processing signature 18 w=0 [ INFO] (2017-08-26 21:10:07.139) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.169004s [DEBUG] (2017-08-26 21:10:07.139) Rtabmap.cpp:1158::process() Added pose xyz=0.075763,-0.317412,0.345742 rpy=-0.163949,0.039663,2.287024 (odom=xyz=0.075763,-0.317412,0.345742 rpy=-0.163949,0.039663,2.287024) [ INFO] (2017-08-26 21:10:07.139) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000189s [ INFO] (2017-08-26 21:10:07.139) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:07.139) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000054 s [DEBUG] (2017-08-26 21:10:07.139) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=6 [DEBUG] (2017-08-26 21:10:07.139) Rtabmap.cpp:3183::adjustLikelihood() values.size=2 [DEBUG] (2017-08-26 21:10:07.139) Rtabmap.cpp:3230::adjustLikelihood() mean=0.064091, stdDev=0.045706, max=0.000000, maxId=0, time=0.000019s [ INFO] (2017-08-26 21:10:07.139) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000192s [ INFO] (2017-08-26 21:10:07.139) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000028s [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:495::updatePrediction() From added id 6, 4 neighbors to update. [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:498::updatePrediction() time getting 4 ids to update = 0.000079s [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:544::updatePrediction() time updating modified/added 4 ids = 0.000085s [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:575::updatePrediction() time copying = 0.000026s [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000022s [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:597::updatePrediction() Modified=4, Added=1, Copied=0 [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000310s, rows=6, cols=6 [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=6, _posterior size=6 [DEBUG] (2017-08-26 21:10:07.139) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000085s [DEBUG] (2017-08-26 21:10:07.140) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:07.140) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:07.140) BayesFilter.cpp:208::computePosterior() sum=1.838810 [DEBUG] (2017-08-26 21:10:07.140) BayesFilter.cpp:216::computePosterior() normalize time=0.000040s [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000558s [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1373::process() Highest hypothesis=3, value=0.087660, timeHypothesesCreation=0.000045s [DEBUG] (2017-08-26 21:10:07.140) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:07.140) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000164s, joining (actual overhead) = 0.000063s [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1462::process() Retrieving locations... around id=3 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1483::process() neighbors of 3 in time = 15 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1514::process() nt=3 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1514::process() nt=1 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1514::process() nt=4 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1514::process() nt=5 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1514::process() nt=6 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1537::process() neighbors of 3 in space = 15 [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=5, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000368s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:07.140) Graph.cpp:1606::findNearestNode() Nearest node = 5: 0.007119 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:07.140) Graph.cpp:1661::getNodesInRadius() found nodes=14 [ INFO] (2017-08-26 21:10:07.140) Rtabmap.cpp:1721::process() near nodes=14, max local immunized=1, ratio=0.250000 WM=6 [DEBUG] (2017-08-26 21:10:07.140) Rtabmap.cpp:1748::process() local node 5 (0.007119 m) immunized=1 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1748::process() local node 6 (0.014398 m) immunized=1 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1748::process() local node 4 (0.054285 m) immunized=1 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1748::process() local node 3 (0.159004 m) immunized=1 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1748::process() local node 1 (0.228271 m) immunized=1 [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:07.141) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:07.141) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000018s [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:07.141) Memory.cpp:4120::reactivateSignatures() time = 0.000132s [ INFO] (2017-08-26 21:10:07.141) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000053s) [ INFO] (2017-08-26 21:10:07.141) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000053s [ INFO] (2017-08-26 21:10:07.141) Rtabmap.cpp:1807::process() timeReactivations=0.001113s [ INFO] (2017-08-26 21:10:07.141) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1899::process() nearestIds=15/15 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1908::process() nearestPoses=5 [DEBUG] (2017-08-26 21:10:07.141) Graph.cpp:1606::findNearestNode() Nearest node = 5: 0.007119 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:2999::getPaths() 5 <- 1 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:2999::getPaths() 5 <- 3 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:2999::getPaths() 5 <- 4 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:2999::getPaths() 5 <- 5 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:2999::getPaths() 5 <- 6 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:07.141) Graph.cpp:1731::getPosesInRadius() found nodes=0 [DEBUG] (2017-08-26 21:10:07.141) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:07.141) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000534s [ INFO] (2017-08-26 21:10:07.141) Rtabmap.cpp:2307::process() timeMapOptimization=0.000031s [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2430::process() Time creating stats = 0.000340... [DEBUG] (2017-08-26 21:10:07.142) Memory.cpp:2187::removeRawData() id=18 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:07.142) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000208s... 0 signatures removed [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2500::process() Total time processing = 0.172321s... [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000043... [ INFO] (2017-08-26 21:10:07.142) Rtabmap.cpp:2624::process() Adding data 18 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:07.142) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:07.142) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:07.143) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:07.143) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 18 [DEBUG] (2017-08-26 21:10:07.143) Camera.cpp:100::takeImage() Time capturing image = 0.020921s [DEBUG] (2017-08-26 21:10:07.143) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.143) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.144) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000943s [DEBUG] (2017-08-26 21:10:07.144) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:07.144) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:07.144) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:07.144) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:07.144) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:07.144) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:07.144) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:07.145) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000032s... [DEBUG] (2017-08-26 21:10:07.150) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.150) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.151) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101932,-0.341249,0.354970 rpy=0.043488,-0.010858,2.596619 [DEBUG] (2017-08-26 21:10:07.153) Camera.cpp:100::takeImage() Time capturing image = 0.009849s [DEBUG] (2017-08-26 21:10:07.153) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.153) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.170) Camera.cpp:100::takeImage() Time capturing image = 0.016498s [DEBUG] (2017-08-26 21:10:07.170) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.170) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.172) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.172) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.185) Camera.cpp:100::takeImage() Time capturing image = 0.015180s [DEBUG] (2017-08-26 21:10:07.186) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.186) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.189) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.189) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.190) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100722,-0.341680,0.355332 rpy=0.042889,-0.012348,2.603977 [DEBUG] (2017-08-26 21:10:07.202) Camera.cpp:100::takeImage() Time capturing image = 0.015865s [DEBUG] (2017-08-26 21:10:07.202) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.202) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.213) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.213) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.218) Camera.cpp:100::takeImage() Time capturing image = 0.015898s [DEBUG] (2017-08-26 21:10:07.218) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.232) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.233) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.233) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099464,-0.341953,0.355679 rpy=0.043191,-0.014176,2.612706 [DEBUG] (2017-08-26 21:10:07.242) Camera.cpp:100::takeImage() Time capturing image = 0.024343s [DEBUG] (2017-08-26 21:10:07.242) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.242) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.251) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.251) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.253) Camera.cpp:100::takeImage() Time capturing image = 0.010360s [DEBUG] (2017-08-26 21:10:07.253) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.253) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.271) Camera.cpp:100::takeImage() Time capturing image = 0.017937s [DEBUG] (2017-08-26 21:10:07.271) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.271) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.283) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.283) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.284) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098482,-0.341949,0.356012 rpy=0.043672,-0.015015,2.618948 [DEBUG] (2017-08-26 21:10:07.284) Camera.cpp:100::takeImage() Time capturing image = 0.013197s [DEBUG] (2017-08-26 21:10:07.284) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.285) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.302) Camera.cpp:100::takeImage() Time capturing image = 0.017796s [DEBUG] (2017-08-26 21:10:07.302) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.303) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.310) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.311) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.318) Camera.cpp:100::takeImage() Time capturing image = 0.015231s [DEBUG] (2017-08-26 21:10:07.318) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.318) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.335) Camera.cpp:100::takeImage() Time capturing image = 0.017529s [DEBUG] (2017-08-26 21:10:07.336) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.336) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.338) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.338) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.339) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097442,-0.342086,0.356175 rpy=0.043547,-0.015376,2.625360 [DEBUG] (2017-08-26 21:10:07.351) Camera.cpp:100::takeImage() Time capturing image = 0.015291s [DEBUG] (2017-08-26 21:10:07.351) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.351) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.367) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.367) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.368) Camera.cpp:100::takeImage() Time capturing image = 0.017470s [DEBUG] (2017-08-26 21:10:07.369) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.369) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.384) Camera.cpp:100::takeImage() Time capturing image = 0.015641s [DEBUG] (2017-08-26 21:10:07.384) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.385) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.396) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.396) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.397) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096466,-0.342262,0.356207 rpy=0.042175,-0.015505,2.631469 [DEBUG] (2017-08-26 21:10:07.402) Camera.cpp:100::takeImage() Time capturing image = 0.017580s [DEBUG] (2017-08-26 21:10:07.402) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.402) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.418) Camera.cpp:100::takeImage() Time capturing image = 0.015559s [DEBUG] (2017-08-26 21:10:07.418) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.418) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.428) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.428) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.436) Camera.cpp:100::takeImage() Time capturing image = 0.017648s [DEBUG] (2017-08-26 21:10:07.436) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.436) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.451) Camera.cpp:100::takeImage() Time capturing image = 0.015466s [DEBUG] (2017-08-26 21:10:07.451) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.452) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.454) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.454) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.456) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095658,-0.342212,0.356290 rpy=0.040716,-0.014923,2.636119 [DEBUG] (2017-08-26 21:10:07.469) Camera.cpp:100::takeImage() Time capturing image = 0.017294s [DEBUG] (2017-08-26 21:10:07.469) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.469) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.480) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.481) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.485) Camera.cpp:100::takeImage() Time capturing image = 0.016346s [DEBUG] (2017-08-26 21:10:07.486) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.486) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.503) Camera.cpp:100::takeImage() Time capturing image = 0.017113s [DEBUG] (2017-08-26 21:10:07.503) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.503) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.505) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.505) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.506) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.094376,-0.342305,0.356146 rpy=0.039070,-0.012656,2.640217 [DEBUG] (2017-08-26 21:10:07.518) Camera.cpp:100::takeImage() Time capturing image = 0.015328s [DEBUG] (2017-08-26 21:10:07.518) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.519) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.532) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.532) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.536) Camera.cpp:100::takeImage() Time capturing image = 0.017110s [DEBUG] (2017-08-26 21:10:07.536) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.536) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.552) Camera.cpp:100::takeImage() Time capturing image = 0.015872s [DEBUG] (2017-08-26 21:10:07.552) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.552) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.559) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.559) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.560) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.093201,-0.342362,0.356013 rpy=0.037735,-0.009133,2.644119 [DEBUG] (2017-08-26 21:10:07.569) Camera.cpp:100::takeImage() Time capturing image = 0.016977s [DEBUG] (2017-08-26 21:10:07.569) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.569) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.580) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.580) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.585) Camera.cpp:100::takeImage() Time capturing image = 0.015883s [DEBUG] (2017-08-26 21:10:07.585) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.585) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.604) Camera.cpp:100::takeImage() Time capturing image = 0.018750s [DEBUG] (2017-08-26 21:10:07.604) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.604) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.607) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.607) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.608) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.092169,-0.342198,0.355951 rpy=0.036215,-0.005100,2.647908 [DEBUG] (2017-08-26 21:10:07.618) Camera.cpp:100::takeImage() Time capturing image = 0.013836s [DEBUG] (2017-08-26 21:10:07.618) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.618) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.627) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.627) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.636) Camera.cpp:100::takeImage() Time capturing image = 0.018173s [DEBUG] (2017-08-26 21:10:07.636) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.636) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.650) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.650) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.652) Camera.cpp:100::takeImage() Time capturing image = 0.015876s [DEBUG] (2017-08-26 21:10:07.652) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.653) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.671) Camera.cpp:100::takeImage() Time capturing image = 0.018422s [DEBUG] (2017-08-26 21:10:07.671) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.671) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.675) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.676) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.677) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.091307,-0.342585,0.355782 rpy=0.033559,-0.001442,2.655006 [DEBUG] (2017-08-26 21:10:07.685) Camera.cpp:100::takeImage() Time capturing image = 0.013805s [DEBUG] (2017-08-26 21:10:07.685) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.685) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.702) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.702) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.703) Camera.cpp:100::takeImage() Time capturing image = 0.017629s [DEBUG] (2017-08-26 21:10:07.703) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.703) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.718) Camera.cpp:100::takeImage() Time capturing image = 0.014928s [DEBUG] (2017-08-26 21:10:07.718) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.718) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.729) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.729) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.730) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.090684,-0.343048,0.355792 rpy=0.029991,0.001042,2.661257 [DEBUG] (2017-08-26 21:10:07.735) Camera.cpp:100::takeImage() Time capturing image = 0.016710s [DEBUG] (2017-08-26 21:10:07.735) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.735) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.751) Camera.cpp:100::takeImage() Time capturing image = 0.015899s [DEBUG] (2017-08-26 21:10:07.751) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.751) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.758) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.759) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.760) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.090509,-0.343493,0.356222 rpy=0.025917,0.001923,2.667759 [DEBUG] (2017-08-26 21:10:07.768) Camera.cpp:100::takeImage() Time capturing image = 0.016605s [DEBUG] (2017-08-26 21:10:07.768) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.768) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.783) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.783) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.784) Camera.cpp:100::takeImage() Time capturing image = 0.016452s [DEBUG] (2017-08-26 21:10:07.785) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.785) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.800) Camera.cpp:100::takeImage() Time capturing image = 0.015880s [DEBUG] (2017-08-26 21:10:07.801) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.801) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.807) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.809) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.090796,-0.343328,0.356507 rpy=0.023348,0.001459,2.673680 [DEBUG] (2017-08-26 21:10:07.816) Camera.cpp:100::takeImage() Time capturing image = 0.015462s [DEBUG] (2017-08-26 21:10:07.817) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.817) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.833) Camera.cpp:100::takeImage() Time capturing image = 0.016755s [DEBUG] (2017-08-26 21:10:07.833) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.834) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.835) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.835) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.849) Camera.cpp:100::takeImage() Time capturing image = 0.015691s [DEBUG] (2017-08-26 21:10:07.849) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.850) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.863) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.863) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.864) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.091608,-0.343137,0.356985 rpy=0.021744,-0.000486,2.680745 [DEBUG] (2017-08-26 21:10:07.867) Camera.cpp:100::takeImage() Time capturing image = 0.017835s [DEBUG] (2017-08-26 21:10:07.867) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.867) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.883) Camera.cpp:100::takeImage() Time capturing image = 0.015133s [DEBUG] (2017-08-26 21:10:07.883) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.883) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.891) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.891) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.899) Camera.cpp:100::takeImage() Time capturing image = 0.015481s [DEBUG] (2017-08-26 21:10:07.899) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.899) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.913) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.913) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.914) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.092782,-0.342732,0.357471 rpy=0.021122,-0.003525,2.687182 [DEBUG] (2017-08-26 21:10:07.915) Camera.cpp:100::takeImage() Time capturing image = 0.015755s [DEBUG] (2017-08-26 21:10:07.915) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.915) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.931) Camera.cpp:100::takeImage() Time capturing image = 0.016524s [DEBUG] (2017-08-26 21:10:07.932) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.932) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.939) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.939) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.948) Camera.cpp:100::takeImage() Time capturing image = 0.016006s [DEBUG] (2017-08-26 21:10:07.948) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.948) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.966) Camera.cpp:100::takeImage() Time capturing image = 0.017779s [DEBUG] (2017-08-26 21:10:07.966) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:07.966) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.966) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.966) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:07.967) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.093848,-0.342691,0.357956 rpy=0.021114,-0.007138,2.693363 [DEBUG] (2017-08-26 21:10:07.981) Camera.cpp:100::takeImage() Time capturing image = 0.015249s [DEBUG] (2017-08-26 21:10:07.981) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:07.981) RtabmapThread.cpp:630::addData() Added data 1073 [DEBUG] (2017-08-26 21:10:07.981) CameraThread.cpp:129::mainLoop() [ INFO] (2017-08-26 21:10:07.982) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:07.982) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:07.982) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:07.982) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=79)... [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:07.982) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:07.982) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:07.984) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:07.984) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:07.984) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:07.984) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 11 words... [DEBUG] (2017-08-26 21:10:07.985) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 11 words... done! [DEBUG] (2017-08-26 21:10:07.985) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=11 removed=0) [DEBUG] (2017-08-26 21:10:07.985) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:07.991) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:07.991) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:07.996) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:07.996) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:08.000) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:08.000) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:08.000) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:08.003) Camera.cpp:100::takeImage() Time capturing image = 0.021152s [DEBUG] (2017-08-26 21:10:08.003) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.003) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.030) Camera.cpp:100::takeImage() Time capturing image = 0.027492s [DEBUG] (2017-08-26 21:10:08.030) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.031) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.035) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.035) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.042) Camera.cpp:100::takeImage() Time capturing image = 0.011226s [DEBUG] (2017-08-26 21:10:08.042) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.042) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.061) Camera.cpp:100::takeImage() Time capturing image = 0.019003s [DEBUG] (2017-08-26 21:10:08.061) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.063) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.066) Camera.cpp:100::takeImage() Time capturing image = 0.004714s [DEBUG] (2017-08-26 21:10:08.066) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.066) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.068) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.068) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.069) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095481,-0.342664,0.358486 rpy=0.021684,-0.011215,2.698645 [DEBUG] (2017-08-26 21:10:08.079) Camera.cpp:100::takeImage() Time capturing image = 0.013094s [DEBUG] (2017-08-26 21:10:08.079) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.080) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.097) Camera.cpp:100::takeImage() Time capturing image = 0.017325s [DEBUG] (2017-08-26 21:10:08.097) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.097) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.101) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.101) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.102) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:08.102) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:08.112) Camera.cpp:100::takeImage() Time capturing image = 0.015137s [DEBUG] (2017-08-26 21:10:08.112) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.113) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.116) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.115685 s, keypoints extracted = 1 (mask empty=0) [DEBUG] (2017-08-26 21:10:08.116) Memory.cpp:3409::createSignature() time keypoints (1) = 0.134085s [DEBUG] (2017-08-26 21:10:08.124) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 1, remaining kpts=1 [DEBUG] (2017-08-26 21:10:08.124) Memory.cpp:3414::createSignature() time descriptors (1) = 0.008102s [DEBUG] (2017-08-26 21:10:08.124) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=18 [DEBUG] (2017-08-26 21:10:08.124) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:08.124) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:08.124) Memory.cpp:3603::createSignature() id 19 is a bad signature [DEBUG] (2017-08-26 21:10:08.124) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:08.129) Camera.cpp:100::takeImage() Time capturing image = 0.017029s [DEBUG] (2017-08-26 21:10:08.129) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.130) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.135) Memory.cpp:3897::createSignature() time compressing data (id=19) 0.010991s [DEBUG] (2017-08-26 21:10:08.135) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:08.135) Memory.cpp:626::update() time creating signature=153.365845 ms [DEBUG] (2017-08-26 21:10:08.135) Memory.cpp:711::addSignatureToStm() adding 19 [DEBUG] (2017-08-26 21:10:08.136) Signature.cpp:121::addLink() Add link 19 to 18 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:08.136) Signature.cpp:121::addLink() Add link 18 to 19 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:739::addSignatureToStm() Min STM id = 7 [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 19 [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:781::addSignatureToStm() time = 0.000174s [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:647::update() time rehearsal=0.224113 ms [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 7 from STM in WM... [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:700::update() totalTimer = 0.153681s [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1002::process() Processing signature 19 w=0 [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.153804s [DEBUG] (2017-08-26 21:10:08.136) Rtabmap.cpp:1158::process() Added pose xyz=0.190164,-0.151522,0.395663 rpy=-0.196119,-0.020438,1.158060 (odom=xyz=0.190164,-0.151522,0.395663 rpy=-0.196119,-0.020438,1.158060) [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000188s [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:08.136) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000032s, joining (actual overhead) = 0.000060s [DEBUG] (2017-08-26 21:10:08.136) Graph.cpp:1606::findNearestNode() Nearest node = 6: 0.021496 [DEBUG] (2017-08-26 21:10:08.136) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:08.136) Graph.cpp:1661::getNodesInRadius() found nodes=15 [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1721::process() near nodes=15, max local immunized=1, ratio=0.250000 WM=7 [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1807::process() timeReactivations=0.000384s [ INFO] (2017-08-26 21:10:08.136) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:08.136) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:08.136) Rtabmap.cpp:1899::process() nearestIds=16/16 [DEBUG] (2017-08-26 21:10:08.136) Rtabmap.cpp:1908::process() nearestPoses=6 [DEBUG] (2017-08-26 21:10:08.137) Graph.cpp:1606::findNearestNode() Nearest node = 6: 0.021496 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:2999::getPaths() 6 <- 1 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:2999::getPaths() 6 <- 3 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:2999::getPaths() 6 <- 4 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:2999::getPaths() 6 <- 5 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:2999::getPaths() 6 <- 6 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:2999::getPaths() 6 <- 7 [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:08.137) Graph.cpp:1731::getPosesInRadius() found nodes=2 [DEBUG] (2017-08-26 21:10:08.137) Graph.cpp:1606::findNearestNode() Nearest node = 6: 0.021496 [DEBUG] (2017-08-26 21:10:08.137) SensorData.cpp:557::uncompressData() 6 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:08.137) SensorData.cpp:557::uncompressData() 19 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:08.137) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000764s [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2307::process() timeMapOptimization=0.000022s [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2430::process() Time creating stats = 0.000157... [DEBUG] (2017-08-26 21:10:08.137) Memory.cpp:2187::removeRawData() id=19 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:08.137) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000133s... 0 signatures removed [ INFO] (2017-08-26 21:10:08.137) Rtabmap.cpp:2500::process() Total time processing = 0.155555s... [ INFO] (2017-08-26 21:10:08.138) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000039... [ INFO] (2017-08-26 21:10:08.138) Rtabmap.cpp:2624::process() Adding data 19 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:08.138) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:08.138) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:08.138) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:08.138) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 19 [DEBUG] (2017-08-26 21:10:08.139) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001033s [DEBUG] (2017-08-26 21:10:08.139) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:08.139) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:08.140) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:08.140) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:08.140) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:08.140) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:08.140) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:08.140) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000039s... [DEBUG] (2017-08-26 21:10:08.145) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.145) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.146) Camera.cpp:100::takeImage() Time capturing image = 0.016361s [DEBUG] (2017-08-26 21:10:08.146) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097216,-0.342353,0.358926 rpy=0.022609,-0.015085,2.702954 [DEBUG] (2017-08-26 21:10:08.146) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.146) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.162) Camera.cpp:100::takeImage() Time capturing image = 0.016377s [DEBUG] (2017-08-26 21:10:08.163) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.163) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.167) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.167) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.168) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:08.168) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:08.178) Camera.cpp:100::takeImage() Time capturing image = 0.015631s [DEBUG] (2017-08-26 21:10:08.178) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.179) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.198) Camera.cpp:100::takeImage() Time capturing image = 0.019616s [DEBUG] (2017-08-26 21:10:08.198) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.198) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.209) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.209) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.210) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098881,-0.341994,0.359139 rpy=0.023454,-0.018907,2.706933 [DEBUG] (2017-08-26 21:10:08.212) Camera.cpp:100::takeImage() Time capturing image = 0.014094s [DEBUG] (2017-08-26 21:10:08.212) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.213) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.230) Camera.cpp:100::takeImage() Time capturing image = 0.017355s [DEBUG] (2017-08-26 21:10:08.230) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.230) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.230) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.230) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.231) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:08.231) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:08.245) Camera.cpp:100::takeImage() Time capturing image = 0.015051s [DEBUG] (2017-08-26 21:10:08.245) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.245) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.263) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.263) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.264) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100660,-0.341465,0.359295 rpy=0.024175,-0.022772,2.710435 [DEBUG] (2017-08-26 21:10:08.264) Camera.cpp:100::takeImage() Time capturing image = 0.018802s [DEBUG] (2017-08-26 21:10:08.264) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.265) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.278) Camera.cpp:100::takeImage() Time capturing image = 0.013639s [DEBUG] (2017-08-26 21:10:08.278) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.278) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.285) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.285) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.286) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102143,-0.341099,0.359377 rpy=0.025310,-0.025867,2.713152 [DEBUG] (2017-08-26 21:10:08.286) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:08.287) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:08.300) Camera.cpp:100::takeImage() Time capturing image = 0.021675s [DEBUG] (2017-08-26 21:10:08.300) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.300) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.311) Camera.cpp:100::takeImage() Time capturing image = 0.010893s [DEBUG] (2017-08-26 21:10:08.311) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.311) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.321) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.321) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.328) Camera.cpp:100::takeImage() Time capturing image = 0.016356s [DEBUG] (2017-08-26 21:10:08.328) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.328) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.344) Camera.cpp:100::takeImage() Time capturing image = 0.016109s [DEBUG] (2017-08-26 21:10:08.344) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.344) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.349) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.349) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.350) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103126,-0.340946,0.359329 rpy=0.026509,-0.027972,2.715347 [DEBUG] (2017-08-26 21:10:08.361) Camera.cpp:100::takeImage() Time capturing image = 0.016896s [DEBUG] (2017-08-26 21:10:08.361) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.361) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.377) Camera.cpp:100::takeImage() Time capturing image = 0.016046s [DEBUG] (2017-08-26 21:10:08.377) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.377) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.378) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.378) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.394) Camera.cpp:100::takeImage() Time capturing image = 0.016818s [DEBUG] (2017-08-26 21:10:08.394) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.394) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.405) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.405) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.410) Camera.cpp:100::takeImage() Time capturing image = 0.016061s [DEBUG] (2017-08-26 21:10:08.411) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.411) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.427) Camera.cpp:100::takeImage() Time capturing image = 0.016889s [DEBUG] (2017-08-26 21:10:08.428) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.428) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.429) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.429) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.430) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103829,-0.340852,0.359117 rpy=0.027923,-0.029307,2.717039 [DEBUG] (2017-08-26 21:10:08.431) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:08.431) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:08.444) Camera.cpp:100::takeImage() Time capturing image = 0.015951s [DEBUG] (2017-08-26 21:10:08.444) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.444) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.461) Camera.cpp:100::takeImage() Time capturing image = 0.017002s [DEBUG] (2017-08-26 21:10:08.461) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.461) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.466) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.466) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.467) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104283,-0.340724,0.358895 rpy=0.029080,-0.030130,2.719320 [DEBUG] (2017-08-26 21:10:08.467) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:08.468) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:08.477) Camera.cpp:100::takeImage() Time capturing image = 0.016161s [DEBUG] (2017-08-26 21:10:08.477) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.477) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.494) Camera.cpp:100::takeImage() Time capturing image = 0.017108s [DEBUG] (2017-08-26 21:10:08.495) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.495) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.509) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.509) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.510) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104164,-0.340922,0.358685 rpy=0.029329,-0.030288,2.723104 [DEBUG] (2017-08-26 21:10:08.511) Camera.cpp:100::takeImage() Time capturing image = 0.016154s [DEBUG] (2017-08-26 21:10:08.511) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.511) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.527) Camera.cpp:100::takeImage() Time capturing image = 0.016451s [DEBUG] (2017-08-26 21:10:08.528) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.528) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.536) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.536) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.544) Camera.cpp:100::takeImage() Time capturing image = 0.016587s [DEBUG] (2017-08-26 21:10:08.544) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.552) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.566) Camera.cpp:100::takeImage() Time capturing image = 0.021461s [DEBUG] (2017-08-26 21:10:08.566) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.566) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.566) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.566) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.568) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103813,-0.341049,0.358483 rpy=0.029255,-0.030220,2.728263 [DEBUG] (2017-08-26 21:10:08.578) Camera.cpp:100::takeImage() Time capturing image = 0.011786s [DEBUG] (2017-08-26 21:10:08.578) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.578) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.588) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:08.589) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:08.589) SensorData.cpp:557::uncompressData() 12 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:08.589) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:08.595) Camera.cpp:100::takeImage() Time capturing image = 0.017397s [DEBUG] (2017-08-26 21:10:08.596) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.596) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.604) MainWindow.cpp:1632::processStats() time= 15 ms [DEBUG] (2017-08-26 21:10:08.609) MainWindow.cpp:1676::processStats() time= 5 ms [DEBUG] (2017-08-26 21:10:08.609) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:08.609) MainWindow.cpp:3838::drawKeypoints() source time = 0.000019 s [DEBUG] (2017-08-26 21:10:08.609) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:08.609) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000018 s [DEBUG] (2017-08-26 21:10:08.609) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:08.611) Camera.cpp:100::takeImage() Time capturing image = 0.015834s [DEBUG] (2017-08-26 21:10:08.612) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.612) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:08.612) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.620) MainWindow.cpp:1715::processStats() time= 10 ms [DEBUG] (2017-08-26 21:10:08.620) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:08.620) MainWindow.cpp:1912::updateMapCloud() posesIn=11 constraints=10 mapIdsIn=11 labelsIn=1 [DEBUG] (2017-08-26 21:10:08.620) MainWindow.cpp:1991::updateMapCloud() Update map with 11 locations [DEBUG] (2017-08-26 21:10:08.620) SensorData.cpp:557::uncompressData() 12 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:08.620) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:08.620) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:08.620) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:08.621) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:08.633) Camera.cpp:100::takeImage() Time capturing image = 0.020811s [DEBUG] (2017-08-26 21:10:08.633) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.633) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.643) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:08.644) Camera.cpp:100::takeImage() Time capturing image = 0.011705s [DEBUG] (2017-08-26 21:10:08.645) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.645) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000807s [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:08.645) MainWindow.cpp:1796::processStats() time= 25 ms [DEBUG] (2017-08-26 21:10:08.648) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:08.648) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:08.648) MainWindow.cpp:1874::processStats() Updating GUI time = 0.059000s [DEBUG] (2017-08-26 21:10:08.657) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.657) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.662) Camera.cpp:100::takeImage() Time capturing image = 0.017253s [DEBUG] (2017-08-26 21:10:08.662) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.662) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.678) Camera.cpp:100::takeImage() Time capturing image = 0.015915s [DEBUG] (2017-08-26 21:10:08.678) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.678) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.682) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.682) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.683) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103208,-0.341208,0.358375 rpy=0.028751,-0.029905,2.731838 [DEBUG] (2017-08-26 21:10:08.695) Camera.cpp:100::takeImage() Time capturing image = 0.016651s [DEBUG] (2017-08-26 21:10:08.695) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.695) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.709) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.709) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.712) Camera.cpp:100::takeImage() Time capturing image = 0.016602s [DEBUG] (2017-08-26 21:10:08.712) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.712) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.730) Camera.cpp:100::takeImage() Time capturing image = 0.018014s [DEBUG] (2017-08-26 21:10:08.730) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.730) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.732) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.732) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.733) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102458,-0.341262,0.358278 rpy=0.027984,-0.029358,2.734860 [DEBUG] (2017-08-26 21:10:08.745) Camera.cpp:100::takeImage() Time capturing image = 0.015017s [DEBUG] (2017-08-26 21:10:08.745) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.745) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.756) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.756) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.763) Camera.cpp:100::takeImage() Time capturing image = 0.017826s [DEBUG] (2017-08-26 21:10:08.763) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.763) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.778) Camera.cpp:100::takeImage() Time capturing image = 0.015108s [DEBUG] (2017-08-26 21:10:08.779) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.779) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.784) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.784) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.785) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101619,-0.341188,0.358209 rpy=0.027472,-0.028404,2.737993 [DEBUG] (2017-08-26 21:10:08.796) Camera.cpp:100::takeImage() Time capturing image = 0.017800s [DEBUG] (2017-08-26 21:10:08.797) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.797) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.812) Camera.cpp:100::takeImage() Time capturing image = 0.015314s [DEBUG] (2017-08-26 21:10:08.812) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.812) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.813) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.813) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.830) Camera.cpp:100::takeImage() Time capturing image = 0.017909s [DEBUG] (2017-08-26 21:10:08.830) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.830) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.839) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.839) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.840) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100467,-0.341159,0.358063 rpy=0.027565,-0.026607,2.742446 [DEBUG] (2017-08-26 21:10:08.846) Camera.cpp:100::takeImage() Time capturing image = 0.015508s [DEBUG] (2017-08-26 21:10:08.846) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.846) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.864) Camera.cpp:100::takeImage() Time capturing image = 0.018078s [DEBUG] (2017-08-26 21:10:08.864) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.864) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.866) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.866) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.880) Camera.cpp:100::takeImage() Time capturing image = 0.015495s [DEBUG] (2017-08-26 21:10:08.880) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.880) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.889) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.890) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.891) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099486,-0.341272,0.357986 rpy=0.027661,-0.024589,2.746003 [DEBUG] (2017-08-26 21:10:08.898) Camera.cpp:100::takeImage() Time capturing image = 0.018371s [DEBUG] (2017-08-26 21:10:08.898) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.898) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.915) Camera.cpp:100::takeImage() Time capturing image = 0.016236s [DEBUG] (2017-08-26 21:10:08.915) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.915) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.917) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.917) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.940) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.940) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.941) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098525,-0.341264,0.357924 rpy=0.026941,-0.022757,2.749262 [DEBUG] (2017-08-26 21:10:08.942) Camera.cpp:100::takeImage() Time capturing image = 0.027345s [DEBUG] (2017-08-26 21:10:08.942) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.942) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.951) Camera.cpp:100::takeImage() Time capturing image = 0.008112s [DEBUG] (2017-08-26 21:10:08.951) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.951) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.966) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.966) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.969) Camera.cpp:100::takeImage() Time capturing image = 0.018379s [DEBUG] (2017-08-26 21:10:08.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.970) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:08.987) Camera.cpp:100::takeImage() Time capturing image = 0.017787s [DEBUG] (2017-08-26 21:10:08.987) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:08.988) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:08.988) RtabmapThread.cpp:630::addData() Added data 1133 [ INFO] (2017-08-26 21:10:08.988) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:08.988) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:08.988) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:08.988) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=79)... [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:08.988) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:08.989) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:08.989) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:08.989) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:08.989) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:08.993) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:08.993) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:08.994) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097709,-0.341018,0.358004 rpy=0.025438,-0.021441,2.750077 [DEBUG] (2017-08-26 21:10:09.014) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.014) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.014) Camera.cpp:100::takeImage() Time capturing image = 0.026961s [DEBUG] (2017-08-26 21:10:09.015) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.015) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.016) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:09.016) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:09.020) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:09.024) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:09.025) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:09.025) Camera.cpp:100::takeImage() Time capturing image = 0.009839s [DEBUG] (2017-08-26 21:10:09.025) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.030) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.035) Camera.cpp:100::takeImage() Time capturing image = 0.010485s [DEBUG] (2017-08-26 21:10:09.035) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.036) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.040) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.040) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.041) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097296,-0.341047,0.358216 rpy=0.023438,-0.021332,2.750008 [DEBUG] (2017-08-26 21:10:09.070) Camera.cpp:100::takeImage() Time capturing image = 0.034581s [DEBUG] (2017-08-26 21:10:09.070) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.070) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.073) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.073) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.100) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.100) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.101) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097067,-0.341158,0.358375 rpy=0.021822,-0.021811,2.751981 [DEBUG] (2017-08-26 21:10:09.105) Camera.cpp:100::takeImage() Time capturing image = 0.034806s [DEBUG] (2017-08-26 21:10:09.113) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.114) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.117) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.096119 s, keypoints extracted = 5 (mask empty=0) [DEBUG] (2017-08-26 21:10:09.117) Memory.cpp:3409::createSignature() time keypoints (5) = 0.128222s [DEBUG] (2017-08-26 21:10:09.125) Camera.cpp:100::takeImage() Time capturing image = 0.011398s [DEBUG] (2017-08-26 21:10:09.126) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.126) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.131) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 5, remaining kpts=5 [DEBUG] (2017-08-26 21:10:09.131) Memory.cpp:3414::createSignature() time descriptors (5) = 0.014341s [DEBUG] (2017-08-26 21:10:09.131) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=17 [DEBUG] (2017-08-26 21:10:09.131) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:09.131) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:09.131) Memory.cpp:3603::createSignature() id 20 is a bad signature [DEBUG] (2017-08-26 21:10:09.131) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:09.137) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.137) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.141) Camera.cpp:100::takeImage() Time capturing image = 0.012119s [DEBUG] (2017-08-26 21:10:09.142) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.142) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.149) Memory.cpp:3897::createSignature() time compressing data (id=20) 0.018160s [DEBUG] (2017-08-26 21:10:09.149) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:09.149) Memory.cpp:626::update() time creating signature=160.916092 ms [DEBUG] (2017-08-26 21:10:09.149) Memory.cpp:711::addSignatureToStm() adding 20 [DEBUG] (2017-08-26 21:10:09.149) Signature.cpp:121::addLink() Add link 20 to 19 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:09.149) Signature.cpp:121::addLink() Add link 19 to 20 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:09.149) Memory.cpp:739::addSignatureToStm() Min STM id = 8 [DEBUG] (2017-08-26 21:10:09.149) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 20 [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:781::addSignatureToStm() time = 0.000165s [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:647::update() time rehearsal=0.216007 ms [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 8 from STM in WM... [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:700::update() totalTimer = 0.161225s [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1002::process() Processing signature 20 w=0 [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.161350s [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:1158::process() Added pose xyz=0.083869,-0.049727,0.243170 rpy=-0.176917,-0.456454,0.477778 (odom=xyz=0.083869,-0.049727,0.243170 rpy=-0.176917,-0.456454,0.477778) [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000106s [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:09.150) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000039s, joining (actual overhead) = 0.000060s [DEBUG] (2017-08-26 21:10:09.150) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.018404 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:09.150) Graph.cpp:1661::getNodesInRadius() found nodes=16 [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1721::process() near nodes=16, max local immunized=2, ratio=0.250000 WM=8 [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1807::process() timeReactivations=0.000388s [ INFO] (2017-08-26 21:10:09.150) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000021s [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:1899::process() nearestIds=17/17 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:1908::process() nearestPoses=7 [DEBUG] (2017-08-26 21:10:09.150) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.018404 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:2999::getPaths() 4 <- 1 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:2999::getPaths() 4 <- 3 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:2999::getPaths() 4 <- 4 [DEBUG] (2017-08-26 21:10:09.150) Rtabmap.cpp:2999::getPaths() 4 <- 5 [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:2999::getPaths() 4 <- 6 [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:2999::getPaths() 4 <- 7 [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:2999::getPaths() 4 <- 8 [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:09.151) Graph.cpp:1731::getPosesInRadius() found nodes=4 [DEBUG] (2017-08-26 21:10:09.151) Graph.cpp:1606::findNearestNode() Nearest node = 4: 0.018404 [DEBUG] (2017-08-26 21:10:09.151) SensorData.cpp:557::uncompressData() 4 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:09.151) SensorData.cpp:557::uncompressData() 20 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000705s [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2430::process() Time creating stats = 0.000149... [DEBUG] (2017-08-26 21:10:09.151) Memory.cpp:2187::removeRawData() id=20 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:09.151) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000123s... 0 signatures removed [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2500::process() Total time processing = 0.162944s... [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000039... [ INFO] (2017-08-26 21:10:09.151) Rtabmap.cpp:2624::process() Adding data 20 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:09.151) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:09.152) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:09.152) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 20 [DEBUG] (2017-08-26 21:10:09.153) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000865s [DEBUG] (2017-08-26 21:10:09.153) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:09.153) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:09.153) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:09.153) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000093s... [DEBUG] (2017-08-26 21:10:09.153) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:09.153) Camera.cpp:100::takeImage() Time capturing image = 0.011691s [DEBUG] (2017-08-26 21:10:09.153) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:09.153) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.154) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:09.154) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:09.154) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.169) Camera.cpp:100::takeImage() Time capturing image = 0.015586s [DEBUG] (2017-08-26 21:10:09.169) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.169) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.178) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.178) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.184) Camera.cpp:100::takeImage() Time capturing image = 0.014907s [DEBUG] (2017-08-26 21:10:09.184) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.184) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.201) Camera.cpp:100::takeImage() Time capturing image = 0.016549s [DEBUG] (2017-08-26 21:10:09.201) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.201) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.214) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.214) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.216) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097076,-0.340940,0.358364 rpy=0.021791,-0.022762,2.754452 [DEBUG] (2017-08-26 21:10:09.218) Camera.cpp:100::takeImage() Time capturing image = 0.017239s [DEBUG] (2017-08-26 21:10:09.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.219) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.234) Camera.cpp:100::takeImage() Time capturing image = 0.015812s [DEBUG] (2017-08-26 21:10:09.235) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.251) Camera.cpp:100::takeImage() Time capturing image = 0.016100s [DEBUG] (2017-08-26 21:10:09.251) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.251) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.251) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.251) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.253) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097372,-0.340347,0.358404 rpy=0.023562,-0.023646,2.755761 [DEBUG] (2017-08-26 21:10:09.267) Camera.cpp:100::takeImage() Time capturing image = 0.016489s [DEBUG] (2017-08-26 21:10:09.267) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.268) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.284) Camera.cpp:100::takeImage() Time capturing image = 0.016507s [DEBUG] (2017-08-26 21:10:09.284) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.284) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.288) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.289) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.304) Camera.cpp:100::takeImage() Time capturing image = 0.019583s [DEBUG] (2017-08-26 21:10:09.304) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.304) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.318) Camera.cpp:100::takeImage() Time capturing image = 0.014086s [DEBUG] (2017-08-26 21:10:09.318) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.318) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.329) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.329) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.330) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097626,-0.339465,0.358353 rpy=0.026039,-0.024341,2.758871 [DEBUG] (2017-08-26 21:10:09.338) Camera.cpp:100::takeImage() Time capturing image = 0.019339s [DEBUG] (2017-08-26 21:10:09.338) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.338) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.351) Camera.cpp:100::takeImage() Time capturing image = 0.013705s [DEBUG] (2017-08-26 21:10:09.352) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.352) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.358) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.358) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.368) Camera.cpp:100::takeImage() Time capturing image = 0.015886s [DEBUG] (2017-08-26 21:10:09.368) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.368) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.380) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.381) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.384) Camera.cpp:100::takeImage() Time capturing image = 0.016446s [DEBUG] (2017-08-26 21:10:09.385) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.385) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.404) Camera.cpp:100::takeImage() Time capturing image = 0.018885s [DEBUG] (2017-08-26 21:10:09.404) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.404) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.404) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.404) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.405) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097914,-0.339178,0.358322 rpy=0.027051,-0.025594,2.762084 [DEBUG] (2017-08-26 21:10:09.417) Camera.cpp:100::takeImage() Time capturing image = 0.013076s [DEBUG] (2017-08-26 21:10:09.417) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.418) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.430) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.430) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.431) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098407,-0.338964,0.358307 rpy=0.026534,-0.027791,2.764711 [DEBUG] (2017-08-26 21:10:09.434) Camera.cpp:100::takeImage() Time capturing image = 0.016783s [DEBUG] (2017-08-26 21:10:09.434) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.434) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.450) Camera.cpp:100::takeImage() Time capturing image = 0.016113s [DEBUG] (2017-08-26 21:10:09.451) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.451) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.457) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.458) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.468) Camera.cpp:100::takeImage() Time capturing image = 0.017160s [DEBUG] (2017-08-26 21:10:09.468) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.468) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.481) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.481) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.484) Camera.cpp:100::takeImage() Time capturing image = 0.015778s [DEBUG] (2017-08-26 21:10:09.484) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.484) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.501) Camera.cpp:100::takeImage() Time capturing image = 0.016902s [DEBUG] (2017-08-26 21:10:09.501) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.501) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.503) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.503) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.504) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098824,-0.338613,0.358553 rpy=0.025911,-0.029965,2.768671 [DEBUG] (2017-08-26 21:10:09.517) Camera.cpp:100::takeImage() Time capturing image = 0.016071s [DEBUG] (2017-08-26 21:10:09.517) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.517) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.529) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.529) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.530) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099295,-0.338281,0.358826 rpy=0.026253,-0.031387,2.773817 [DEBUG] (2017-08-26 21:10:09.534) Camera.cpp:100::takeImage() Time capturing image = 0.016795s [DEBUG] (2017-08-26 21:10:09.534) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.534) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.550) Camera.cpp:100::takeImage() Time capturing image = 0.016197s [DEBUG] (2017-08-26 21:10:09.551) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.551) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.556) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.556) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.568) Camera.cpp:100::takeImage() Time capturing image = 0.017035s [DEBUG] (2017-08-26 21:10:09.568) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.568) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.579) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.579) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.580) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099869,-0.337802,0.359049 rpy=0.027449,-0.032564,2.777919 [DEBUG] (2017-08-26 21:10:09.584) Camera.cpp:100::takeImage() Time capturing image = 0.015661s [DEBUG] (2017-08-26 21:10:09.584) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.584) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.600) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.600) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.601) Camera.cpp:100::takeImage() Time capturing image = 0.016943s [DEBUG] (2017-08-26 21:10:09.601) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.601) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.617) Camera.cpp:100::takeImage() Time capturing image = 0.015961s [DEBUG] (2017-08-26 21:10:09.617) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.617) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.620) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.620) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.621) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100567,-0.337592,0.359214 rpy=0.028190,-0.034171,2.783369 [DEBUG] (2017-08-26 21:10:09.634) Camera.cpp:100::takeImage() Time capturing image = 0.017218s [DEBUG] (2017-08-26 21:10:09.634) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.634) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.649) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.649) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.651) Camera.cpp:100::takeImage() Time capturing image = 0.016641s [DEBUG] (2017-08-26 21:10:09.651) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.652) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.668) Camera.cpp:100::takeImage() Time capturing image = 0.016680s [DEBUG] (2017-08-26 21:10:09.668) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.668) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.672) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.672) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.684) Camera.cpp:100::takeImage() Time capturing image = 0.015247s [DEBUG] (2017-08-26 21:10:09.684) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.684) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.697) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.697) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.698) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101508,-0.337623,0.359229 rpy=0.027654,-0.036836,2.789768 [DEBUG] (2017-08-26 21:10:09.701) Camera.cpp:100::takeImage() Time capturing image = 0.017631s [DEBUG] (2017-08-26 21:10:09.702) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.702) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.717) Camera.cpp:100::takeImage() Time capturing image = 0.015314s [DEBUG] (2017-08-26 21:10:09.717) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.717) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.725) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.725) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.733) Camera.cpp:100::takeImage() Time capturing image = 0.016379s [DEBUG] (2017-08-26 21:10:09.734) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.734) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.750) Camera.cpp:100::takeImage() Time capturing image = 0.016402s [DEBUG] (2017-08-26 21:10:09.750) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.750) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.752) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.753) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.753) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102756,-0.337535,0.359221 rpy=0.026649,-0.040144,2.795534 [DEBUG] (2017-08-26 21:10:09.767) Camera.cpp:100::takeImage() Time capturing image = 0.016489s [DEBUG] (2017-08-26 21:10:09.767) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.767) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.775) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.775) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.783) Camera.cpp:100::takeImage() Time capturing image = 0.016280s [DEBUG] (2017-08-26 21:10:09.783) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.783) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.801) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.801) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.801) Camera.cpp:100::takeImage() Time capturing image = 0.017701s [DEBUG] (2017-08-26 21:10:09.801) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.801) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.802) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104260,-0.337576,0.359256 rpy=0.025885,-0.043849,2.802112 [DEBUG] (2017-08-26 21:10:09.821) Camera.cpp:100::takeImage() Time capturing image = 0.019851s [DEBUG] (2017-08-26 21:10:09.821) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.822) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.829) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.829) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.835) Camera.cpp:100::takeImage() Time capturing image = 0.013257s [DEBUG] (2017-08-26 21:10:09.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.835) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.851) Camera.cpp:100::takeImage() Time capturing image = 0.016343s [DEBUG] (2017-08-26 21:10:09.851) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.851) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.852) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.852) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.853) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105911,-0.337256,0.359187 rpy=0.027025,-0.047156,2.808204 [DEBUG] (2017-08-26 21:10:09.867) Camera.cpp:100::takeImage() Time capturing image = 0.016043s [DEBUG] (2017-08-26 21:10:09.868) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.868) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.877) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.877) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.878) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.107496,-0.336824,0.359040 rpy=0.029206,-0.049884,2.813200 [DEBUG] (2017-08-26 21:10:09.883) Camera.cpp:100::takeImage() Time capturing image = 0.015559s [DEBUG] (2017-08-26 21:10:09.884) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.884) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.900) Camera.cpp:100::takeImage() Time capturing image = 0.016740s [DEBUG] (2017-08-26 21:10:09.901) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.901) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.905) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.905) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.917) Camera.cpp:100::takeImage() Time capturing image = 0.016217s [DEBUG] (2017-08-26 21:10:09.917) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.917) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.928) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.928) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.929) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.109406,-0.336370,0.359032 rpy=0.031281,-0.053484,2.818917 [DEBUG] (2017-08-26 21:10:09.934) Camera.cpp:100::takeImage() Time capturing image = 0.015982s [DEBUG] (2017-08-26 21:10:09.934) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.934) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.950) Camera.cpp:100::takeImage() Time capturing image = 0.016541s [DEBUG] (2017-08-26 21:10:09.950) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.951) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.956) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.956) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.967) Camera.cpp:100::takeImage() Time capturing image = 0.016953s [DEBUG] (2017-08-26 21:10:09.967) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.968) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.983) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:09.983) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:09.984) Camera.cpp:100::takeImage() Time capturing image = 0.016138s [DEBUG] (2017-08-26 21:10:09.984) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:09.984) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:09.984) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.111228,-0.336091,0.359105 rpy=0.032462,-0.057280,2.824235 [DEBUG] (2017-08-26 21:10:10.001) Camera.cpp:100::takeImage() Time capturing image = 0.016842s [DEBUG] (2017-08-26 21:10:10.001) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:10.001) RtabmapThread.cpp:630::addData() Added data 1192 [ INFO] (2017-08-26 21:10:10.001) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:10.001) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:10.001) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:10.001) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:10.001) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:10.002) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:10.002) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:10.002) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:10.002) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=79)... [DEBUG] (2017-08-26 21:10:10.002) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:10.002) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:10.002) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:10.002) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:10.002) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:10.002) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:10.002) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:10.009) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.009) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.017) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:10.017) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:10.018) Camera.cpp:100::takeImage() Time capturing image = 0.017146s [DEBUG] (2017-08-26 21:10:10.018) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.018) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.022) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:10.022) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:10.022) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:10.049) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.049) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.050) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112542,-0.335542,0.359029 rpy=0.033445,-0.059877,2.830220 [DEBUG] (2017-08-26 21:10:10.054) Camera.cpp:100::takeImage() Time capturing image = 0.035606s [DEBUG] (2017-08-26 21:10:10.054) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.054) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.081) Camera.cpp:100::takeImage() Time capturing image = 0.027182s [DEBUG] (2017-08-26 21:10:10.082) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.082) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.096) Camera.cpp:100::takeImage() Time capturing image = 0.014321s [DEBUG] (2017-08-26 21:10:10.097) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.097) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.075151 s, keypoints extracted = 25 (mask empty=0) [DEBUG] (2017-08-26 21:10:10.097) Memory.cpp:3409::createSignature() time keypoints (25) = 0.095543s [DEBUG] (2017-08-26 21:10:10.097) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.097) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.097) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.107) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 25, remaining kpts=25 [DEBUG] (2017-08-26 21:10:10.107) Memory.cpp:3414::createSignature() time descriptors (25) = 0.010115s [DEBUG] (2017-08-26 21:10:10.107) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:10.107) Memory.cpp:3427::createSignature() time keypoints 3D (25) = 0.000105s [DEBUG] (2017-08-26 21:10:10.107) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:10.107) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:10.107) Memory.cpp:3539::createSignature() time descriptor and memory update (25 of size=64) = 0.000082s [DEBUG] (2017-08-26 21:10:10.107) VWDictionary.cpp:593::addNewWords() id=21 descriptors=25 [DEBUG] (2017-08-26 21:10:10.108) VWDictionary.cpp:686::addNewWords() newPts.total()=25 [DEBUG] (2017-08-26 21:10:10.108) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000776 s [DEBUG] (2017-08-26 21:10:10.109) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000378 s [DEBUG] (2017-08-26 21:10:10.109) VWDictionary.cpp:874::addNewWords() 3 new words added... [DEBUG] (2017-08-26 21:10:10.109) VWDictionary.cpp:876::addNewWords() 22 duplicated words added (from current image = 1)... [DEBUG] (2017-08-26 21:10:10.109) VWDictionary.cpp:877::addNewWords() total time 0.001216s [DEBUG] (2017-08-26 21:10:10.109) Memory.cpp:3599::createSignature() time addNewWords 0.001284s indexed=79 not=3 [DEBUG] (2017-08-26 21:10:10.109) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:10.115) Camera.cpp:100::takeImage() Time capturing image = 0.018176s [DEBUG] (2017-08-26 21:10:10.115) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.116) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.126) Camera.cpp:100::takeImage() Time capturing image = 0.010387s [DEBUG] (2017-08-26 21:10:10.126) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.126) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.128) Memory.cpp:3897::createSignature() time compressing data (id=21) 0.019454s [DEBUG] (2017-08-26 21:10:10.128) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:10.128) Memory.cpp:626::update() time creating signature=126.789093 ms [DEBUG] (2017-08-26 21:10:10.128) Memory.cpp:711::addSignatureToStm() adding 21 [DEBUG] (2017-08-26 21:10:10.128) Signature.cpp:121::addLink() Add link 21 to 20 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:10.128) Signature.cpp:121::addLink() Add link 20 to 21 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:739::addSignatureToStm() Min STM id = 9 [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:773::addSignatureToStm() 25 words ref for the signature 21 [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:781::addSignatureToStm() time = 0.000168s [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:2813::rehearsal() Comparing with signature (20)... [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:2836::rehearsal() merged=0, sim=0.000000 t=0.000025s [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:647::update() time rehearsal=0.265837 ms [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 9 from STM in WM... [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:700::update() totalTimer = 0.127143s [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:10.129) Rtabmap.cpp:1002::process() Processing signature 21 w=0 [ INFO] (2017-08-26 21:10:10.129) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.127266s [DEBUG] (2017-08-26 21:10:10.129) Rtabmap.cpp:1158::process() Added pose xyz=0.073627,0.008611,0.160980 rpy=-0.010220,-1.032724,-0.204801 (odom=xyz=0.073627,0.008611,0.160980 rpy=-0.010220,-1.032724,-0.204801) [ INFO] (2017-08-26 21:10:10.129) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000112s [ INFO] (2017-08-26 21:10:10.129) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:10.129) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000051 s [DEBUG] (2017-08-26 21:10:10.129) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=9 [DEBUG] (2017-08-26 21:10:10.129) Rtabmap.cpp:3183::adjustLikelihood() values.size=6 [DEBUG] (2017-08-26 21:10:10.129) Rtabmap.cpp:3230::adjustLikelihood() mean=0.418543, stdDev=0.303652, max=0.733782, maxId=1, time=0.000020s [ INFO] (2017-08-26 21:10:10.129) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000191s [ INFO] (2017-08-26 21:10:10.129) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000028s [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000023s [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:495::updatePrediction() From added id 7, 5 neighbors to update. [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:495::updatePrediction() From added id 8, 5 neighbors to update. [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:495::updatePrediction() From added id 9, 5 neighbors to update. [DEBUG] (2017-08-26 21:10:10.129) BayesFilter.cpp:498::updatePrediction() time getting 5 ids to update = 0.000164s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:544::updatePrediction() time updating modified/added 5 ids = 0.000201s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:575::updatePrediction() time copying = 0.000025s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:597::updatePrediction() Modified=5, Added=3, Copied=0 [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000510s, rows=9, cols=9 [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=9, _posterior size=9 [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000084s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:208::computePosterior() sum=2.144571 [DEBUG] (2017-08-26 21:10:10.130) BayesFilter.cpp:216::computePosterior() normalize time=0.000041s [ INFO] (2017-08-26 21:10:10.130) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000758s [ INFO] (2017-08-26 21:10:10.130) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:10.130) Rtabmap.cpp:1373::process() Highest hypothesis=3, value=0.079657, timeHypothesesCreation=0.000044s [DEBUG] (2017-08-26 21:10:10.130) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:10.130) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:10.130) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000093s, joining (actual overhead) = 0.000058s [ INFO] (2017-08-26 21:10:10.130) Rtabmap.cpp:1462::process() Retrieving locations... around id=3 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1483::process() neighbors of 3 in time = 18 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=3 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=1 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=4 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=5 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=6 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=7 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=8 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1514::process() nt=9 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1537::process() neighbors of 3 in space = 18 [ INFO] (2017-08-26 21:10:10.130) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=8, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000265s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:10.130) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.017399 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.130) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Graph.cpp:1661::getNodesInRadius() found nodes=17 [ INFO] (2017-08-26 21:10:10.131) Rtabmap.cpp:1721::process() near nodes=17, max local immunized=2, ratio=0.250000 WM=9 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 3 (0.017399 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 1 (0.032816 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 4 (0.035405 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 5 (0.127619 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 9 (0.152320 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 7 (0.157775 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 6 (0.167534 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1748::process() local node 8 (0.168986 m) immunized=1 [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:10.131) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:10.131) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000018s [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:10.131) Memory.cpp:4120::reactivateSignatures() time = 0.000128s [ INFO] (2017-08-26 21:10:10.131) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000050s) [ INFO] (2017-08-26 21:10:10.131) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000050s [ INFO] (2017-08-26 21:10:10.131) Rtabmap.cpp:1807::process() timeReactivations=0.001180s [ INFO] (2017-08-26 21:10:10.131) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000019s [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1899::process() nearestIds=18/18 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1908::process() nearestPoses=8 [DEBUG] (2017-08-26 21:10:10.131) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.017399 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 1 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 3 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 4 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 5 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 6 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 7 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 8 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:2999::getPaths() 3 <- 9 [DEBUG] (2017-08-26 21:10:10.131) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:10.132) Graph.cpp:1731::getPosesInRadius() found nodes=4 [DEBUG] (2017-08-26 21:10:10.132) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.017399 [DEBUG] (2017-08-26 21:10:10.132) SensorData.cpp:557::uncompressData() 3 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:10.132) SensorData.cpp:557::uncompressData() 21 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:206::computeTransformationImpl() Input(3): from=22 words, 22 3D words, 22 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:217::computeTransformationImpl() Input(21): to=25 words, 25 3D words, 25 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:10.132) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=22 [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=25 [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=22 [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=25 [DEBUG] (2017-08-26 21:10:10.133) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 22 words... [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:10.133) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:10.133) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:10.134) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 3 -> 7 [DEBUG] (2017-08-26 21:10:10.134) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 7 -> 15 [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 22 words... done! [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=22 removed=0) [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:593::addNewWords() id=2 descriptors=25 [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:686::addNewWords() newPts.total()=25 [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000462 s [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000103 s [DEBUG] (2017-08-26 21:10:10.134) VWDictionary.cpp:874::addNewWords() 16 new words added... [DEBUG] (2017-08-26 21:10:10.135) VWDictionary.cpp:876::addNewWords() 9 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:10.135) VWDictionary.cpp:877::addNewWords() total time 0.000697s [DEBUG] (2017-08-26 21:10:10.135) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:10.135) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:10.135) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:10.135) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=22 to2D=20 [DEBUG] (2017-08-26 21:10:10.135) util3d_motion_estimation.cpp:98::estimateMotion3DTo2D() words3A=22 words2B=20 matches=4 words3B=20 [ INFO] (2017-08-26 21:10:10.135) RegistrationVis.cpp:1190::computeTransformationImpl() Not enough inliers 0/20 (matches=4) between 3 and 21 [DEBUG] (2017-08-26 21:10:10.135) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:10.135) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:10.135) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.004101s [ INFO] (2017-08-26 21:10:10.135) Rtabmap.cpp:2307::process() timeMapOptimization=0.000024s [ INFO] (2017-08-26 21:10:10.135) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:10.135) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:10.135) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:10.135) Rtabmap.cpp:2430::process() Time creating stats = 0.000175... [DEBUG] (2017-08-26 21:10:10.135) Memory.cpp:2187::removeRawData() id=21 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:10.136) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:10.136) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000136s... 0 signatures removed [ INFO] (2017-08-26 21:10:10.136) Rtabmap.cpp:2500::process() Total time processing = 0.134085s... [ INFO] (2017-08-26 21:10:10.136) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000039... [ INFO] (2017-08-26 21:10:10.136) Rtabmap.cpp:2624::process() Adding data 21 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:10.136) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:10.136) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:10.136) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:10.136) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 21 [DEBUG] (2017-08-26 21:10:10.136) Camera.cpp:100::takeImage() Time capturing image = 0.010429s [DEBUG] (2017-08-26 21:10:10.136) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.137) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.137) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001062s [DEBUG] (2017-08-26 21:10:10.137) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:10.137) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:10.138) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:10.138) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:10.139) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:10.139) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:10.140) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:10.140) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000152s... [DEBUG] (2017-08-26 21:10:10.146) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.146) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.147) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113494,-0.335278,0.358936 rpy=0.033776,-0.060996,2.837328 [DEBUG] (2017-08-26 21:10:10.151) Camera.cpp:100::takeImage() Time capturing image = 0.014076s [DEBUG] (2017-08-26 21:10:10.151) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.151) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.170) Camera.cpp:100::takeImage() Time capturing image = 0.019230s [DEBUG] (2017-08-26 21:10:10.170) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.170) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.182) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.182) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.183) Camera.cpp:100::takeImage() Time capturing image = 0.012929s [DEBUG] (2017-08-26 21:10:10.183) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.183) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.200) Camera.cpp:100::takeImage() Time capturing image = 0.016376s [DEBUG] (2017-08-26 21:10:10.200) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.200) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.217) Camera.cpp:100::takeImage() Time capturing image = 0.016469s [DEBUG] (2017-08-26 21:10:10.217) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.217) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.219) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.219) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.234) Camera.cpp:100::takeImage() Time capturing image = 0.016838s [DEBUG] (2017-08-26 21:10:10.234) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.234) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.250) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.250) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.250) Camera.cpp:100::takeImage() Time capturing image = 0.016214s [DEBUG] (2017-08-26 21:10:10.250) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.250) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.251) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113733,-0.334954,0.358784 rpy=0.033198,-0.059498,2.844546 [DEBUG] (2017-08-26 21:10:10.268) Camera.cpp:100::takeImage() Time capturing image = 0.017127s [DEBUG] (2017-08-26 21:10:10.268) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.268) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.283) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.283) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.286) Camera.cpp:100::takeImage() Time capturing image = 0.018115s [DEBUG] (2017-08-26 21:10:10.286) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.286) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.313) Camera.cpp:100::takeImage() Time capturing image = 0.026634s [DEBUG] (2017-08-26 21:10:10.313) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.313) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.317) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.317) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.324) Camera.cpp:100::takeImage() Time capturing image = 0.011253s [DEBUG] (2017-08-26 21:10:10.325) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.325) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.336) Camera.cpp:100::takeImage() Time capturing image = 0.011334s [DEBUG] (2017-08-26 21:10:10.336) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.336) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.350) Camera.cpp:100::takeImage() Time capturing image = 0.014149s [DEBUG] (2017-08-26 21:10:10.350) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.351) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.354) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.354) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.355) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113471,-0.334660,0.358496 rpy=0.032283,-0.056272,2.849275 [DEBUG] (2017-08-26 21:10:10.368) Camera.cpp:100::takeImage() Time capturing image = 0.017064s [DEBUG] (2017-08-26 21:10:10.368) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.368) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.383) Camera.cpp:100::takeImage() Time capturing image = 0.015261s [DEBUG] (2017-08-26 21:10:10.383) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.383) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.393) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.393) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.400) Camera.cpp:100::takeImage() Time capturing image = 0.017076s [DEBUG] (2017-08-26 21:10:10.400) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.401) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.417) Camera.cpp:100::takeImage() Time capturing image = 0.016320s [DEBUG] (2017-08-26 21:10:10.417) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.417) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.427) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.427) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.428) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112646,-0.334663,0.358266 rpy=0.029931,-0.051272,2.855124 [DEBUG] (2017-08-26 21:10:10.433) Camera.cpp:100::takeImage() Time capturing image = 0.015881s [DEBUG] (2017-08-26 21:10:10.433) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.433) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.450) Camera.cpp:100::takeImage() Time capturing image = 0.016785s [DEBUG] (2017-08-26 21:10:10.450) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.450) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.456) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:10.456) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:10.456) SensorData.cpp:557::uncompressData() 13 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:10.457) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:10.466) Camera.cpp:100::takeImage() Time capturing image = 0.016404s [DEBUG] (2017-08-26 21:10:10.467) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.467) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.469) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:3838::drawKeypoints() source time = 0.000023 s [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:10.472) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:10.479) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:10.479) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:10.479) MainWindow.cpp:1912::updateMapCloud() posesIn=12 constraints=11 mapIdsIn=12 labelsIn=1 [DEBUG] (2017-08-26 21:10:10.479) MainWindow.cpp:1991::updateMapCloud() Update map with 12 locations [DEBUG] (2017-08-26 21:10:10.480) SensorData.cpp:557::uncompressData() 13 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:10.480) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:10.480) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:10.480) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:10.481) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:10.484) Camera.cpp:100::takeImage() Time capturing image = 0.017197s [DEBUG] (2017-08-26 21:10:10.484) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.488) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.499) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000818s [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:10.501) MainWindow.cpp:1796::processStats() time= 22 ms [DEBUG] (2017-08-26 21:10:10.505) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:10.505) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:10.505) MainWindow.cpp:1874::processStats() Updating GUI time = 0.049000s [DEBUG] (2017-08-26 21:10:10.507) Camera.cpp:100::takeImage() Time capturing image = 0.022772s [DEBUG] (2017-08-26 21:10:10.507) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.507) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.517) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.517) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.518) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.111411,-0.334736,0.358130 rpy=0.027031,-0.044756,2.863098 [DEBUG] (2017-08-26 21:10:10.519) Camera.cpp:100::takeImage() Time capturing image = 0.011363s [DEBUG] (2017-08-26 21:10:10.519) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.519) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.533) Camera.cpp:100::takeImage() Time capturing image = 0.014331s [DEBUG] (2017-08-26 21:10:10.533) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.533) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.545) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.545) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.551) Camera.cpp:100::takeImage() Time capturing image = 0.017455s [DEBUG] (2017-08-26 21:10:10.551) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.551) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.568) Camera.cpp:100::takeImage() Time capturing image = 0.016851s [DEBUG] (2017-08-26 21:10:10.568) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.568) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.570) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.570) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.571) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110199,-0.334772,0.357789 rpy=0.024761,-0.039394,2.868058 [DEBUG] (2017-08-26 21:10:10.584) Camera.cpp:100::takeImage() Time capturing image = 0.015819s [DEBUG] (2017-08-26 21:10:10.584) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.584) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.594) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.594) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.595) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.108855,-0.335018,0.357517 rpy=0.021893,-0.034117,2.874504 [DEBUG] (2017-08-26 21:10:10.601) Camera.cpp:100::takeImage() Time capturing image = 0.017280s [DEBUG] (2017-08-26 21:10:10.602) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.602) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.617) Camera.cpp:100::takeImage() Time capturing image = 0.015290s [DEBUG] (2017-08-26 21:10:10.617) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.617) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.618) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.618) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.633) Camera.cpp:100::takeImage() Time capturing image = 0.015765s [DEBUG] (2017-08-26 21:10:10.633) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.633) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.642) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.642) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.652) Camera.cpp:100::takeImage() Time capturing image = 0.018640s [DEBUG] (2017-08-26 21:10:10.652) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.653) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.663) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.663) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.664) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.107469,-0.335451,0.357279 rpy=0.019273,-0.029608,2.885309 [DEBUG] (2017-08-26 21:10:10.667) Camera.cpp:100::takeImage() Time capturing image = 0.014434s [DEBUG] (2017-08-26 21:10:10.667) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.667) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.683) Camera.cpp:100::takeImage() Time capturing image = 0.015865s [DEBUG] (2017-08-26 21:10:10.683) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.683) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.689) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.689) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.690) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106134,-0.336067,0.357317 rpy=0.017581,-0.026085,2.895849 [DEBUG] (2017-08-26 21:10:10.701) Camera.cpp:100::takeImage() Time capturing image = 0.017823s [DEBUG] (2017-08-26 21:10:10.701) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.701) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.713) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.714) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.718) Camera.cpp:100::takeImage() Time capturing image = 0.016583s [DEBUG] (2017-08-26 21:10:10.718) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.718) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.733) Camera.cpp:100::takeImage() Time capturing image = 0.015699s [DEBUG] (2017-08-26 21:10:10.734) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.734) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.737) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.737) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.738) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104184,-0.336512,0.357177 rpy=0.016198,-0.021181,2.909115 [DEBUG] (2017-08-26 21:10:10.750) Camera.cpp:100::takeImage() Time capturing image = 0.016279s [DEBUG] (2017-08-26 21:10:10.750) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.750) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.763) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.763) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.767) Camera.cpp:100::takeImage() Time capturing image = 0.016306s [DEBUG] (2017-08-26 21:10:10.767) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.767) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.783) Camera.cpp:100::takeImage() Time capturing image = 0.015931s [DEBUG] (2017-08-26 21:10:10.783) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.783) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.786) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.786) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.787) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.101933,-0.337388,0.356959 rpy=0.014393,-0.015171,2.924793 [DEBUG] (2017-08-26 21:10:10.800) Camera.cpp:100::takeImage() Time capturing image = 0.016759s [DEBUG] (2017-08-26 21:10:10.801) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.801) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.810) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.810) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.816) Camera.cpp:100::takeImage() Time capturing image = 0.015760s [DEBUG] (2017-08-26 21:10:10.817) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.817) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.834) Camera.cpp:100::takeImage() Time capturing image = 0.017681s [DEBUG] (2017-08-26 21:10:10.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.835) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.835) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.835) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.852) Camera.cpp:100::takeImage() Time capturing image = 0.016971s [DEBUG] (2017-08-26 21:10:10.852) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.852) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.868) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.868) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.869) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.099747,-0.338143,0.356780 rpy=0.012561,-0.008399,2.938948 [DEBUG] (2017-08-26 21:10:10.869) Camera.cpp:100::takeImage() Time capturing image = 0.017621s [DEBUG] (2017-08-26 21:10:10.870) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.870) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.883) Camera.cpp:100::takeImage() Time capturing image = 0.013709s [DEBUG] (2017-08-26 21:10:10.884) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.884) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.894) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.894) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.906) Camera.cpp:100::takeImage() Time capturing image = 0.022019s [DEBUG] (2017-08-26 21:10:10.906) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.906) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.916) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.916) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.918) Camera.cpp:100::takeImage() Time capturing image = 0.011433s [DEBUG] (2017-08-26 21:10:10.918) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.097695,-0.339130,0.356732 rpy=0.009998,-0.001616,2.949504 [DEBUG] (2017-08-26 21:10:10.918) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.918) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.934) Camera.cpp:100::takeImage() Time capturing image = 0.015639s [DEBUG] (2017-08-26 21:10:10.934) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.934) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.942) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.943) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.950) Camera.cpp:100::takeImage() Time capturing image = 0.015711s [DEBUG] (2017-08-26 21:10:10.950) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.950) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.966) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.966) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.967) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096299,-0.340168,0.356869 rpy=0.005150,0.002466,2.953306 [DEBUG] (2017-08-26 21:10:10.967) Camera.cpp:100::takeImage() Time capturing image = 0.017629s [DEBUG] (2017-08-26 21:10:10.968) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.968) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.985) Camera.cpp:100::takeImage() Time capturing image = 0.017231s [DEBUG] (2017-08-26 21:10:10.985) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:10.985) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:10.992) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:10.992) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:10.999) Camera.cpp:100::takeImage() Time capturing image = 0.014105s [DEBUG] (2017-08-26 21:10:10.999) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.000) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.016) Camera.cpp:100::takeImage() Time capturing image = 0.016622s [DEBUG] (2017-08-26 21:10:11.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.016) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:11.016) RtabmapThread.cpp:630::addData() Added data 1252 [ INFO] (2017-08-26 21:10:11.016) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:11.016) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:11.017) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:11.017) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=82)... [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:11.017) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:11.017) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 3 words... [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 3 words... done! [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=3 removed=0) [DEBUG] (2017-08-26 21:10:11.021) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:11.024) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.024) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.025) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095685,-0.341079,0.357071 rpy=0.000029,0.004022,2.956601 [DEBUG] (2017-08-26 21:10:11.026) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:11.026) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:11.033) Camera.cpp:100::takeImage() Time capturing image = 0.016837s [DEBUG] (2017-08-26 21:10:11.033) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.033) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.035) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:11.035) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:11.041) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:11.041) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:11.041) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:11.066) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.066) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.089) Camera.cpp:100::takeImage() Time capturing image = 0.056310s [DEBUG] (2017-08-26 21:10:11.090) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.090) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.099) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.099) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.100) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.095770,-0.341635,0.357543 rpy=-0.003173,0.004164,2.958169 [DEBUG] (2017-08-26 21:10:11.112) Camera.cpp:100::takeImage() Time capturing image = 0.021873s [DEBUG] (2017-08-26 21:10:11.112) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.112) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.130) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.130) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.131) Camera.cpp:100::takeImage() Time capturing image = 0.019397s [DEBUG] (2017-08-26 21:10:11.131) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.131) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:11.131) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:11.132) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.141) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.099442 s, keypoints extracted = 16 (mask empty=0) [DEBUG] (2017-08-26 21:10:11.141) Memory.cpp:3409::createSignature() time keypoints (16) = 0.123954s [DEBUG] (2017-08-26 21:10:11.146) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 16, remaining kpts=16 [DEBUG] (2017-08-26 21:10:11.146) Memory.cpp:3414::createSignature() time descriptors (16) = 0.005005s [DEBUG] (2017-08-26 21:10:11.146) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:11.146) Memory.cpp:3427::createSignature() time keypoints 3D (16) = 0.000095s [DEBUG] (2017-08-26 21:10:11.146) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:11.146) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:11.146) Memory.cpp:3539::createSignature() time descriptor and memory update (16 of size=64) = 0.000082s [DEBUG] (2017-08-26 21:10:11.146) VWDictionary.cpp:593::addNewWords() id=22 descriptors=16 [DEBUG] (2017-08-26 21:10:11.146) VWDictionary.cpp:686::addNewWords() newPts.total()=16 [DEBUG] (2017-08-26 21:10:11.147) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000521 s [DEBUG] (2017-08-26 21:10:11.147) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000399 s [DEBUG] (2017-08-26 21:10:11.147) VWDictionary.cpp:874::addNewWords() 4 new words added... [DEBUG] (2017-08-26 21:10:11.147) VWDictionary.cpp:876::addNewWords() 12 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:11.147) VWDictionary.cpp:877::addNewWords() total time 0.000986s [DEBUG] (2017-08-26 21:10:11.147) Memory.cpp:3599::createSignature() time addNewWords 0.001054s indexed=82 not=4 [DEBUG] (2017-08-26 21:10:11.147) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:11.149) Camera.cpp:100::takeImage() Time capturing image = 0.017750s [DEBUG] (2017-08-26 21:10:11.149) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.149) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:3897::createSignature() time compressing data (id=22) 0.013633s [DEBUG] (2017-08-26 21:10:11.161) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:626::update() time creating signature=144.026047 ms [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:711::addSignatureToStm() adding 22 [DEBUG] (2017-08-26 21:10:11.161) Signature.cpp:121::addLink() Add link 22 to 21 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:11.161) Signature.cpp:121::addLink() Add link 21 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:739::addSignatureToStm() Min STM id = 10 [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:773::addSignatureToStm() 16 words ref for the signature 22 [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:781::addSignatureToStm() time = 0.000253s [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:2813::rehearsal() Comparing with signature (21)... [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:2836::rehearsal() merged=0, sim=0.240000 t=0.000038s [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:647::update() time rehearsal=0.364780 ms [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 10 from STM in WM... [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:700::update() totalTimer = 0.144481s [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:11.161) Rtabmap.cpp:1002::process() Processing signature 22 w=0 [ INFO] (2017-08-26 21:10:11.161) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.144610s [DEBUG] (2017-08-26 21:10:11.161) Rtabmap.cpp:1158::process() Added pose xyz=0.036352,0.019750,0.070416 rpy=-0.196181,-1.442677,-0.014146 (odom=xyz=0.036352,0.019750,0.070416 rpy=-0.196181,-1.442677,-0.014146) [ INFO] (2017-08-26 21:10:11.161) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000107s [ INFO] (2017-08-26 21:10:11.161) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:11.161) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000045 s [DEBUG] (2017-08-26 21:10:11.161) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=10 [DEBUG] (2017-08-26 21:10:11.162) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:11.162) Rtabmap.cpp:3230::adjustLikelihood() mean=0.342224, stdDev=0.234749, max=0.641475, maxId=1, time=0.000020s [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000186s [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000027s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000062s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:495::updatePrediction() From added id 10, 8 neighbors to update. [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:498::updatePrediction() time getting 8 ids to update = 0.000176s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:544::updatePrediction() time updating modified/added 8 ids = 0.000174s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:575::updatePrediction() time copying = 0.000024s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000022s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:597::updatePrediction() Modified=8, Added=1, Copied=0 [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000534s, rows=10, cols=10 [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=10, _posterior size=10 [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000088s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:208::computePosterior() sum=2.222823 [DEBUG] (2017-08-26 21:10:11.162) BayesFilter.cpp:216::computePosterior() normalize time=0.000039s [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000786s [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.075310, timeHypothesesCreation=0.000046s [DEBUG] (2017-08-26 21:10:11.162) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:11.162) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000152s, joining (actual overhead) = 0.000057s [ INFO] (2017-08-26 21:10:11.162) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:11.162) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:11.162) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:11.163) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=9, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000282s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:11.163) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.006157 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Graph.cpp:1661::getNodesInRadius() found nodes=18 [ INFO] (2017-08-26 21:10:11.163) Rtabmap.cpp:1721::process() near nodes=18, max local immunized=2, ratio=0.250000 WM=10 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 3 (0.006157 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 1 (0.007334 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 4 (0.054903 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 5 (0.184725 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 10 (0.197882 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 9 (0.207117 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 7 (0.218191 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.163) Rtabmap.cpp:1748::process() local node 8 (0.230351 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.164) Rtabmap.cpp:1748::process() local node 6 (0.237865 m) immunized=1 [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:11.164) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:11.164) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000018s [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:11.164) Memory.cpp:4120::reactivateSignatures() time = 0.000255s [ INFO] (2017-08-26 21:10:11.164) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000052s) [ INFO] (2017-08-26 21:10:11.164) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000052s [ INFO] (2017-08-26 21:10:11.164) Rtabmap.cpp:1807::process() timeReactivations=0.001493s [ INFO] (2017-08-26 21:10:11.164) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:10:11.164) Camera.cpp:100::takeImage() Time capturing image = 0.014502s [DEBUG] (2017-08-26 21:10:11.164) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:11.164) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.164) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.165) Rtabmap.cpp:1899::process() nearestIds=19/19 [DEBUG] (2017-08-26 21:10:11.165) Rtabmap.cpp:1908::process() nearestPoses=9 [DEBUG] (2017-08-26 21:10:11.165) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.006157 [DEBUG] (2017-08-26 21:10:11.165) Rtabmap.cpp:2999::getPaths() 3 <- 1 [DEBUG] (2017-08-26 21:10:11.165) Rtabmap.cpp:2999::getPaths() 3 <- 3 [DEBUG] (2017-08-26 21:10:11.165) Rtabmap.cpp:2999::getPaths() 3 <- 4 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:2999::getPaths() 3 <- 5 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:2999::getPaths() 3 <- 6 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:2999::getPaths() 3 <- 7 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:2999::getPaths() 3 <- 8 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:2999::getPaths() 3 <- 9 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:2999::getPaths() 3 <- 10 [DEBUG] (2017-08-26 21:10:11.166) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:11.166) Graph.cpp:1731::getPosesInRadius() found nodes=4 [DEBUG] (2017-08-26 21:10:11.166) Graph.cpp:1606::findNearestNode() Nearest node = 3: 0.006157 [DEBUG] (2017-08-26 21:10:11.166) SensorData.cpp:557::uncompressData() 3 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:11.166) SensorData.cpp:557::uncompressData() 22 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:206::computeTransformationImpl() Input(3): from=22 words, 22 3D words, 22 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:217::computeTransformationImpl() Input(22): to=16 words, 16 3D words, 16 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:11.166) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=22 [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=16 [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=22 [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=16 [DEBUG] (2017-08-26 21:10:11.167) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:11.167) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:11.167) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:11.167) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:11.167) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:11.167) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:11.167) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 22 words... [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:11.168) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:11.168) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 3 -> 7 [DEBUG] (2017-08-26 21:10:11.168) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 7 -> 15 [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 22 words... done! [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=22 removed=0) [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:593::addNewWords() id=2 descriptors=16 [DEBUG] (2017-08-26 21:10:11.168) VWDictionary.cpp:686::addNewWords() newPts.total()=16 [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000420 s [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000101 s [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:874::addNewWords() 7 new words added... [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:876::addNewWords() 9 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:877::addNewWords() total time 0.000584s [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:11.169) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:11.169) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:11.169) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=22 to2D=11 [ INFO] (2017-08-26 21:10:11.169) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=22, new=11, min=20) [DEBUG] (2017-08-26 21:10:11.169) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:11.170) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.005604s [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2307::process() timeMapOptimization=0.000032s [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2430::process() Time creating stats = 0.000192... [DEBUG] (2017-08-26 21:10:11.170) Memory.cpp:2187::removeRawData() id=22 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:11.170) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000222s... 0 signatures removed [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2500::process() Total time processing = 0.153378s... [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000039... [ INFO] (2017-08-26 21:10:11.170) Rtabmap.cpp:2624::process() Adding data 22 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:11.170) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:11.170) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:11.170) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.171) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.171) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:11.171) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 22 [DEBUG] (2017-08-26 21:10:11.172) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096819,-0.341417,0.357852 rpy=-0.002560,0.002779,2.956990 [DEBUG] (2017-08-26 21:10:11.173) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001425s [DEBUG] (2017-08-26 21:10:11.173) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:11.173) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:11.173) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:11.173) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:11.174) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:11.174) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:11.175) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:11.175) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000062s... [DEBUG] (2017-08-26 21:10:11.179) Camera.cpp:100::takeImage() Time capturing image = 0.014493s [DEBUG] (2017-08-26 21:10:11.179) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.180) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.193) Camera.cpp:100::takeImage() Time capturing image = 0.014466s [DEBUG] (2017-08-26 21:10:11.194) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.194) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.200) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.200) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.201) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098396,-0.340717,0.358251 rpy=0.000384,-0.000077,2.957618 [DEBUG] (2017-08-26 21:10:11.208) Camera.cpp:100::takeImage() Time capturing image = 0.014555s [DEBUG] (2017-08-26 21:10:11.208) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.209) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.220) Camera.cpp:100::takeImage() Time capturing image = 0.011979s [DEBUG] (2017-08-26 21:10:11.221) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.221) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.233) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.233) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.235) Camera.cpp:100::takeImage() Time capturing image = 0.013880s [DEBUG] (2017-08-26 21:10:11.235) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.257) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.257) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.262) Camera.cpp:100::takeImage() Time capturing image = 0.026819s [DEBUG] (2017-08-26 21:10:11.262) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.262) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.273) Camera.cpp:100::takeImage() Time capturing image = 0.011531s [DEBUG] (2017-08-26 21:10:11.274) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.274) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.281) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.282) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.283) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100812,-0.339944,0.358588 rpy=0.004392,-0.005931,2.958760 [DEBUG] (2017-08-26 21:10:11.283) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:11.283) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:11.293) Camera.cpp:100::takeImage() Time capturing image = 0.019451s [DEBUG] (2017-08-26 21:10:11.293) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.293) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.308) Camera.cpp:100::takeImage() Time capturing image = 0.014784s [DEBUG] (2017-08-26 21:10:11.308) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.309) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.315) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.315) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.321) Camera.cpp:100::takeImage() Time capturing image = 0.012183s [DEBUG] (2017-08-26 21:10:11.321) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.321) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.333) Camera.cpp:100::takeImage() Time capturing image = 0.011589s [DEBUG] (2017-08-26 21:10:11.333) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.334) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.339) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.339) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.340) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.103480,-0.338974,0.359006 rpy=0.008708,-0.013358,2.956632 [DEBUG] (2017-08-26 21:10:11.350) Camera.cpp:100::takeImage() Time capturing image = 0.016863s [DEBUG] (2017-08-26 21:10:11.351) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.351) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.364) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.364) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.365) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.106033,-0.338150,0.359387 rpy=0.012814,-0.019940,2.952533 [DEBUG] (2017-08-26 21:10:11.369) Camera.cpp:100::takeImage() Time capturing image = 0.018776s [DEBUG] (2017-08-26 21:10:11.369) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.370) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.389) Camera.cpp:100::takeImage() Time capturing image = 0.019956s [DEBUG] (2017-08-26 21:10:11.390) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.390) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.393) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.393) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.401) Camera.cpp:100::takeImage() Time capturing image = 0.011517s [DEBUG] (2017-08-26 21:10:11.401) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.401) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.416) Camera.cpp:100::takeImage() Time capturing image = 0.015033s [DEBUG] (2017-08-26 21:10:11.416) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.417) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.417) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.417) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.418) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:11.418) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:11.433) Camera.cpp:100::takeImage() Time capturing image = 0.016047s [DEBUG] (2017-08-26 21:10:11.433) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.433) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.449) Camera.cpp:100::takeImage() Time capturing image = 0.016546s [DEBUG] (2017-08-26 21:10:11.449) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.450) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.453) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.453) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.454) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.108742,-0.336872,0.359552 rpy=0.016693,-0.026060,2.946430 [DEBUG] (2017-08-26 21:10:11.466) Camera.cpp:100::takeImage() Time capturing image = 0.016799s [DEBUG] (2017-08-26 21:10:11.466) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.467) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.478) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.478) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.486) Camera.cpp:100::takeImage() Time capturing image = 0.019436s [DEBUG] (2017-08-26 21:10:11.486) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.486) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.500) Camera.cpp:100::takeImage() Time capturing image = 0.014251s [DEBUG] (2017-08-26 21:10:11.500) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.501) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.503) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.503) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.504) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.111054,-0.335764,0.359463 rpy=0.019250,-0.030116,2.941056 [DEBUG] (2017-08-26 21:10:11.516) Camera.cpp:100::takeImage() Time capturing image = 0.015265s [DEBUG] (2017-08-26 21:10:11.516) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.516) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.529) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.529) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.533) Camera.cpp:100::takeImage() Time capturing image = 0.016674s [DEBUG] (2017-08-26 21:10:11.533) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.533) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.550) Camera.cpp:100::takeImage() Time capturing image = 0.016785s [DEBUG] (2017-08-26 21:10:11.550) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.550) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.553) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.553) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.554) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112535,-0.334918,0.359068 rpy=0.021087,-0.031538,2.935044 [DEBUG] (2017-08-26 21:10:11.566) Camera.cpp:100::takeImage() Time capturing image = 0.016321s [DEBUG] (2017-08-26 21:10:11.566) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.566) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.578) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.578) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.583) Camera.cpp:100::takeImage() Time capturing image = 0.016475s [DEBUG] (2017-08-26 21:10:11.583) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.583) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.603) Camera.cpp:100::takeImage() Time capturing image = 0.019810s [DEBUG] (2017-08-26 21:10:11.603) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.603) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.608) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.608) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.609) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.113697,-0.334074,0.358720 rpy=0.022759,-0.030730,2.929115 [DEBUG] (2017-08-26 21:10:11.616) Camera.cpp:100::takeImage() Time capturing image = 0.013240s [DEBUG] (2017-08-26 21:10:11.616) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.616) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.631) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.631) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.632) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114504,-0.333248,0.358151 rpy=0.023516,-0.028009,2.921739 [DEBUG] (2017-08-26 21:10:11.633) Camera.cpp:100::takeImage() Time capturing image = 0.016391s [DEBUG] (2017-08-26 21:10:11.633) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.633) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.649) Camera.cpp:100::takeImage() Time capturing image = 0.015338s [DEBUG] (2017-08-26 21:10:11.649) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.649) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.657) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.657) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.666) Camera.cpp:100::takeImage() Time capturing image = 0.016522s [DEBUG] (2017-08-26 21:10:11.666) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.666) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.680) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.680) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.681) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115161,-0.332781,0.357704 rpy=0.022713,-0.025180,2.916804 [DEBUG] (2017-08-26 21:10:11.682) Camera.cpp:100::takeImage() Time capturing image = 0.015624s [DEBUG] (2017-08-26 21:10:11.682) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.682) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.700) Camera.cpp:100::takeImage() Time capturing image = 0.017968s [DEBUG] (2017-08-26 21:10:11.700) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.700) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.708) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.708) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.716) Camera.cpp:100::takeImage() Time capturing image = 0.015653s [DEBUG] (2017-08-26 21:10:11.716) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.716) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.731) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.731) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.732) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115721,-0.332482,0.357423 rpy=0.021767,-0.023348,2.911330 [DEBUG] (2017-08-26 21:10:11.733) Camera.cpp:100::takeImage() Time capturing image = 0.016169s [DEBUG] (2017-08-26 21:10:11.733) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.733) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.751) Camera.cpp:100::takeImage() Time capturing image = 0.017907s [DEBUG] (2017-08-26 21:10:11.751) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.751) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.753) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.753) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.765) Camera.cpp:100::takeImage() Time capturing image = 0.014346s [DEBUG] (2017-08-26 21:10:11.765) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.766) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.779) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.779) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.780) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116521,-0.332127,0.357149 rpy=0.021966,-0.022710,2.904991 [DEBUG] (2017-08-26 21:10:11.782) Camera.cpp:100::takeImage() Time capturing image = 0.016731s [DEBUG] (2017-08-26 21:10:11.783) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.783) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.801) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.801) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.802) Camera.cpp:100::takeImage() Time capturing image = 0.018919s [DEBUG] (2017-08-26 21:10:11.802) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.802) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.816) Camera.cpp:100::takeImage() Time capturing image = 0.014121s [DEBUG] (2017-08-26 21:10:11.816) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.817) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.833) Camera.cpp:100::takeImage() Time capturing image = 0.016187s [DEBUG] (2017-08-26 21:10:11.833) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.833) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.833) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.833) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.848) Camera.cpp:100::takeImage() Time capturing image = 0.015511s [DEBUG] (2017-08-26 21:10:11.849) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.849) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.861) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.861) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.862) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117561,-0.331638,0.357058 rpy=0.024183,-0.023532,2.899798 [DEBUG] (2017-08-26 21:10:11.862) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:11.862) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:11.866) Camera.cpp:100::takeImage() Time capturing image = 0.016988s [DEBUG] (2017-08-26 21:10:11.866) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.866) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.882) Camera.cpp:100::takeImage() Time capturing image = 0.015934s [DEBUG] (2017-08-26 21:10:11.882) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.882) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.899) Camera.cpp:100::takeImage() Time capturing image = 0.017006s [DEBUG] (2017-08-26 21:10:11.899) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.899) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.899) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.899) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.901) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.118605,-0.330858,0.356970 rpy=0.028220,-0.025236,2.894484 [DEBUG] (2017-08-26 21:10:11.915) Camera.cpp:100::takeImage() Time capturing image = 0.016122s [DEBUG] (2017-08-26 21:10:11.915) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.915) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.927) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.927) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.928) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:11.928) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:11.932) Camera.cpp:100::takeImage() Time capturing image = 0.016758s [DEBUG] (2017-08-26 21:10:11.932) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.932) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.948) Camera.cpp:100::takeImage() Time capturing image = 0.016078s [DEBUG] (2017-08-26 21:10:11.948) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.949) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.964) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.964) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.965) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119769,-0.330232,0.356903 rpy=0.032756,-0.028498,2.889256 [DEBUG] (2017-08-26 21:10:11.965) Camera.cpp:100::takeImage() Time capturing image = 0.016884s [DEBUG] (2017-08-26 21:10:11.966) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.966) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.982) Camera.cpp:100::takeImage() Time capturing image = 0.016156s [DEBUG] (2017-08-26 21:10:11.982) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.982) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:11.993) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:11.993) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:11.994) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.120993,-0.329833,0.356787 rpy=0.036339,-0.033665,2.885213 [DEBUG] (2017-08-26 21:10:11.999) Camera.cpp:100::takeImage() Time capturing image = 0.017147s [DEBUG] (2017-08-26 21:10:11.999) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:11.999) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.016) Camera.cpp:100::takeImage() Time capturing image = 0.016342s [DEBUG] (2017-08-26 21:10:12.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.016) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.022) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.022) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.032) Camera.cpp:100::takeImage() Time capturing image = 0.016417s [DEBUG] (2017-08-26 21:10:12.033) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.033) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:12.033) RtabmapThread.cpp:630::addData() Added data 1311 [ INFO] (2017-08-26 21:10:12.033) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:12.033) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:12.033) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:12.033) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:12.033) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:12.033) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:12.033) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:12.033) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:12.033) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 4 words... [ INFO] (2017-08-26 21:10:12.033) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:12.033) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 4 words... done! [DEBUG] (2017-08-26 21:10:12.034) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=4 removed=0) [DEBUG] (2017-08-26 21:10:12.038) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:12.048) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.048) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.049) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:12.049) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:12.050) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.122108,-0.329693,0.356827 rpy=0.038512,-0.038362,2.883813 [DEBUG] (2017-08-26 21:10:12.050) Camera.cpp:100::takeImage() Time capturing image = 0.017849s [DEBUG] (2017-08-26 21:10:12.051) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.051) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.054) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:12.054) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:12.054) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:12.079) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.079) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.080) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.122757,-0.329433,0.356887 rpy=0.041160,-0.041645,2.881733 [DEBUG] (2017-08-26 21:10:12.103) Camera.cpp:100::takeImage() Time capturing image = 0.051603s [DEBUG] (2017-08-26 21:10:12.103) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.105) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.109) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.109) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.131) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:12.132) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:12.132) SensorData.cpp:557::uncompressData() 14 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:12.132) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:12.134) Camera.cpp:100::takeImage() Time capturing image = 0.031164s [DEBUG] (2017-08-26 21:10:12.134) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.134) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.141) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.087253 s, keypoints extracted = 11 (mask empty=0) [DEBUG] (2017-08-26 21:10:12.142) Memory.cpp:3409::createSignature() time keypoints (11) = 0.108375s [DEBUG] (2017-08-26 21:10:12.146) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 11, remaining kpts=11 [DEBUG] (2017-08-26 21:10:12.146) Memory.cpp:3414::createSignature() time descriptors (11) = 0.004511s [DEBUG] (2017-08-26 21:10:12.146) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:12.146) Memory.cpp:3427::createSignature() time keypoints 3D (11) = 0.000099s [DEBUG] (2017-08-26 21:10:12.146) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:12.146) Camera.cpp:100::takeImage() Time capturing image = 0.012226s [DEBUG] (2017-08-26 21:10:12.146) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:12.146) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.146) Memory.cpp:3539::createSignature() time descriptor and memory update (11 of size=64) = 0.000179s [DEBUG] (2017-08-26 21:10:12.146) VWDictionary.cpp:593::addNewWords() id=23 descriptors=11 [DEBUG] (2017-08-26 21:10:12.146) VWDictionary.cpp:686::addNewWords() newPts.total()=11 [DEBUG] (2017-08-26 21:10:12.147) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.147) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000406 s [DEBUG] (2017-08-26 21:10:12.147) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000063 s [DEBUG] (2017-08-26 21:10:12.147) VWDictionary.cpp:874::addNewWords() 0 new words added... [DEBUG] (2017-08-26 21:10:12.147) VWDictionary.cpp:876::addNewWords() 11 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:12.147) VWDictionary.cpp:877::addNewWords() total time 0.000530s [DEBUG] (2017-08-26 21:10:12.147) Memory.cpp:3599::createSignature() time addNewWords 0.000642s indexed=86 not=0 [DEBUG] (2017-08-26 21:10:12.147) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:12.151) MainWindow.cpp:1632::processStats() time= 19 ms [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 9 [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:3838::drawKeypoints() source time = 0.000211 s [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000020 s [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:12.155) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:3897::createSignature() time compressing data (id=23) 0.013465s [DEBUG] (2017-08-26 21:10:12.161) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:626::update() time creating signature=127.481934 ms [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:711::addSignatureToStm() adding 23 [DEBUG] (2017-08-26 21:10:12.161) Signature.cpp:121::addLink() Add link 23 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:12.161) Signature.cpp:121::addLink() Add link 22 to 23 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:739::addSignatureToStm() Min STM id = 11 [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:773::addSignatureToStm() 11 words ref for the signature 23 [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:781::addSignatureToStm() time = 0.000174s [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:2836::rehearsal() merged=0, sim=0.562500 t=0.000038s [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:647::update() time rehearsal=0.285149 ms [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 11 from STM in WM... [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:700::update() totalTimer = 0.127856s [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:12.161) Rtabmap.cpp:1002::process() Processing signature 23 w=0 [ INFO] (2017-08-26 21:10:12.161) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.127977s [DEBUG] (2017-08-26 21:10:12.161) Rtabmap.cpp:1158::process() Added pose xyz=0.028046,0.013486,0.042735 rpy=0.242765,-1.507293,-0.482489 (odom=xyz=0.028046,0.013486,0.042735 rpy=0.242765,-1.507293,-0.482489) [ INFO] (2017-08-26 21:10:12.161) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000104s [ INFO] (2017-08-26 21:10:12.161) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:12.161) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000043 s [DEBUG] (2017-08-26 21:10:12.161) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:12.161) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:12.161) Rtabmap.cpp:3230::adjustLikelihood() mean=0.274994, stdDev=0.220484, max=0.572834, maxId=1, time=0.000020s [ INFO] (2017-08-26 21:10:12.161) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000186s [ INFO] (2017-08-26 21:10:12.161) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:12.161) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:12.161) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:12.161) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000028s [DEBUG] (2017-08-26 21:10:12.161) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000024s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:495::updatePrediction() From added id 11, 9 neighbors to update. [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:498::updatePrediction() time getting 9 ids to update = 0.000089s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:544::updatePrediction() time updating modified/added 9 ids = 0.000194s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:575::updatePrediction() time copying = 0.000025s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:597::updatePrediction() Modified=9, Added=1, Copied=0 [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000513s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000087s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000024s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000022s [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:208::computePosterior() sum=2.052063 [DEBUG] (2017-08-26 21:10:12.162) BayesFilter.cpp:216::computePosterior() normalize time=0.000042s [ INFO] (2017-08-26 21:10:12.162) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000767s [ INFO] (2017-08-26 21:10:12.162) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:12.162) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.080382, timeHypothesesCreation=0.000045s [DEBUG] (2017-08-26 21:10:12.162) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:12.162) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:12.162) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.000062s, joining (actual overhead) = 0.000058s [ INFO] (2017-08-26 21:10:12.162) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1514::process() nt=11 m=9 immunized=1 [DEBUG] (2017-08-26 21:10:12.162) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:12.163) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000299s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:12.163) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003201 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:12.163) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 1 (0.003201 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 3 (0.005774 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 4 (0.062048 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 5 (0.200583 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 10 (0.210901 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 9 (0.220627 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 11 (0.229058 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 7 (0.233545 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 8 (0.245429 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Rtabmap.cpp:1748::process() local node 6 (0.256324 m) immunized=1 [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:12.163) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:12.163) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000018s [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000019s... [DEBUG] (2017-08-26 21:10:12.163) Memory.cpp:4120::reactivateSignatures() time = 0.000129s [ INFO] (2017-08-26 21:10:12.163) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000053s) [ INFO] (2017-08-26 21:10:12.164) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000053s [ INFO] (2017-08-26 21:10:12.164) Rtabmap.cpp:1807::process() timeReactivations=0.001334s [ INFO] (2017-08-26 21:10:12.164) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000019s [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:12.164) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003201 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:12.164) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:12.164) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:12.164) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003201 [DEBUG] (2017-08-26 21:10:12.164) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:12.164) SensorData.cpp:557::uncompressData() 23 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:12.164) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:12.164) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:12.164) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:12.164) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:12.164) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:217::computeTransformationImpl() Input(23): to=11 words, 11 3D words, 11 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=11 [DEBUG] (2017-08-26 21:10:12.165) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:12.166) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=11 [DEBUG] (2017-08-26 21:10:12.166) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:12.166) MainWindow.cpp:1715::processStats() time= 10 ms [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:12.166) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:12.166) MainWindow.cpp:1912::updateMapCloud() posesIn=13 constraints=11 mapIdsIn=13 labelsIn=1 [DEBUG] (2017-08-26 21:10:12.166) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:12.166) MainWindow.cpp:1991::updateMapCloud() Update map with 13 locations [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:593::addNewWords() id=2 descriptors=11 [DEBUG] (2017-08-26 21:10:12.166) VWDictionary.cpp:686::addNewWords() newPts.total()=11 [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000089 s [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000082 s [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:874::addNewWords() 8 new words added... [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:876::addNewWords() 3 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:877::addNewWords() total time 0.000254s [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:12.167) SensorData.cpp:557::uncompressData() 14 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:12.167) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:12.167) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:12.167) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=9 [DEBUG] (2017-08-26 21:10:12.167) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:12.167) util3d.cpp:421::cloudFromDepthRGB() [ INFO] (2017-08-26 21:10:12.167) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=9, min=20) [DEBUG] (2017-08-26 21:10:12.167) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:12.167) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:12.167) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:12.167) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003697s [ INFO] (2017-08-26 21:10:12.167) Rtabmap.cpp:2307::process() timeMapOptimization=0.000024s [ INFO] (2017-08-26 21:10:12.167) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:12.167) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:12.167) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:12.167) Rtabmap.cpp:2430::process() Time creating stats = 0.000174... [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:2187::removeRawData() id=23 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:12.168) Rtabmap.cpp:2476::process() Ignoring location 23 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:2114::deleteLocation() Deleting location 23 [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:1894::moveToTrash() id=23 [DEBUG] (2017-08-26 21:10:12.168) Signature.cpp:160::removeLink() Removed link 23 from 22 [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:3929::disableWordsRef() id=23 [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:3945::disableWordsRef() 11 words total ref removed from signature 23... (total active ref = 338) [DEBUG] (2017-08-26 21:10:12.168) DBDriver.cpp:368::asyncSave() s=23 [ INFO] (2017-08-26 21:10:12.168) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000310s... 1 signatures removed [ INFO] (2017-08-26 21:10:12.168) Rtabmap.cpp:2500::process() Total time processing = 0.134717s... [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:12.168) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:12.168) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:12.168) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:12.168) Rtabmap.cpp:2557::process() Removed 23 from local map [ INFO] (2017-08-26 21:10:12.168) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000354... [DEBUG] (2017-08-26 21:10:12.168) util3d.cpp:585::cloudFromDepthRGB() [ INFO] (2017-08-26 21:10:12.168) Rtabmap.cpp:2624::process() Adding data 23 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:12.168) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:12.168) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:12.169) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:12.169) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 23 [DEBUG] (2017-08-26 21:10:12.171) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001263s [DEBUG] (2017-08-26 21:10:12.171) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:12.171) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:12.171) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:12.171) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:12.171) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:12.171) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:12.171) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:12.171) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:12.172) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000040s [DEBUG] (2017-08-26 21:10:12.172) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:12.172) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:12.172) DBDriverSqlite3.cpp:4240::stepNode() Save node 23 [DEBUG] (2017-08-26 21:10:12.172) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000459s [DEBUG] (2017-08-26 21:10:12.172) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000110s [DEBUG] (2017-08-26 21:10:12.173) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000627s [DEBUG] (2017-08-26 21:10:12.173) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:12.173) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 23 (image=72555 depth=54289) depth2d = 0 [DEBUG] (2017-08-26 21:10:12.174) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000938s [DEBUG] (2017-08-26 21:10:12.174) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000072s [DEBUG] (2017-08-26 21:10:12.174) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.002301... [DEBUG] (2017-08-26 21:10:12.174) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:12.175) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001152s [DEBUG] (2017-08-26 21:10:12.175) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003676s... [DEBUG] (2017-08-26 21:10:12.179) Camera.cpp:100::takeImage() Time capturing image = 0.032622s [DEBUG] (2017-08-26 21:10:12.179) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.181) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.193) Camera.cpp:100::takeImage() Time capturing image = 0.013503s [DEBUG] (2017-08-26 21:10:12.193) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.193) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.194) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:12.195) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000854s [DEBUG] (2017-08-26 21:10:12.195) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:12.196) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:12.196) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:12.196) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:12.196) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:12.196) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:12.196) MainWindow.cpp:1796::processStats() time= 30 ms [DEBUG] (2017-08-26 21:10:12.199) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:12.200) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:12.200) MainWindow.cpp:1874::processStats() Updating GUI time = 0.068000s [DEBUG] (2017-08-26 21:10:12.203) Camera.cpp:100::takeImage() Time capturing image = 0.010614s [DEBUG] (2017-08-26 21:10:12.204) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.204) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.210) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.210) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.211) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.122628,-0.329385,0.356891 rpy=0.043352,-0.042683,2.881573 [DEBUG] (2017-08-26 21:10:12.215) Camera.cpp:100::takeImage() Time capturing image = 0.011398s [DEBUG] (2017-08-26 21:10:12.215) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.215) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.235) Camera.cpp:100::takeImage() Time capturing image = 0.019253s [DEBUG] (2017-08-26 21:10:12.235) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.235) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.237) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.237) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.249) Camera.cpp:100::takeImage() Time capturing image = 0.014080s [DEBUG] (2017-08-26 21:10:12.249) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.249) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.263) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.122022,-0.329468,0.356907 rpy=0.044175,-0.041803,2.882960 [DEBUG] (2017-08-26 21:10:12.265) Camera.cpp:100::takeImage() Time capturing image = 0.016173s [DEBUG] (2017-08-26 21:10:12.266) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.266) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.281) Camera.cpp:100::takeImage() Time capturing image = 0.015718s [DEBUG] (2017-08-26 21:10:12.281) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.282) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.291) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.291) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.298) Camera.cpp:100::takeImage() Time capturing image = 0.016844s [DEBUG] (2017-08-26 21:10:12.298) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.299) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.316) Camera.cpp:100::takeImage() Time capturing image = 0.017272s [DEBUG] (2017-08-26 21:10:12.316) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.316) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.318) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.318) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.319) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.121131,-0.329545,0.356954 rpy=0.044029,-0.039054,2.883190 [DEBUG] (2017-08-26 21:10:12.333) Camera.cpp:100::takeImage() Time capturing image = 0.017169s [DEBUG] (2017-08-26 21:10:12.333) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.333) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.343) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.343) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.349) Camera.cpp:100::takeImage() Time capturing image = 0.015727s [DEBUG] (2017-08-26 21:10:12.349) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.349) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.366) Camera.cpp:100::takeImage() Time capturing image = 0.016798s [DEBUG] (2017-08-26 21:10:12.366) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.366) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.367) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.367) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.368) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119819,-0.330182,0.356988 rpy=0.042297,-0.034650,2.882249 [DEBUG] (2017-08-26 21:10:12.381) Camera.cpp:100::takeImage() Time capturing image = 0.015138s [DEBUG] (2017-08-26 21:10:12.382) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.382) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.394) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.394) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.398) Camera.cpp:100::takeImage() Time capturing image = 0.016621s [DEBUG] (2017-08-26 21:10:12.398) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.398) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.415) Camera.cpp:100::takeImage() Time capturing image = 0.016245s [DEBUG] (2017-08-26 21:10:12.415) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.415) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.422) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.422) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.423) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.118387,-0.330804,0.356973 rpy=0.039851,-0.030649,2.881363 [DEBUG] (2017-08-26 21:10:12.432) Camera.cpp:100::takeImage() Time capturing image = 0.016901s [DEBUG] (2017-08-26 21:10:12.432) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.432) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.449) Camera.cpp:100::takeImage() Time capturing image = 0.016847s [DEBUG] (2017-08-26 21:10:12.449) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.449) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.449) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.450) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.466) Camera.cpp:100::takeImage() Time capturing image = 0.017025s [DEBUG] (2017-08-26 21:10:12.466) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.466) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.472) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.472) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.473) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116796,-0.331512,0.357142 rpy=0.037124,-0.026917,2.880832 [DEBUG] (2017-08-26 21:10:12.481) Camera.cpp:100::takeImage() Time capturing image = 0.015230s [DEBUG] (2017-08-26 21:10:12.481) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.482) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.497) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.497) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.498) Camera.cpp:100::takeImage() Time capturing image = 0.016664s [DEBUG] (2017-08-26 21:10:12.498) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.498) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.515) Camera.cpp:100::takeImage() Time capturing image = 0.016232s [DEBUG] (2017-08-26 21:10:12.515) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.515) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.524) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.524) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.525) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115640,-0.332069,0.357368 rpy=0.035558,-0.024671,2.881103 [DEBUG] (2017-08-26 21:10:12.536) Camera.cpp:100::takeImage() Time capturing image = 0.021056s [DEBUG] (2017-08-26 21:10:12.536) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.537) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.549) Camera.cpp:100::takeImage() Time capturing image = 0.012095s [DEBUG] (2017-08-26 21:10:12.549) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.549) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.551) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.551) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.565) Camera.cpp:100::takeImage() Time capturing image = 0.016313s [DEBUG] (2017-08-26 21:10:12.565) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.565) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.574) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.574) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.575) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114865,-0.332352,0.357715 rpy=0.035023,-0.023803,2.882324 [DEBUG] (2017-08-26 21:10:12.581) Camera.cpp:100::takeImage() Time capturing image = 0.015708s [DEBUG] (2017-08-26 21:10:12.581) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.581) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.598) Camera.cpp:100::takeImage() Time capturing image = 0.016940s [DEBUG] (2017-08-26 21:10:12.598) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.598) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.599) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.599) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.614) Camera.cpp:100::takeImage() Time capturing image = 0.016040s [DEBUG] (2017-08-26 21:10:12.614) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.615) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.626) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.626) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.627) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114699,-0.332505,0.358208 rpy=0.035373,-0.024802,2.883197 [DEBUG] (2017-08-26 21:10:12.635) Camera.cpp:100::takeImage() Time capturing image = 0.020577s [DEBUG] (2017-08-26 21:10:12.635) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.635) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.649) Camera.cpp:100::takeImage() Time capturing image = 0.013833s [DEBUG] (2017-08-26 21:10:12.649) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.649) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.654) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.654) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.667) Camera.cpp:100::takeImage() Time capturing image = 0.017317s [DEBUG] (2017-08-26 21:10:12.667) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.667) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.681) Camera.cpp:100::takeImage() Time capturing image = 0.014407s [DEBUG] (2017-08-26 21:10:12.681) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.681) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.682) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.682) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.700) Camera.cpp:100::takeImage() Time capturing image = 0.018235s [DEBUG] (2017-08-26 21:10:12.700) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.700) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.704) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.704) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.705) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114680,-0.332757,0.358792 rpy=0.036059,-0.026776,2.882702 [DEBUG] (2017-08-26 21:10:12.716) Camera.cpp:100::takeImage() Time capturing image = 0.016185s [DEBUG] (2017-08-26 21:10:12.716) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.716) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.729) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.729) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.732) Camera.cpp:100::takeImage() Time capturing image = 0.016225s [DEBUG] (2017-08-26 21:10:12.733) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.733) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.749) Camera.cpp:100::takeImage() Time capturing image = 0.016297s [DEBUG] (2017-08-26 21:10:12.749) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.749) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.755) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.755) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.756) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114967,-0.332909,0.359431 rpy=0.037213,-0.029164,2.881696 [DEBUG] (2017-08-26 21:10:12.766) Camera.cpp:100::takeImage() Time capturing image = 0.017277s [DEBUG] (2017-08-26 21:10:12.767) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.767) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.782) Camera.cpp:100::takeImage() Time capturing image = 0.015262s [DEBUG] (2017-08-26 21:10:12.782) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.782) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.783) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.783) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.799) Camera.cpp:100::takeImage() Time capturing image = 0.017374s [DEBUG] (2017-08-26 21:10:12.800) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.800) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.806) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.806) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.807) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115266,-0.333025,0.359828 rpy=0.037864,-0.031424,2.880933 [DEBUG] (2017-08-26 21:10:12.815) Camera.cpp:100::takeImage() Time capturing image = 0.015611s [DEBUG] (2017-08-26 21:10:12.815) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.815) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.831) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.832) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.836) Camera.cpp:100::takeImage() Time capturing image = 0.020528s [DEBUG] (2017-08-26 21:10:12.836) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.836) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.848) Camera.cpp:100::takeImage() Time capturing image = 0.011428s [DEBUG] (2017-08-26 21:10:12.848) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.848) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.858) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.858) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.859) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115446,-0.332944,0.359986 rpy=0.038190,-0.032573,2.880245 [DEBUG] (2017-08-26 21:10:12.865) Camera.cpp:100::takeImage() Time capturing image = 0.016557s [DEBUG] (2017-08-26 21:10:12.865) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.865) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.881) Camera.cpp:100::takeImage() Time capturing image = 0.016016s [DEBUG] (2017-08-26 21:10:12.881) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.881) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.886) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.886) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.887) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115674,-0.333142,0.360082 rpy=0.038496,-0.032682,2.879464 [DEBUG] (2017-08-26 21:10:12.899) Camera.cpp:100::takeImage() Time capturing image = 0.017650s [DEBUG] (2017-08-26 21:10:12.899) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.899) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.912) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.912) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.914) Camera.cpp:100::takeImage() Time capturing image = 0.015301s [DEBUG] (2017-08-26 21:10:12.914) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.914) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.934) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.934) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.937) Camera.cpp:100::takeImage() Time capturing image = 0.022459s [DEBUG] (2017-08-26 21:10:12.937) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.937) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.949) Camera.cpp:100::takeImage() Time capturing image = 0.012328s [DEBUG] (2017-08-26 21:10:12.949) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.949) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.959) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.960) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:12.960) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115729,-0.333166,0.360097 rpy=0.039020,-0.032121,2.876938 [DEBUG] (2017-08-26 21:10:12.965) Camera.cpp:100::takeImage() Time capturing image = 0.015567s [DEBUG] (2017-08-26 21:10:12.965) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.965) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.982) Camera.cpp:100::takeImage() Time capturing image = 0.016507s [DEBUG] (2017-08-26 21:10:12.982) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:12.982) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:12.987) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:12.987) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.001) Camera.cpp:100::takeImage() Time capturing image = 0.018669s [DEBUG] (2017-08-26 21:10:13.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.001) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.014) Camera.cpp:100::takeImage() Time capturing image = 0.012955s [DEBUG] (2017-08-26 21:10:13.014) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.014) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.015) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.015) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.016) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115617,-0.332901,0.360162 rpy=0.039386,-0.031127,2.874093 [DEBUG] (2017-08-26 21:10:13.031) Camera.cpp:100::takeImage() Time capturing image = 0.017021s [DEBUG] (2017-08-26 21:10:13.031) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.032) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.038) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.038) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.047) Camera.cpp:100::takeImage() Time capturing image = 0.015907s [DEBUG] (2017-08-26 21:10:13.047) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.048) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:13.048) RtabmapThread.cpp:630::addData() Added data 1369 [ INFO] (2017-08-26 21:10:13.048) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:13.048) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:13.048) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:13.048) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:13.048) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:13.048) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:13.048) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:13.049) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:13.049) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:13.065) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.065) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.066) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115586,-0.332910,0.360209 rpy=0.039527,-0.030224,2.872112 [DEBUG] (2017-08-26 21:10:13.071) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:13.071) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:13.072) Camera.cpp:100::takeImage() Time capturing image = 0.024470s [DEBUG] (2017-08-26 21:10:13.072) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.072) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.078) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:13.078) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:13.078) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:13.086) Camera.cpp:100::takeImage() Time capturing image = 0.014119s [DEBUG] (2017-08-26 21:10:13.086) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.087) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.102) Camera.cpp:100::takeImage() Time capturing image = 0.015219s [DEBUG] (2017-08-26 21:10:13.102) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.102) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.116) Camera.cpp:100::takeImage() Time capturing image = 0.014338s [DEBUG] (2017-08-26 21:10:13.116) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.116) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.120) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.120) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.121) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115544,-0.332782,0.360321 rpy=0.039567,-0.029901,2.869911 [DEBUG] (2017-08-26 21:10:13.148) Camera.cpp:100::takeImage() Time capturing image = 0.031222s [DEBUG] (2017-08-26 21:10:13.148) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.148) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.151) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.073338 s, keypoints extracted = 9 (mask empty=0) [DEBUG] (2017-08-26 21:10:13.152) Memory.cpp:3409::createSignature() time keypoints (9) = 0.103209s [DEBUG] (2017-08-26 21:10:13.158) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 9, remaining kpts=9 [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3414::createSignature() time descriptors (9) = 0.006089s [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3427::createSignature() time keypoints 3D (9) = 0.000100s [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3539::createSignature() time descriptor and memory update (9 of size=64) = 0.000087s [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:593::addNewWords() id=24 descriptors=9 [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:686::addNewWords() newPts.total()=9 [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000329 s [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000070 s [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:874::addNewWords() 1 new words added... [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:876::addNewWords() 8 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:13.158) VWDictionary.cpp:877::addNewWords() total time 0.000461s [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3599::createSignature() time addNewWords 0.000530s indexed=86 not=1 [DEBUG] (2017-08-26 21:10:13.158) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:13.166) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.166) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.166) Camera.cpp:100::takeImage() Time capturing image = 0.018170s [DEBUG] (2017-08-26 21:10:13.166) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.166) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.180) Memory.cpp:3897::createSignature() time compressing data (id=24) 0.022062s [DEBUG] (2017-08-26 21:10:13.180) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:626::update() time creating signature=132.274155 ms [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:711::addSignatureToStm() adding 24 [DEBUG] (2017-08-26 21:10:13.181) Signature.cpp:121::addLink() Add link 24 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:13.181) Signature.cpp:121::addLink() Add link 22 to 24 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:773::addSignatureToStm() 9 words ref for the signature 24 [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:781::addSignatureToStm() time = 0.000166s [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:2836::rehearsal() merged=0, sim=0.437500 t=0.000036s [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:647::update() time rehearsal=0.275850 ms [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:700::update() totalTimer = 0.132614s [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:13.181) Rtabmap.cpp:1002::process() Processing signature 24 w=0 [ INFO] (2017-08-26 21:10:13.181) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.132820s [DEBUG] (2017-08-26 21:10:13.181) Rtabmap.cpp:1158::process() Added pose xyz=0.028972,0.011262,0.037829 rpy=0.211449,-1.506792,-0.446895 (odom=xyz=0.028972,0.011262,0.037829 rpy=0.211449,-1.506792,-0.446895) [ INFO] (2017-08-26 21:10:13.181) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000110s [ INFO] (2017-08-26 21:10:13.181) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:13.181) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000042 s [DEBUG] (2017-08-26 21:10:13.181) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:13.181) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:13.181) Rtabmap.cpp:3230::adjustLikelihood() mean=0.274994, stdDev=0.220484, max=0.572834, maxId=1, time=0.000021s [ INFO] (2017-08-26 21:10:13.181) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000190s [ INFO] (2017-08-26 21:10:13.181) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000031s [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000025s [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000022s [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000021s [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:575::updatePrediction() time copying = 0.000027s [DEBUG] (2017-08-26 21:10:13.181) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000020s [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000195s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000086s [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000022s [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000022s [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:208::computePosterior() sum=2.047974 [DEBUG] (2017-08-26 21:10:13.182) BayesFilter.cpp:216::computePosterior() normalize time=0.000039s [ INFO] (2017-08-26 21:10:13.182) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000442s [ INFO] (2017-08-26 21:10:13.182) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:13.182) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.082998, timeHypothesesCreation=0.000045s [DEBUG] (2017-08-26 21:10:13.182) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:13.182) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:13.182) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003676s, joining (actual overhead) = 0.000055s [ INFO] (2017-08-26 21:10:13.182) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1514::process() nt=11 m=9 immunized=1 [DEBUG] (2017-08-26 21:10:13.182) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:13.182) Camera.cpp:100::takeImage() Time capturing image = 0.016118s [DEBUG] (2017-08-26 21:10:13.182) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.182) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:13.183) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000670s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:13.183) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.002750 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:13.183) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 1 (0.002750 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 3 (0.005990 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 4 (0.063400 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 5 (0.202865 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 10 (0.212313 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 9 (0.222115 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 11 (0.230433 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 7 (0.235326 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 8 (0.246961 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Rtabmap.cpp:1748::process() local node 6 (0.258427 m) immunized=1 [DEBUG] (2017-08-26 21:10:13.183) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:13.183) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:13.183) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:13.183) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:13.183) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:13.183) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000001s [DEBUG] (2017-08-26 21:10:13.184) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000117s [DEBUG] (2017-08-26 21:10:13.184) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000031s... [DEBUG] (2017-08-26 21:10:13.184) Memory.cpp:4120::reactivateSignatures() time = 0.000247s [ INFO] (2017-08-26 21:10:13.184) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000055s) [ INFO] (2017-08-26 21:10:13.184) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000055s [ INFO] (2017-08-26 21:10:13.184) Rtabmap.cpp:1807::process() timeReactivations=0.001850s [ INFO] (2017-08-26 21:10:13.184) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:13.184) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.002750 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:13.184) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:13.185) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:13.185) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:13.185) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:13.185) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:13.185) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.002750 [DEBUG] (2017-08-26 21:10:13.185) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:13.185) SensorData.cpp:557::uncompressData() 24 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:217::computeTransformationImpl() Input(24): to=9 words, 9 3D words, 9 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:13.185) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=9 [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=9 [DEBUG] (2017-08-26 21:10:13.186) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:13.186) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:13.187) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:593::addNewWords() id=2 descriptors=9 [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:686::addNewWords() newPts.total()=9 [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000089 s [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000080 s [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:874::addNewWords() 8 new words added... [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:876::addNewWords() 1 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:877::addNewWords() total time 0.000232s [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:13.187) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:13.187) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:13.187) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=9 [ INFO] (2017-08-26 21:10:13.187) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=9, min=20) [DEBUG] (2017-08-26 21:10:13.187) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:13.188) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003857s [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2307::process() timeMapOptimization=0.000025s [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2430::process() Time creating stats = 0.000180... [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:2187::removeRawData() id=24 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2476::process() Ignoring location 24 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:2114::deleteLocation() Deleting location 24 [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:1894::moveToTrash() id=24 [DEBUG] (2017-08-26 21:10:13.188) Signature.cpp:160::removeLink() Removed link 24 from 22 [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:3929::disableWordsRef() id=24 [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:3945::disableWordsRef() 9 words total ref removed from signature 24... (total active ref = 338) [DEBUG] (2017-08-26 21:10:13.188) DBDriver.cpp:368::asyncSave() s=24 [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000444s... 1 signatures removed [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2500::process() Total time processing = 0.140060s... [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:13.188) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:13.188) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:13.188) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:13.188) Rtabmap.cpp:2557::process() Removed 24 from local map [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000180... [ INFO] (2017-08-26 21:10:13.188) Rtabmap.cpp:2624::process() Adding data 24 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:13.188) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:13.189) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:13.189) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:13.189) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 24 [DEBUG] (2017-08-26 21:10:13.190) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000967s [DEBUG] (2017-08-26 21:10:13.190) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:13.190) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:13.191) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:13.191) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:13.192) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:13.192) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:13.192) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:13.192) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:13.192) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000045s [DEBUG] (2017-08-26 21:10:13.192) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:13.192) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:13.193) DBDriverSqlite3.cpp:4240::stepNode() Save node 24 [DEBUG] (2017-08-26 21:10:13.193) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000414s [DEBUG] (2017-08-26 21:10:13.193) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000070s [DEBUG] (2017-08-26 21:10:13.193) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000608s [DEBUG] (2017-08-26 21:10:13.194) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:13.194) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 24 (image=72382 depth=54787) depth2d = 0 [DEBUG] (2017-08-26 21:10:13.194) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000570s [DEBUG] (2017-08-26 21:10:13.194) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000036s [DEBUG] (2017-08-26 21:10:13.194) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001787... [DEBUG] (2017-08-26 21:10:13.194) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:13.195) Camera.cpp:100::takeImage() Time capturing image = 0.012580s [DEBUG] (2017-08-26 21:10:13.195) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.195) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.197) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.002353s [DEBUG] (2017-08-26 21:10:13.197) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.004423s... [DEBUG] (2017-08-26 21:10:13.198) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.198) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.199) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115643,-0.332610,0.360393 rpy=0.039896,-0.030266,2.867194 [DEBUG] (2017-08-26 21:10:13.207) Camera.cpp:100::takeImage() Time capturing image = 0.011724s [DEBUG] (2017-08-26 21:10:13.207) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.207) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.218) Camera.cpp:100::takeImage() Time capturing image = 0.010751s [DEBUG] (2017-08-26 21:10:13.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.218) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.229) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.229) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.231) Camera.cpp:100::takeImage() Time capturing image = 0.012458s [DEBUG] (2017-08-26 21:10:13.231) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.231) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.247) Camera.cpp:100::takeImage() Time capturing image = 0.016345s [DEBUG] (2017-08-26 21:10:13.247) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.247) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.259) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.259) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.260) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116186,-0.332196,0.360458 rpy=0.040755,-0.031136,2.864949 [DEBUG] (2017-08-26 21:10:13.264) Camera.cpp:100::takeImage() Time capturing image = 0.016764s [DEBUG] (2017-08-26 21:10:13.264) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.264) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.280) Camera.cpp:100::takeImage() Time capturing image = 0.016113s [DEBUG] (2017-08-26 21:10:13.281) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.281) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.288) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.288) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.298) Camera.cpp:100::takeImage() Time capturing image = 0.017424s [DEBUG] (2017-08-26 21:10:13.298) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.298) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.314) Camera.cpp:100::takeImage() Time capturing image = 0.016158s [DEBUG] (2017-08-26 21:10:13.315) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.315) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.316) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.316) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.331) Camera.cpp:100::takeImage() Time capturing image = 0.016771s [DEBUG] (2017-08-26 21:10:13.331) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.332) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.347) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.347) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.348) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116748,-0.332109,0.360467 rpy=0.041558,-0.032506,2.862392 [DEBUG] (2017-08-26 21:10:13.348) Camera.cpp:100::takeImage() Time capturing image = 0.016713s [DEBUG] (2017-08-26 21:10:13.348) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.349) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.364) Camera.cpp:100::takeImage() Time capturing image = 0.015456s [DEBUG] (2017-08-26 21:10:13.364) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.364) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.377) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.377) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.378) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117142,-0.331971,0.360334 rpy=0.042262,-0.033698,2.859900 [DEBUG] (2017-08-26 21:10:13.380) Camera.cpp:100::takeImage() Time capturing image = 0.016306s [DEBUG] (2017-08-26 21:10:13.381) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.381) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.397) Camera.cpp:100::takeImage() Time capturing image = 0.016710s [DEBUG] (2017-08-26 21:10:13.397) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.398) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.405) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.405) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.414) Camera.cpp:100::takeImage() Time capturing image = 0.016241s [DEBUG] (2017-08-26 21:10:13.414) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.414) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.430) Camera.cpp:100::takeImage() Time capturing image = 0.016581s [DEBUG] (2017-08-26 21:10:13.431) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.431) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.433) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.433) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.434) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117356,-0.331869,0.360138 rpy=0.043208,-0.034079,2.858202 [DEBUG] (2017-08-26 21:10:13.447) Camera.cpp:100::takeImage() Time capturing image = 0.016373s [DEBUG] (2017-08-26 21:10:13.447) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.447) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.463) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.463) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.464) Camera.cpp:100::takeImage() Time capturing image = 0.016622s [DEBUG] (2017-08-26 21:10:13.464) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.464) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.480) Camera.cpp:100::takeImage() Time capturing image = 0.016298s [DEBUG] (2017-08-26 21:10:13.480) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.481) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.493) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.493) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.494) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117546,-0.331246,0.359911 rpy=0.045580,-0.033476,2.854982 [DEBUG] (2017-08-26 21:10:13.497) Camera.cpp:100::takeImage() Time capturing image = 0.016816s [DEBUG] (2017-08-26 21:10:13.497) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.498) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.514) Camera.cpp:100::takeImage() Time capturing image = 0.016160s [DEBUG] (2017-08-26 21:10:13.514) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.514) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.523) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.523) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.531) Camera.cpp:100::takeImage() Time capturing image = 0.016755s [DEBUG] (2017-08-26 21:10:13.531) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.531) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.548) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.548) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.549) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117701,-0.330592,0.359679 rpy=0.047741,-0.032431,2.850332 [DEBUG] (2017-08-26 21:10:13.554) Camera.cpp:100::takeImage() Time capturing image = 0.023034s [DEBUG] (2017-08-26 21:10:13.554) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.554) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.566) Camera.cpp:100::takeImage() Time capturing image = 0.011781s [DEBUG] (2017-08-26 21:10:13.566) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.566) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.574) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.574) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.585) Camera.cpp:100::takeImage() Time capturing image = 0.019295s [DEBUG] (2017-08-26 21:10:13.585) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.586) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.597) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.598) Camera.cpp:100::takeImage() Time capturing image = 0.012423s [DEBUG] (2017-08-26 21:10:13.598) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.598) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.617) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.617) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.618) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.117843,-0.330269,0.359493 rpy=0.048266,-0.032053,2.847230 [DEBUG] (2017-08-26 21:10:13.619) Camera.cpp:100::takeImage() Time capturing image = 0.021315s [DEBUG] (2017-08-26 21:10:13.620) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.620) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.631) Camera.cpp:100::takeImage() Time capturing image = 0.011356s [DEBUG] (2017-08-26 21:10:13.631) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.631) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.642) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.642) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.643) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.118259,-0.330115,0.359350 rpy=0.047996,-0.032859,2.844453 [DEBUG] (2017-08-26 21:10:13.647) Camera.cpp:100::takeImage() Time capturing image = 0.015428s [DEBUG] (2017-08-26 21:10:13.647) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.647) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.664) Camera.cpp:100::takeImage() Time capturing image = 0.017437s [DEBUG] (2017-08-26 21:10:13.664) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.665) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.668) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.668) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.681) Camera.cpp:100::takeImage() Time capturing image = 0.016571s [DEBUG] (2017-08-26 21:10:13.681) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.681) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.693) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.693) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.694) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.118735,-0.329851,0.359368 rpy=0.047847,-0.034438,2.840242 [DEBUG] (2017-08-26 21:10:13.697) Camera.cpp:100::takeImage() Time capturing image = 0.015783s [DEBUG] (2017-08-26 21:10:13.697) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.697) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.713) Camera.cpp:100::takeImage() Time capturing image = 0.016197s [DEBUG] (2017-08-26 21:10:13.713) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.714) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.722) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.722) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.730) Camera.cpp:100::takeImage() Time capturing image = 0.016891s [DEBUG] (2017-08-26 21:10:13.730) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.731) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.747) Camera.cpp:100::takeImage() Time capturing image = 0.016309s [DEBUG] (2017-08-26 21:10:13.747) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.747) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.749) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.749) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.750) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119875,-0.329055,0.359442 rpy=0.048618,-0.038388,2.829687 [DEBUG] (2017-08-26 21:10:13.764) Camera.cpp:100::takeImage() Time capturing image = 0.017005s [DEBUG] (2017-08-26 21:10:13.764) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.764) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.773) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.773) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.780) Camera.cpp:100::takeImage() Time capturing image = 0.015791s [DEBUG] (2017-08-26 21:10:13.780) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.780) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.797) Camera.cpp:100::takeImage() Time capturing image = 0.016844s [DEBUG] (2017-08-26 21:10:13.797) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.797) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.798) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.798) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.813) Camera.cpp:100::takeImage() Time capturing image = 0.016169s [DEBUG] (2017-08-26 21:10:13.813) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.814) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.821) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:13.821) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:13.821) SensorData.cpp:557::uncompressData() 15 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:13.822) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:13.830) Camera.cpp:100::takeImage() Time capturing image = 0.016735s [DEBUG] (2017-08-26 21:10:13.830) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.830) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.834) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:3838::drawKeypoints() source time = 0.000019 s [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:13.838) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:13.848) Camera.cpp:100::takeImage() Time capturing image = 0.017254s [DEBUG] (2017-08-26 21:10:13.848) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.848) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.849) MainWindow.cpp:1715::processStats() time= 11 ms [DEBUG] (2017-08-26 21:10:13.849) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:13.849) MainWindow.cpp:1912::updateMapCloud() posesIn=13 constraints=11 mapIdsIn=13 labelsIn=1 [DEBUG] (2017-08-26 21:10:13.849) MainWindow.cpp:1991::updateMapCloud() Update map with 13 locations [DEBUG] (2017-08-26 21:10:13.849) SensorData.cpp:557::uncompressData() 15 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:13.850) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:13.850) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:13.850) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:13.851) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:13.872) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:13.873) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000814s [DEBUG] (2017-08-26 21:10:13.873) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:13.873) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:13.873) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:13.874) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:13.874) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:13.874) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:13.874) MainWindow.cpp:1796::processStats() time= 25 ms [DEBUG] (2017-08-26 21:10:13.874) Camera.cpp:100::takeImage() Time capturing image = 0.026176s [DEBUG] (2017-08-26 21:10:13.874) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.874) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.879) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:13.879) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:13.879) MainWindow.cpp:1874::processStats() Updating GUI time = 0.058000s [DEBUG] (2017-08-26 21:10:13.885) Camera.cpp:100::takeImage() Time capturing image = 0.011016s [DEBUG] (2017-08-26 21:10:13.885) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.886) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.886) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.886) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.887) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.120179,-0.328775,0.359415 rpy=0.048471,-0.039600,2.825260 [DEBUG] (2017-08-26 21:10:13.904) Camera.cpp:100::takeImage() Time capturing image = 0.018408s [DEBUG] (2017-08-26 21:10:13.904) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.904) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.915) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.915) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.916) Camera.cpp:100::takeImage() Time capturing image = 0.011663s [DEBUG] (2017-08-26 21:10:13.916) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.916) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.932) Camera.cpp:100::takeImage() Time capturing image = 0.015837s [DEBUG] (2017-08-26 21:10:13.932) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.932) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.937) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.937) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.938) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.120336,-0.328420,0.359362 rpy=0.047803,-0.039694,2.820054 [DEBUG] (2017-08-26 21:10:13.947) Camera.cpp:100::takeImage() Time capturing image = 0.015807s [DEBUG] (2017-08-26 21:10:13.948) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.948) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.963) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.963) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.965) Camera.cpp:100::takeImage() Time capturing image = 0.017355s [DEBUG] (2017-08-26 21:10:13.965) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.965) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.980) Camera.cpp:100::takeImage() Time capturing image = 0.014715s [DEBUG] (2017-08-26 21:10:13.980) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:13.980) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:13.989) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:13.989) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:13.990) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119959,-0.328174,0.359209 rpy=0.046793,-0.038103,2.815591 [DEBUG] (2017-08-26 21:10:14.001) Camera.cpp:100::takeImage() Time capturing image = 0.020745s [DEBUG] (2017-08-26 21:10:14.001) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.002) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.016) Camera.cpp:100::takeImage() Time capturing image = 0.014605s [DEBUG] (2017-08-26 21:10:14.016) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.017) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.017) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.017) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.034) Camera.cpp:100::takeImage() Time capturing image = 0.017307s [DEBUG] (2017-08-26 21:10:14.034) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.034) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.041) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.041) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.042) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.119270,-0.328221,0.358993 rpy=0.045473,-0.035217,2.811907 [DEBUG] (2017-08-26 21:10:14.047) Camera.cpp:100::takeImage() Time capturing image = 0.013270s [DEBUG] (2017-08-26 21:10:14.047) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.048) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.063) Camera.cpp:100::takeImage() Time capturing image = 0.015885s [DEBUG] (2017-08-26 21:10:14.063) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.064) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:14.064) RtabmapThread.cpp:630::addData() Added data 1430 [ INFO] (2017-08-26 21:10:14.064) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:14.064) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:14.064) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:14.064) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:14.064) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:14.064) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:14.064) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:14.064) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:14.064) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:14.064) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.065) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.083) Camera.cpp:100::takeImage() Time capturing image = 0.019860s [DEBUG] (2017-08-26 21:10:14.083) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.084) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.087) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:14.087) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:14.091) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.091) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.092) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.118315,-0.328196,0.358816 rpy=0.043821,-0.031208,2.807706 [DEBUG] (2017-08-26 21:10:14.099) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:14.099) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:14.099) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:14.100) Camera.cpp:100::takeImage() Time capturing image = 0.016198s [DEBUG] (2017-08-26 21:10:14.100) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.100) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.114) Camera.cpp:100::takeImage() Time capturing image = 0.013369s [DEBUG] (2017-08-26 21:10:14.114) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.114) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.122) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.122) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.130) Camera.cpp:100::takeImage() Time capturing image = 0.016367s [DEBUG] (2017-08-26 21:10:14.130) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.131) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.147) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.147) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.164) Camera.cpp:100::takeImage() Time capturing image = 0.033185s [DEBUG] (2017-08-26 21:10:14.164) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.164) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.176) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.176) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.177) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116990,-0.328057,0.358502 rpy=0.041074,-0.026194,2.803742 [DEBUG] (2017-08-26 21:10:14.178) Camera.cpp:100::takeImage() Time capturing image = 0.014372s [DEBUG] (2017-08-26 21:10:14.178) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.179) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.200) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.100390 s, keypoints extracted = 5 (mask empty=0) [DEBUG] (2017-08-26 21:10:14.200) Memory.cpp:3409::createSignature() time keypoints (5) = 0.135714s [DEBUG] (2017-08-26 21:10:14.205) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 5, remaining kpts=5 [DEBUG] (2017-08-26 21:10:14.205) Memory.cpp:3414::createSignature() time descriptors (5) = 0.005358s [DEBUG] (2017-08-26 21:10:14.205) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:14.205) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:14.206) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:14.206) Memory.cpp:3603::createSignature() id 25 is a bad signature [DEBUG] (2017-08-26 21:10:14.206) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:14.206) Camera.cpp:100::takeImage() Time capturing image = 0.027486s [DEBUG] (2017-08-26 21:10:14.206) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.206) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.209) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.209) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.220) Memory.cpp:3897::createSignature() time compressing data (id=25) 0.015054s [DEBUG] (2017-08-26 21:10:14.220) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:14.221) Camera.cpp:100::takeImage() Time capturing image = 0.014330s [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:626::update() time creating signature=156.419998 ms [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:711::addSignatureToStm() adding 25 [DEBUG] (2017-08-26 21:10:14.221) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.221) Signature.cpp:121::addLink() Add link 25 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:14.221) Signature.cpp:121::addLink() Add link 22 to 25 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 25 [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:781::addSignatureToStm() time = 0.000175s [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:647::update() time rehearsal=0.272989 ms [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:700::update() totalTimer = 0.156784s [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:14.221) Rtabmap.cpp:1002::process() Processing signature 25 w=0 [ INFO] (2017-08-26 21:10:14.221) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.156911s [DEBUG] (2017-08-26 21:10:14.221) Rtabmap.cpp:1158::process() Added pose xyz=0.030693,0.011448,0.037158 rpy=0.219261,-1.507180,-0.453159 (odom=xyz=0.030693,0.011448,0.037158 rpy=0.219261,-1.507180,-0.453159) [ INFO] (2017-08-26 21:10:14.221) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000111s [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:14.221) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:14.221) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.004423s, joining (actual overhead) = 0.000063s [DEBUG] (2017-08-26 21:10:14.221) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.002798 [DEBUG] (2017-08-26 21:10:14.221) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:14.221) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:14.221) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:14.221) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [ INFO] (2017-08-26 21:10:14.222) Rtabmap.cpp:1807::process() timeReactivations=0.000460s [ INFO] (2017-08-26 21:10:14.222) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:14.222) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.002798 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:14.222) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:14.222) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.222) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:14.222) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.002798 [DEBUG] (2017-08-26 21:10:14.223) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:14.223) SensorData.cpp:557::uncompressData() 25 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:14.223) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.001045s [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2430::process() Time creating stats = 0.000156... [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:2187::removeRawData() id=25 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2476::process() Ignoring location 25 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:2114::deleteLocation() Deleting location 25 [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:1894::moveToTrash() id=25 [DEBUG] (2017-08-26 21:10:14.223) Signature.cpp:160::removeLink() Removed link 25 from 22 [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:3929::disableWordsRef() id=25 [DEBUG] (2017-08-26 21:10:14.223) DBDriver.cpp:368::asyncSave() s=25 [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000250s... 1 signatures removed [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2500::process() Total time processing = 0.159061s... [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:14.223) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:14.223) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:14.223) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:14.223) Rtabmap.cpp:2557::process() Removed 25 from local map [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000162... [ INFO] (2017-08-26 21:10:14.223) Rtabmap.cpp:2624::process() Adding data 25 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:14.223) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:14.223) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:14.224) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:14.224) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 25 [DEBUG] (2017-08-26 21:10:14.225) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000894s [DEBUG] (2017-08-26 21:10:14.225) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:14.225) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:14.225) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:14.225) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:14.225) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:14.226) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:14.226) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:14.226) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000039s [DEBUG] (2017-08-26 21:10:14.226) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:4240::stepNode() Save node 25 [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000383s [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000072s [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000136s [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:14.226) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 25 (image=72424 depth=55037) depth2d = 0 [DEBUG] (2017-08-26 21:10:14.227) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000547s [DEBUG] (2017-08-26 21:10:14.227) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000041s [DEBUG] (2017-08-26 21:10:14.227) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001260... [DEBUG] (2017-08-26 21:10:14.227) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:14.228) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001134s [DEBUG] (2017-08-26 21:10:14.228) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.002605s... [DEBUG] (2017-08-26 21:10:14.232) Camera.cpp:100::takeImage() Time capturing image = 0.011332s [DEBUG] (2017-08-26 21:10:14.232) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.232) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.246) Camera.cpp:100::takeImage() Time capturing image = 0.013614s [DEBUG] (2017-08-26 21:10:14.246) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.246) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.263) Camera.cpp:100::takeImage() Time capturing image = 0.017299s [DEBUG] (2017-08-26 21:10:14.263) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.263) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.115555,-0.327970,0.358157 rpy=0.037826,-0.021636,2.800655 [DEBUG] (2017-08-26 21:10:14.263) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.280) Camera.cpp:100::takeImage() Time capturing image = 0.016677s [DEBUG] (2017-08-26 21:10:14.280) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.280) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.296) Camera.cpp:100::takeImage() Time capturing image = 0.015971s [DEBUG] (2017-08-26 21:10:14.296) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.296) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.298) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.298) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.299) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.114166,-0.328061,0.358036 rpy=0.034643,-0.017656,2.797376 [DEBUG] (2017-08-26 21:10:14.312) Camera.cpp:100::takeImage() Time capturing image = 0.016096s [DEBUG] (2017-08-26 21:10:14.313) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.313) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.333) Camera.cpp:100::takeImage() Time capturing image = 0.020027s [DEBUG] (2017-08-26 21:10:14.333) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.333) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.336) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.336) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.346) Camera.cpp:100::takeImage() Time capturing image = 0.012934s [DEBUG] (2017-08-26 21:10:14.346) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.346) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.363) Camera.cpp:100::takeImage() Time capturing image = 0.017063s [DEBUG] (2017-08-26 21:10:14.363) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.363) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.373) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.373) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.374) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.112536,-0.328460,0.357795 rpy=0.030746,-0.013314,2.792716 [DEBUG] (2017-08-26 21:10:14.379) Camera.cpp:100::takeImage() Time capturing image = 0.015947s [DEBUG] (2017-08-26 21:10:14.379) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.379) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.399) Camera.cpp:100::takeImage() Time capturing image = 0.019824s [DEBUG] (2017-08-26 21:10:14.399) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.399) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.411) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.411) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.412) Camera.cpp:100::takeImage() Time capturing image = 0.013205s [DEBUG] (2017-08-26 21:10:14.412) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.413) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.430) Camera.cpp:100::takeImage() Time capturing image = 0.016997s [DEBUG] (2017-08-26 21:10:14.430) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.430) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.446) Camera.cpp:100::takeImage() Time capturing image = 0.015840s [DEBUG] (2017-08-26 21:10:14.446) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.446) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.448) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.448) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.449) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110839,-0.329097,0.357595 rpy=0.026329,-0.008888,2.787691 [DEBUG] (2017-08-26 21:10:14.463) Camera.cpp:100::takeImage() Time capturing image = 0.017021s [DEBUG] (2017-08-26 21:10:14.463) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.463) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.479) Camera.cpp:100::takeImage() Time capturing image = 0.016229s [DEBUG] (2017-08-26 21:10:14.479) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.479) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.485) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.485) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.499) Camera.cpp:100::takeImage() Time capturing image = 0.019773s [DEBUG] (2017-08-26 21:10:14.499) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.499) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.512) Camera.cpp:100::takeImage() Time capturing image = 0.013103s [DEBUG] (2017-08-26 21:10:14.512) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.513) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.520) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.520) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.521) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.109338,-0.329605,0.357380 rpy=0.022479,-0.005126,2.783290 [DEBUG] (2017-08-26 21:10:14.533) Camera.cpp:100::takeImage() Time capturing image = 0.020186s [DEBUG] (2017-08-26 21:10:14.533) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.533) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.545) Camera.cpp:100::takeImage() Time capturing image = 0.012663s [DEBUG] (2017-08-26 21:10:14.546) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.546) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.557) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.557) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.563) Camera.cpp:100::takeImage() Time capturing image = 0.017212s [DEBUG] (2017-08-26 21:10:14.563) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.563) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.579) Camera.cpp:100::takeImage() Time capturing image = 0.015872s [DEBUG] (2017-08-26 21:10:14.579) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.579) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.592) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.592) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.593) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.107506,-0.329790,0.357265 rpy=0.019042,-0.000754,2.777472 [DEBUG] (2017-08-26 21:10:14.597) Camera.cpp:100::takeImage() Time capturing image = 0.018222s [DEBUG] (2017-08-26 21:10:14.597) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.598) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.612) Camera.cpp:100::takeImage() Time capturing image = 0.014768s [DEBUG] (2017-08-26 21:10:14.612) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.612) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.630) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.630) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.630) Camera.cpp:100::takeImage() Time capturing image = 0.018108s [DEBUG] (2017-08-26 21:10:14.631) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.631) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.645) Camera.cpp:100::takeImage() Time capturing image = 0.014767s [DEBUG] (2017-08-26 21:10:14.646) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.646) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.663) Camera.cpp:100::takeImage() Time capturing image = 0.017153s [DEBUG] (2017-08-26 21:10:14.663) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.663) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.665) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.665) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.666) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105620,-0.330094,0.357264 rpy=0.015960,0.003492,2.771702 [DEBUG] (2017-08-26 21:10:14.679) Camera.cpp:100::takeImage() Time capturing image = 0.016081s [DEBUG] (2017-08-26 21:10:14.679) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.679) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.699) Camera.cpp:100::takeImage() Time capturing image = 0.019937s [DEBUG] (2017-08-26 21:10:14.699) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.699) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.704) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.704) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.712) Camera.cpp:100::takeImage() Time capturing image = 0.012863s [DEBUG] (2017-08-26 21:10:14.712) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.712) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.729) Camera.cpp:100::takeImage() Time capturing image = 0.017094s [DEBUG] (2017-08-26 21:10:14.729) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.730) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.740) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.740) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.741) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.104083,-0.330426,0.357248 rpy=0.012824,0.006384,2.765712 [DEBUG] (2017-08-26 21:10:14.745) Camera.cpp:100::takeImage() Time capturing image = 0.015883s [DEBUG] (2017-08-26 21:10:14.745) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.746) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.763) Camera.cpp:100::takeImage() Time capturing image = 0.017153s [DEBUG] (2017-08-26 21:10:14.763) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.763) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.778) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.778) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.779) Camera.cpp:100::takeImage() Time capturing image = 0.016063s [DEBUG] (2017-08-26 21:10:14.779) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.779) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.797) Camera.cpp:100::takeImage() Time capturing image = 0.018004s [DEBUG] (2017-08-26 21:10:14.797) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.797) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.812) Camera.cpp:100::takeImage() Time capturing image = 0.014814s [DEBUG] (2017-08-26 21:10:14.812) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.812) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.815) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.815) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.816) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.102338,-0.330675,0.357201 rpy=0.007990,0.009353,2.756341 [DEBUG] (2017-08-26 21:10:14.832) Camera.cpp:100::takeImage() Time capturing image = 0.019982s [DEBUG] (2017-08-26 21:10:14.832) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.833) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.845) Camera.cpp:100::takeImage() Time capturing image = 0.012871s [DEBUG] (2017-08-26 21:10:14.845) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.846) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.851) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.851) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.863) Camera.cpp:100::takeImage() Time capturing image = 0.017263s [DEBUG] (2017-08-26 21:10:14.863) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.863) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.879) Camera.cpp:100::takeImage() Time capturing image = 0.015890s [DEBUG] (2017-08-26 21:10:14.879) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.879) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.887) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.887) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.888) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100424,-0.330603,0.357063 rpy=0.001793,0.013111,2.743326 [DEBUG] (2017-08-26 21:10:14.899) Camera.cpp:100::takeImage() Time capturing image = 0.020214s [DEBUG] (2017-08-26 21:10:14.899) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.899) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.912) Camera.cpp:100::takeImage() Time capturing image = 0.012821s [DEBUG] (2017-08-26 21:10:14.912) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.912) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.924) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.924) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.929) Camera.cpp:100::takeImage() Time capturing image = 0.016830s [DEBUG] (2017-08-26 21:10:14.929) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.929) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.945) Camera.cpp:100::takeImage() Time capturing image = 0.015920s [DEBUG] (2017-08-26 21:10:14.945) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.945) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.959) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.959) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.963) Camera.cpp:100::takeImage() Time capturing image = 0.017343s [DEBUG] (2017-08-26 21:10:14.963) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.963) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.979) Camera.cpp:100::takeImage() Time capturing image = 0.015802s [DEBUG] (2017-08-26 21:10:14.979) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.979) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:14.995) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:14.996) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:14.997) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.098683,-0.330403,0.356995 rpy=-0.004750,0.017291,2.728064 [DEBUG] (2017-08-26 21:10:14.997) Camera.cpp:100::takeImage() Time capturing image = 0.018492s [DEBUG] (2017-08-26 21:10:14.997) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:14.998) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.012) Camera.cpp:100::takeImage() Time capturing image = 0.014627s [DEBUG] (2017-08-26 21:10:15.012) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.012) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.029) Camera.cpp:100::takeImage() Time capturing image = 0.016864s [DEBUG] (2017-08-26 21:10:15.029) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.030) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.036) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.036) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.037) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096241,-0.330672,0.356741 rpy=-0.013916,0.023610,2.710588 [DEBUG] (2017-08-26 21:10:15.046) Camera.cpp:100::takeImage() Time capturing image = 0.016968s [DEBUG] (2017-08-26 21:10:15.046) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.047) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.063) Camera.cpp:100::takeImage() Time capturing image = 0.016478s [DEBUG] (2017-08-26 21:10:15.063) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.063) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.064) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.064) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.079) Camera.cpp:100::takeImage() Time capturing image = 0.016344s [DEBUG] (2017-08-26 21:10:15.079) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.080) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:15.080) RtabmapThread.cpp:630::addData() Added data 1490 [ INFO] (2017-08-26 21:10:15.080) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:15.080) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:15.080) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:15.080) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:15.080) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:15.080) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:15.081) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:15.081) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:15.081) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:15.098) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.098) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.099) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.093406,-0.330694,0.356230 rpy=-0.023197,0.032476,2.695480 [DEBUG] (2017-08-26 21:10:15.102) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:15.102) Camera.cpp:100::takeImage() Time capturing image = 0.022179s [DEBUG] (2017-08-26 21:10:15.102) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:15.102) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.102) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.108) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:15.108) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:15.108) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:15.134) Camera.cpp:100::takeImage() Time capturing image = 0.032114s [DEBUG] (2017-08-26 21:10:15.144) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.144) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.146) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.146) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.172) Camera.cpp:100::takeImage() Time capturing image = 0.027355s [DEBUG] (2017-08-26 21:10:15.172) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.172) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.178) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.070375 s, keypoints extracted = 8 (mask empty=0) [DEBUG] (2017-08-26 21:10:15.178) Memory.cpp:3409::createSignature() time keypoints (8) = 0.097958s [DEBUG] (2017-08-26 21:10:15.182) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 8, remaining kpts=8 [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3414::createSignature() time descriptors (8) = 0.004191s [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3427::createSignature() time keypoints 3D (8) = 0.000095s [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3539::createSignature() time descriptor and memory update (8 of size=64) = 0.000179s [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:593::addNewWords() id=26 descriptors=8 [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000313 s [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000073 s [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:874::addNewWords() 1 new words added... [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:876::addNewWords() 7 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:15.183) VWDictionary.cpp:877::addNewWords() total time 0.000447s [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3599::createSignature() time addNewWords 0.000522s indexed=86 not=1 [DEBUG] (2017-08-26 21:10:15.183) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:15.184) Camera.cpp:100::takeImage() Time capturing image = 0.011773s [DEBUG] (2017-08-26 21:10:15.184) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.184) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.195) Memory.cpp:3897::createSignature() time compressing data (id=26) 0.011912s [DEBUG] (2017-08-26 21:10:15.195) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:15.195) Memory.cpp:626::update() time creating signature=115.048889 ms [DEBUG] (2017-08-26 21:10:15.195) Memory.cpp:711::addSignatureToStm() adding 26 [DEBUG] (2017-08-26 21:10:15.195) Signature.cpp:121::addLink() Add link 26 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:15.195) Signature.cpp:121::addLink() Add link 22 to 26 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:773::addSignatureToStm() 8 words ref for the signature 26 [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:781::addSignatureToStm() time = 0.000169s [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:2836::rehearsal() merged=0, sim=0.437500 t=0.000037s [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:647::update() time rehearsal=0.279188 ms [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:700::update() totalTimer = 0.115393s [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:15.196) Rtabmap.cpp:1002::process() Processing signature 26 w=0 [ INFO] (2017-08-26 21:10:15.196) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.115516s [DEBUG] (2017-08-26 21:10:15.196) Rtabmap.cpp:1158::process() Added pose xyz=0.031640,0.012413,0.039035 rpy=0.222558,-1.507720,-0.456156 (odom=xyz=0.031640,0.012413,0.039035 rpy=0.222558,-1.507720,-0.456156) [ INFO] (2017-08-26 21:10:15.196) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000140s [ INFO] (2017-08-26 21:10:15.196) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:15.196) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.196) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000047 s [DEBUG] (2017-08-26 21:10:15.196) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:15.196) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:15.196) Rtabmap.cpp:3230::adjustLikelihood() mean=0.274994, stdDev=0.220484, max=0.572834, maxId=1, time=0.000024s [ INFO] (2017-08-26 21:10:15.196) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000324s [ INFO] (2017-08-26 21:10:15.196) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:15.196) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:15.196) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.196) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:15.196) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000098s [DEBUG] (2017-08-26 21:10:15.196) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000027s [DEBUG] (2017-08-26 21:10:15.196) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000024s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000023s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:575::updatePrediction() time copying = 0.000028s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000272s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000091s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:208::computePosterior() sum=2.045161 [DEBUG] (2017-08-26 21:10:15.197) BayesFilter.cpp:216::computePosterior() normalize time=0.000041s [ INFO] (2017-08-26 21:10:15.197) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000629s [ INFO] (2017-08-26 21:10:15.197) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:15.197) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.084036, timeHypothesesCreation=0.000057s [DEBUG] (2017-08-26 21:10:15.197) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:15.197) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:15.197) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.002605s, joining (actual overhead) = 0.000063s [ INFO] (2017-08-26 21:10:15.197) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1514::process() nt=11 m=9 immunized=1 [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:15.197) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:15.197) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000338s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:15.197) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003041 [DEBUG] (2017-08-26 21:10:15.198) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.090415,-0.330180,0.355519 rpy=-0.031089,0.043239,2.679673 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:15.198) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 1 (0.003041 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 3 (0.006262 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 4 (0.063536 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 5 (0.202500 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 10 (0.211972 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 9 (0.221763 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 11 (0.230034 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 7 (0.234821 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 8 (0.246347 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1748::process() local node 6 (0.257481 m) immunized=1 [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:15.198) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:15.198) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000001s [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000019s [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000019s... [DEBUG] (2017-08-26 21:10:15.198) Memory.cpp:4120::reactivateSignatures() time = 0.000135s [ INFO] (2017-08-26 21:10:15.198) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000055s) [ INFO] (2017-08-26 21:10:15.198) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000055s [ INFO] (2017-08-26 21:10:15.198) Rtabmap.cpp:1807::process() timeReactivations=0.001456s [ INFO] (2017-08-26 21:10:15.198) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:10:15.198) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:15.199) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003041 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:15.199) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:15.199) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:15.199) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003041 [DEBUG] (2017-08-26 21:10:15.199) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:15.199) SensorData.cpp:557::uncompressData() 26 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:15.199) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:217::computeTransformationImpl() Input(26): to=8 words, 8 3D words, 8 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:15.200) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=8 [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=8 [DEBUG] (2017-08-26 21:10:15.201) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:15.201) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:593::addNewWords() id=2 descriptors=8 [DEBUG] (2017-08-26 21:10:15.201) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000084 s [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000085 s [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:874::addNewWords() 5 new words added... [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:876::addNewWords() 3 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:877::addNewWords() total time 0.000236s [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:15.202) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:15.202) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:15.202) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=6 [ INFO] (2017-08-26 21:10:15.202) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=6, min=20) [DEBUG] (2017-08-26 21:10:15.202) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:15.202) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:15.202) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003824s [ INFO] (2017-08-26 21:10:15.202) Rtabmap.cpp:2307::process() timeMapOptimization=0.000030s [ INFO] (2017-08-26 21:10:15.202) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:15.202) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:15.202) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:15.202) Rtabmap.cpp:2430::process() Time creating stats = 0.000189... [DEBUG] (2017-08-26 21:10:15.203) Memory.cpp:2187::removeRawData() id=26 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:15.203) Camera.cpp:100::takeImage() Time capturing image = 0.018908s [DEBUG] (2017-08-26 21:10:15.203) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:15.203) Rtabmap.cpp:2476::process() Ignoring location 26 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:15.203) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.203) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.203) Memory.cpp:2114::deleteLocation() Deleting location 26 [DEBUG] (2017-08-26 21:10:15.203) Memory.cpp:1894::moveToTrash() id=26 [DEBUG] (2017-08-26 21:10:15.203) Signature.cpp:160::removeLink() Removed link 26 from 22 [DEBUG] (2017-08-26 21:10:15.204) Memory.cpp:3929::disableWordsRef() id=26 [DEBUG] (2017-08-26 21:10:15.204) Memory.cpp:3945::disableWordsRef() 8 words total ref removed from signature 26... (total active ref = 338) [DEBUG] (2017-08-26 21:10:15.204) DBDriver.cpp:368::asyncSave() s=26 [ INFO] (2017-08-26 21:10:15.204) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.001572s... 1 signatures removed [ INFO] (2017-08-26 21:10:15.204) Rtabmap.cpp:2500::process() Total time processing = 0.123992s... [DEBUG] (2017-08-26 21:10:15.204) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:15.204) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:15.204) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:15.204) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:15.204) Rtabmap.cpp:2557::process() Removed 26 from local map [ INFO] (2017-08-26 21:10:15.204) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000341... [ INFO] (2017-08-26 21:10:15.204) Rtabmap.cpp:2624::process() Adding data 26 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:15.204) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:15.205) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:15.205) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:15.205) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 26 [DEBUG] (2017-08-26 21:10:15.206) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001060s [DEBUG] (2017-08-26 21:10:15.206) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:15.206) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:15.207) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:15.207) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:15.207) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:15.207) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:15.208) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:15.208) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:15.209) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000055s [DEBUG] (2017-08-26 21:10:15.209) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:15.209) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:15.209) DBDriverSqlite3.cpp:4240::stepNode() Save node 26 [DEBUG] (2017-08-26 21:10:15.209) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000466s [DEBUG] (2017-08-26 21:10:15.209) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000109s [DEBUG] (2017-08-26 21:10:15.210) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000513s [DEBUG] (2017-08-26 21:10:15.210) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:15.210) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 26 (image=72669 depth=54650) depth2d = 0 [DEBUG] (2017-08-26 21:10:15.210) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000709s [DEBUG] (2017-08-26 21:10:15.210) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000071s [DEBUG] (2017-08-26 21:10:15.211) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001965... [DEBUG] (2017-08-26 21:10:15.211) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:15.212) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001263s [DEBUG] (2017-08-26 21:10:15.212) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003565s... [DEBUG] (2017-08-26 21:10:15.214) Camera.cpp:100::takeImage() Time capturing image = 0.010776s [DEBUG] (2017-08-26 21:10:15.214) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.214) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.228) Camera.cpp:100::takeImage() Time capturing image = 0.014272s [DEBUG] (2017-08-26 21:10:15.228) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.229) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.241) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.241) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.246) Camera.cpp:100::takeImage() Time capturing image = 0.017552s [DEBUG] (2017-08-26 21:10:15.246) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.246) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.262) Camera.cpp:100::takeImage() Time capturing image = 0.016220s [DEBUG] (2017-08-26 21:10:15.262) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.263) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.274) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.274) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.275) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.087429,-0.329330,0.354702 rpy=-0.038524,0.053879,2.661842 [DEBUG] (2017-08-26 21:10:15.279) Camera.cpp:100::takeImage() Time capturing image = 0.016895s [DEBUG] (2017-08-26 21:10:15.280) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.280) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.296) Camera.cpp:100::takeImage() Time capturing image = 0.015948s [DEBUG] (2017-08-26 21:10:15.296) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.296) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.308) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.308) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.316) Camera.cpp:100::takeImage() Time capturing image = 0.019844s [DEBUG] (2017-08-26 21:10:15.316) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.316) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.329) Camera.cpp:100::takeImage() Time capturing image = 0.013670s [DEBUG] (2017-08-26 21:10:15.329) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.330) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.340) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.340) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.341) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.084468,-0.328431,0.353925 rpy=-0.046662,0.063872,2.643748 [DEBUG] (2017-08-26 21:10:15.346) Camera.cpp:100::takeImage() Time capturing image = 0.016543s [DEBUG] (2017-08-26 21:10:15.346) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.346) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.362) Camera.cpp:100::takeImage() Time capturing image = 0.016014s [DEBUG] (2017-08-26 21:10:15.362) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.363) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.373) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.373) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.382) Camera.cpp:100::takeImage() Time capturing image = 0.019901s [DEBUG] (2017-08-26 21:10:15.382) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.383) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.396) Camera.cpp:100::takeImage() Time capturing image = 0.013506s [DEBUG] (2017-08-26 21:10:15.396) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.396) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.406) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.406) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.413) Camera.cpp:100::takeImage() Time capturing image = 0.016511s [DEBUG] (2017-08-26 21:10:15.413) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.413) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.429) Camera.cpp:100::takeImage() Time capturing image = 0.016001s [DEBUG] (2017-08-26 21:10:15.429) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.429) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.439) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.439) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.440) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.081523,-0.327972,0.353060 rpy=-0.055276,0.072263,2.627125 [DEBUG] (2017-08-26 21:10:15.456) Camera.cpp:100::takeImage() Time capturing image = 0.026967s [DEBUG] (2017-08-26 21:10:15.456) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.456) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.467) Camera.cpp:100::takeImage() Time capturing image = 0.010570s [DEBUG] (2017-08-26 21:10:15.467) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.467) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.474) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.474) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.475) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.079400,-0.328144,0.352457 rpy=-0.061794,0.076992,2.618165 [DEBUG] (2017-08-26 21:10:15.483) Camera.cpp:100::takeImage() Time capturing image = 0.016281s [DEBUG] (2017-08-26 21:10:15.483) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.484) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.497) Camera.cpp:100::takeImage() Time capturing image = 0.013233s [DEBUG] (2017-08-26 21:10:15.497) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.497) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.505) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.506) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.513) Camera.cpp:100::takeImage() Time capturing image = 0.016516s [DEBUG] (2017-08-26 21:10:15.514) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.514) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.530) Camera.cpp:100::takeImage() Time capturing image = 0.016481s [DEBUG] (2017-08-26 21:10:15.531) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.531) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.537) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.537) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.538) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.077720,-0.328385,0.352285 rpy=-0.067653,0.079002,2.610510 [DEBUG] (2017-08-26 21:10:15.547) Camera.cpp:100::takeImage() Time capturing image = 0.016042s [DEBUG] (2017-08-26 21:10:15.547) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.547) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.563) Camera.cpp:100::takeImage() Time capturing image = 0.015643s [DEBUG] (2017-08-26 21:10:15.563) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.563) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.570) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.570) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.579) Camera.cpp:100::takeImage() Time capturing image = 0.016082s [DEBUG] (2017-08-26 21:10:15.579) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.579) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.596) Camera.cpp:100::takeImage() Time capturing image = 0.016326s [DEBUG] (2017-08-26 21:10:15.596) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.596) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.604) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.604) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.605) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076704,-0.328686,0.352474 rpy=-0.072085,0.077766,2.602111 [DEBUG] (2017-08-26 21:10:15.612) Camera.cpp:100::takeImage() Time capturing image = 0.016474s [DEBUG] (2017-08-26 21:10:15.612) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.613) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.629) Camera.cpp:100::takeImage() Time capturing image = 0.016659s [DEBUG] (2017-08-26 21:10:15.629) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.629) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.638) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.638) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.647) Camera.cpp:100::takeImage() Time capturing image = 0.017519s [DEBUG] (2017-08-26 21:10:15.647) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.647) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.662) Camera.cpp:100::takeImage() Time capturing image = 0.015496s [DEBUG] (2017-08-26 21:10:15.662) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.663) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.671) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.671) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.672) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076323,-0.329356,0.352828 rpy=-0.074294,0.074434,2.598939 [DEBUG] (2017-08-26 21:10:15.679) Camera.cpp:100::takeImage() Time capturing image = 0.016297s [DEBUG] (2017-08-26 21:10:15.679) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.679) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.696) Camera.cpp:100::takeImage() Time capturing image = 0.016653s [DEBUG] (2017-08-26 21:10:15.696) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.696) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.705) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.705) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.712) Camera.cpp:100::takeImage() Time capturing image = 0.016138s [DEBUG] (2017-08-26 21:10:15.712) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.712) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.729) Camera.cpp:100::takeImage() Time capturing image = 0.016782s [DEBUG] (2017-08-26 21:10:15.729) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.729) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.738) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.738) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.745) Camera.cpp:100::takeImage() Time capturing image = 0.016492s [DEBUG] (2017-08-26 21:10:15.746) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.746) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.762) Camera.cpp:100::takeImage() Time capturing image = 0.016323s [DEBUG] (2017-08-26 21:10:15.762) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.762) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.771) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.771) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.772) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076184,-0.329692,0.354095 rpy=-0.073564,0.065211,2.591392 [DEBUG] (2017-08-26 21:10:15.779) Camera.cpp:100::takeImage() Time capturing image = 0.016606s [DEBUG] (2017-08-26 21:10:15.779) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.779) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.795) Camera.cpp:100::takeImage() Time capturing image = 0.016621s [DEBUG] (2017-08-26 21:10:15.796) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.796) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.805) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.805) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.812) Camera.cpp:100::takeImage() Time capturing image = 0.016109s [DEBUG] (2017-08-26 21:10:15.812) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.812) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.829) Camera.cpp:100::takeImage() Time capturing image = 0.016722s [DEBUG] (2017-08-26 21:10:15.829) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.829) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.838) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.838) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.839) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076150,-0.329164,0.354669 rpy=-0.071563,0.061334,2.585042 [DEBUG] (2017-08-26 21:10:15.845) Camera.cpp:100::takeImage() Time capturing image = 0.016448s [DEBUG] (2017-08-26 21:10:15.845) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.846) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.862) Camera.cpp:100::takeImage() Time capturing image = 0.016274s [DEBUG] (2017-08-26 21:10:15.862) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.862) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.871) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.871) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.879) Camera.cpp:100::takeImage() Time capturing image = 0.016602s [DEBUG] (2017-08-26 21:10:15.879) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.879) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.895) Camera.cpp:100::takeImage() Time capturing image = 0.016646s [DEBUG] (2017-08-26 21:10:15.895) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.896) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.897) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:15.897) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:15.897) SensorData.cpp:557::uncompressData() 16 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:15.898) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:15.911) MainWindow.cpp:1632::processStats() time= 13 ms [DEBUG] (2017-08-26 21:10:15.912) Camera.cpp:100::takeImage() Time capturing image = 0.016084s [DEBUG] (2017-08-26 21:10:15.912) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.912) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:3838::drawKeypoints() source time = 0.000019 s [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000018 s [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:15.914) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:15.924) MainWindow.cpp:1715::processStats() time= 10 ms [DEBUG] (2017-08-26 21:10:15.924) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:15.924) MainWindow.cpp:1912::updateMapCloud() posesIn=13 constraints=12 mapIdsIn=13 labelsIn=1 [DEBUG] (2017-08-26 21:10:15.924) MainWindow.cpp:1991::updateMapCloud() Update map with 13 locations [DEBUG] (2017-08-26 21:10:15.924) SensorData.cpp:557::uncompressData() 16 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:15.925) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:15.925) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:15.925) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:15.926) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:15.928) Camera.cpp:100::takeImage() Time capturing image = 0.016733s [DEBUG] (2017-08-26 21:10:15.929) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.939) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.948) MainWindow.cpp:2198::updateMapCloud() Hide cloud-1 [DEBUG] (2017-08-26 21:10:15.948) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:15.949) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000995s [DEBUG] (2017-08-26 21:10:15.949) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:15.949) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:15.949) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:15.949) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:15.949) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:15.950) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:15.950) MainWindow.cpp:1796::processStats() time= 26 ms [DEBUG] (2017-08-26 21:10:15.953) Camera.cpp:100::takeImage() Time capturing image = 0.024410s [DEBUG] (2017-08-26 21:10:15.953) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.953) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.955) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:15.955) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:15.955) MainWindow.cpp:1874::processStats() Updating GUI time = 0.058000s [DEBUG] (2017-08-26 21:10:15.963) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.963) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.964) Camera.cpp:100::takeImage() Time capturing image = 0.010865s [DEBUG] (2017-08-26 21:10:15.964) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.964) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.979) Camera.cpp:100::takeImage() Time capturing image = 0.014683s [DEBUG] (2017-08-26 21:10:15.979) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.979) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.995) Camera.cpp:100::takeImage() Time capturing image = 0.016318s [DEBUG] (2017-08-26 21:10:15.996) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:15.996) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:15.997) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:15.997) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:15.998) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.075722,-0.328721,0.355317 rpy=-0.071024,0.057971,2.574370 [DEBUG] (2017-08-26 21:10:16.012) Camera.cpp:100::takeImage() Time capturing image = 0.015966s [DEBUG] (2017-08-26 21:10:16.012) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.012) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.028) Camera.cpp:100::takeImage() Time capturing image = 0.016759s [DEBUG] (2017-08-26 21:10:16.029) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.029) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.031) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.031) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.045) Camera.cpp:100::takeImage() Time capturing image = 0.016571s [DEBUG] (2017-08-26 21:10:16.045) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.046) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.062) Camera.cpp:100::takeImage() Time capturing image = 0.016397s [DEBUG] (2017-08-26 21:10:16.062) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.062) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.064) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.064) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.065) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.075010,-0.327796,0.355637 rpy=-0.071899,0.055618,2.560259 [DEBUG] (2017-08-26 21:10:16.084) Camera.cpp:100::takeImage() Time capturing image = 0.021673s [DEBUG] (2017-08-26 21:10:16.084) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.084) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:16.084) RtabmapThread.cpp:630::addData() Added data 1548 [ INFO] (2017-08-26 21:10:16.084) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:16.084) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:16.085) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:16.085) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:16.085) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:16.085) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:16.085) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:16.085) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:16.085) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:16.097) Camera.cpp:100::takeImage() Time capturing image = 0.013499s [DEBUG] (2017-08-26 21:10:16.097) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.098) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.099) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.099) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.107) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:16.107) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:16.112) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:16.112) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:16.112) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:16.129) Camera.cpp:100::takeImage() Time capturing image = 0.031163s [DEBUG] (2017-08-26 21:10:16.129) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.129) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.137) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.137) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.138) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074136,-0.326543,0.355928 rpy=-0.074296,0.054393,2.541727 [DEBUG] (2017-08-26 21:10:16.169) Camera.cpp:100::takeImage() Time capturing image = 0.040116s [DEBUG] (2017-08-26 21:10:16.172) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.172) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.178) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.178) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.190) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.078498 s, keypoints extracted = 5 (mask empty=0) [DEBUG] (2017-08-26 21:10:16.190) Memory.cpp:3409::createSignature() time keypoints (5) = 0.105371s [DEBUG] (2017-08-26 21:10:16.192) Camera.cpp:100::takeImage() Time capturing image = 0.020287s [DEBUG] (2017-08-26 21:10:16.192) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.193) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.196) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 5, remaining kpts=5 [DEBUG] (2017-08-26 21:10:16.196) Memory.cpp:3414::createSignature() time descriptors (5) = 0.005737s [DEBUG] (2017-08-26 21:10:16.196) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:16.196) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:16.196) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:16.196) Memory.cpp:3603::createSignature() id 27 is a bad signature [DEBUG] (2017-08-26 21:10:16.196) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:16.206) Camera.cpp:100::takeImage() Time capturing image = 0.013143s [DEBUG] (2017-08-26 21:10:16.206) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.206) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.210) Memory.cpp:3897::createSignature() time compressing data (id=27) 0.014297s [DEBUG] (2017-08-26 21:10:16.210) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:16.210) Memory.cpp:626::update() time creating signature=125.609161 ms [DEBUG] (2017-08-26 21:10:16.210) Memory.cpp:711::addSignatureToStm() adding 27 [DEBUG] (2017-08-26 21:10:16.211) Signature.cpp:121::addLink() Add link 27 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:16.211) Signature.cpp:121::addLink() Add link 22 to 27 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 27 [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:781::addSignatureToStm() time = 0.000168s [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:647::update() time rehearsal=0.219822 ms [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:700::update() totalTimer = 0.125895s [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1002::process() Processing signature 27 w=0 [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.126020s [DEBUG] (2017-08-26 21:10:16.211) Rtabmap.cpp:1158::process() Added pose xyz=0.032688,0.013613,0.040149 rpy=0.227748,-1.507873,-0.461594 (odom=xyz=0.032688,0.013613,0.040149 rpy=0.227748,-1.507873,-0.461594) [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000102s [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:16.211) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003565s, joining (actual overhead) = 0.000059s [DEBUG] (2017-08-26 21:10:16.211) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003240 [DEBUG] (2017-08-26 21:10:16.211) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:16.211) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:16.211) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1807::process() timeReactivations=0.000419s [ INFO] (2017-08-26 21:10:16.211) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000021s [DEBUG] (2017-08-26 21:10:16.211) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:16.211) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:16.211) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:16.212) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003240 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:16.212) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:16.212) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003240 [DEBUG] (2017-08-26 21:10:16.212) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:16.212) SensorData.cpp:557::uncompressData() 27 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:16.212) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:16.212) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000884s [ INFO] (2017-08-26 21:10:16.212) Rtabmap.cpp:2307::process() timeMapOptimization=0.000020s [ INFO] (2017-08-26 21:10:16.212) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:16.212) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:16.212) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:16.212) Rtabmap.cpp:2430::process() Time creating stats = 0.000150... [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:2187::removeRawData() id=27 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:16.213) Rtabmap.cpp:2476::process() Ignoring location 27 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:2114::deleteLocation() Deleting location 27 [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:1894::moveToTrash() id=27 [DEBUG] (2017-08-26 21:10:16.213) Signature.cpp:160::removeLink() Removed link 27 from 22 [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:3929::disableWordsRef() id=27 [DEBUG] (2017-08-26 21:10:16.213) DBDriver.cpp:368::asyncSave() s=27 [ INFO] (2017-08-26 21:10:16.213) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000238s... 1 signatures removed [ INFO] (2017-08-26 21:10:16.213) Rtabmap.cpp:2500::process() Total time processing = 0.127934s... [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:16.213) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:16.213) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:16.213) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:16.213) Rtabmap.cpp:2557::process() Removed 27 from local map [ INFO] (2017-08-26 21:10:16.213) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000158... [ INFO] (2017-08-26 21:10:16.213) Rtabmap.cpp:2624::process() Adding data 27 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:16.213) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:16.213) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:16.213) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:16.213) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 27 [DEBUG] (2017-08-26 21:10:16.214) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000917s [DEBUG] (2017-08-26 21:10:16.214) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:16.214) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:16.215) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:16.215) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:16.215) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:16.215) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:16.215) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:16.215) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:16.215) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000037s [DEBUG] (2017-08-26 21:10:16.215) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:16.215) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:16.215) DBDriverSqlite3.cpp:4240::stepNode() Save node 27 [DEBUG] (2017-08-26 21:10:16.216) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000381s [DEBUG] (2017-08-26 21:10:16.216) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000071s [DEBUG] (2017-08-26 21:10:16.216) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000212s [DEBUG] (2017-08-26 21:10:16.216) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:16.216) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 27 (image=72461 depth=54720) depth2d = 0 [DEBUG] (2017-08-26 21:10:16.216) Camera.cpp:100::takeImage() Time capturing image = 0.010645s [DEBUG] (2017-08-26 21:10:16.216) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.217) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.001094s [DEBUG] (2017-08-26 21:10:16.217) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000100s [DEBUG] (2017-08-26 21:10:16.217) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001946... [DEBUG] (2017-08-26 21:10:16.217) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:16.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.219) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.002241s [DEBUG] (2017-08-26 21:10:16.220) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.004460s... [DEBUG] (2017-08-26 21:10:16.224) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.224) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.225) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073136,-0.324603,0.355969 rpy=-0.077449,0.054551,2.520782 [DEBUG] (2017-08-26 21:10:16.229) Camera.cpp:100::takeImage() Time capturing image = 0.012409s [DEBUG] (2017-08-26 21:10:16.229) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.229) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.244) Camera.cpp:100::takeImage() Time capturing image = 0.014909s [DEBUG] (2017-08-26 21:10:16.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.244) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.258) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.258) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.263) Camera.cpp:100::takeImage() Time capturing image = 0.018468s [DEBUG] (2017-08-26 21:10:16.263) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.263) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.282) Camera.cpp:100::takeImage() Time capturing image = 0.018829s [DEBUG] (2017-08-26 21:10:16.282) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.282) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.289) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.289) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.290) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.072231,-0.322671,0.355774 rpy=-0.080837,0.055542,2.499767 [DEBUG] (2017-08-26 21:10:16.296) Camera.cpp:100::takeImage() Time capturing image = 0.014219s [DEBUG] (2017-08-26 21:10:16.296) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.296) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.314) Camera.cpp:100::takeImage() Time capturing image = 0.017287s [DEBUG] (2017-08-26 21:10:16.316) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.316) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.322) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.322) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.331) Camera.cpp:100::takeImage() Time capturing image = 0.015015s [DEBUG] (2017-08-26 21:10:16.332) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.332) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.345) Camera.cpp:100::takeImage() Time capturing image = 0.013333s [DEBUG] (2017-08-26 21:10:16.345) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.345) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.353) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.353) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.354) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071402,-0.320924,0.355261 rpy=-0.085334,0.057435,2.480461 [DEBUG] (2017-08-26 21:10:16.362) Camera.cpp:100::takeImage() Time capturing image = 0.016695s [DEBUG] (2017-08-26 21:10:16.362) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.362) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.378) Camera.cpp:100::takeImage() Time capturing image = 0.015247s [DEBUG] (2017-08-26 21:10:16.378) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.378) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.400) Camera.cpp:100::takeImage() Time capturing image = 0.021810s [DEBUG] (2017-08-26 21:10:16.400) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.400) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.412) Camera.cpp:100::takeImage() Time capturing image = 0.011765s [DEBUG] (2017-08-26 21:10:16.412) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.412) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.414) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.414) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.428) Camera.cpp:100::takeImage() Time capturing image = 0.015928s [DEBUG] (2017-08-26 21:10:16.428) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.428) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.445) Camera.cpp:100::takeImage() Time capturing image = 0.016781s [DEBUG] (2017-08-26 21:10:16.445) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.445) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.445) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.445) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.446) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070372,-0.319327,0.354444 rpy=-0.089757,0.060851,2.465685 [DEBUG] (2017-08-26 21:10:16.461) Camera.cpp:100::takeImage() Time capturing image = 0.016549s [DEBUG] (2017-08-26 21:10:16.462) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.462) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.477) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.478) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.479) Camera.cpp:100::takeImage() Time capturing image = 0.016929s [DEBUG] (2017-08-26 21:10:16.479) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.479) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.494) Camera.cpp:100::takeImage() Time capturing image = 0.015692s [DEBUG] (2017-08-26 21:10:16.495) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.495) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.509) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.509) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.510) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069688,-0.318373,0.353994 rpy=-0.092573,0.063058,2.455103 [DEBUG] (2017-08-26 21:10:16.511) Camera.cpp:100::takeImage() Time capturing image = 0.016740s [DEBUG] (2017-08-26 21:10:16.511) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.512) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.528) Camera.cpp:100::takeImage() Time capturing image = 0.016535s [DEBUG] (2017-08-26 21:10:16.528) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.528) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.541) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.542) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.543) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069291,-0.317831,0.353808 rpy=-0.095065,0.062716,2.446502 [DEBUG] (2017-08-26 21:10:16.545) Camera.cpp:100::takeImage() Time capturing image = 0.016427s [DEBUG] (2017-08-26 21:10:16.545) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.545) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.561) Camera.cpp:100::takeImage() Time capturing image = 0.016563s [DEBUG] (2017-08-26 21:10:16.562) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.562) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.574) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.574) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.578) Camera.cpp:100::takeImage() Time capturing image = 0.016304s [DEBUG] (2017-08-26 21:10:16.578) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.578) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.595) Camera.cpp:100::takeImage() Time capturing image = 0.016540s [DEBUG] (2017-08-26 21:10:16.595) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.595) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.605) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.605) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.606) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069395,-0.317333,0.353696 rpy=-0.096395,0.060448,2.441230 [DEBUG] (2017-08-26 21:10:16.611) Camera.cpp:100::takeImage() Time capturing image = 0.016571s [DEBUG] (2017-08-26 21:10:16.611) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.612) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.628) Camera.cpp:100::takeImage() Time capturing image = 0.016799s [DEBUG] (2017-08-26 21:10:16.628) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.629) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.638) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.638) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.645) Camera.cpp:100::takeImage() Time capturing image = 0.016577s [DEBUG] (2017-08-26 21:10:16.645) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.645) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.661) Camera.cpp:100::takeImage() Time capturing image = 0.016118s [DEBUG] (2017-08-26 21:10:16.661) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.662) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.671) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.671) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.672) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069748,-0.317063,0.353515 rpy=-0.095932,0.057701,2.442125 [DEBUG] (2017-08-26 21:10:16.678) Camera.cpp:100::takeImage() Time capturing image = 0.016307s [DEBUG] (2017-08-26 21:10:16.678) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.678) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.694) Camera.cpp:100::takeImage() Time capturing image = 0.016537s [DEBUG] (2017-08-26 21:10:16.695) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.695) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.704) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.704) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.711) Camera.cpp:100::takeImage() Time capturing image = 0.016605s [DEBUG] (2017-08-26 21:10:16.711) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.711) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.728) Camera.cpp:100::takeImage() Time capturing image = 0.016349s [DEBUG] (2017-08-26 21:10:16.728) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.728) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.737) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.737) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.738) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070161,-0.317052,0.353237 rpy=-0.094402,0.054560,2.445366 [DEBUG] (2017-08-26 21:10:16.744) Camera.cpp:100::takeImage() Time capturing image = 0.016452s [DEBUG] (2017-08-26 21:10:16.745) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.745) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.761) Camera.cpp:100::takeImage() Time capturing image = 0.016578s [DEBUG] (2017-08-26 21:10:16.761) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.761) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.770) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.770) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.778) Camera.cpp:100::takeImage() Time capturing image = 0.016414s [DEBUG] (2017-08-26 21:10:16.778) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.778) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.794) Camera.cpp:100::takeImage() Time capturing image = 0.016607s [DEBUG] (2017-08-26 21:10:16.795) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.795) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.803) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.803) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.812) Camera.cpp:100::takeImage() Time capturing image = 0.017088s [DEBUG] (2017-08-26 21:10:16.812) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.812) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.829) Camera.cpp:100::takeImage() Time capturing image = 0.016832s [DEBUG] (2017-08-26 21:10:16.829) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.829) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.834) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.834) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.835) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070635,-0.317025,0.352602 rpy=-0.091964,0.050956,2.447917 [DEBUG] (2017-08-26 21:10:16.845) Camera.cpp:100::takeImage() Time capturing image = 0.015572s [DEBUG] (2017-08-26 21:10:16.845) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.845) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.862) Camera.cpp:100::takeImage() Time capturing image = 0.017075s [DEBUG] (2017-08-26 21:10:16.862) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.862) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.863) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.863) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.864) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071099,-0.316992,0.351826 rpy=-0.089168,0.048718,2.450234 [DEBUG] (2017-08-26 21:10:16.886) Camera.cpp:100::takeImage() Time capturing image = 0.024171s [DEBUG] (2017-08-26 21:10:16.886) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.887) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.894) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.894) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.898) Camera.cpp:100::takeImage() Time capturing image = 0.011169s [DEBUG] (2017-08-26 21:10:16.898) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.898) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.911) Camera.cpp:100::takeImage() Time capturing image = 0.013346s [DEBUG] (2017-08-26 21:10:16.911) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.911) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.925) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.925) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.927) Camera.cpp:100::takeImage() Time capturing image = 0.015992s [DEBUG] (2017-08-26 21:10:16.927) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.928) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.944) Camera.cpp:100::takeImage() Time capturing image = 0.016722s [DEBUG] (2017-08-26 21:10:16.944) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.945) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.957) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.957) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.958) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071227,-0.316834,0.350953 rpy=-0.086508,0.048539,2.452961 [DEBUG] (2017-08-26 21:10:16.961) Camera.cpp:100::takeImage() Time capturing image = 0.016580s [DEBUG] (2017-08-26 21:10:16.961) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.961) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.977) Camera.cpp:100::takeImage() Time capturing image = 0.016300s [DEBUG] (2017-08-26 21:10:16.978) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.978) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:16.989) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:16.990) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:16.991) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071252,-0.316275,0.349662 rpy=-0.083943,0.049776,2.454181 [DEBUG] (2017-08-26 21:10:16.996) Camera.cpp:100::takeImage() Time capturing image = 0.018875s [DEBUG] (2017-08-26 21:10:16.997) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:16.997) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.012) Camera.cpp:100::takeImage() Time capturing image = 0.015665s [DEBUG] (2017-08-26 21:10:17.012) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.013) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.022) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.022) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.029) Camera.cpp:100::takeImage() Time capturing image = 0.016177s [DEBUG] (2017-08-26 21:10:17.029) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.029) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.044) Camera.cpp:100::takeImage() Time capturing image = 0.015017s [DEBUG] (2017-08-26 21:10:17.044) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.044) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.054) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.054) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.055) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071173,-0.315381,0.348101 rpy=-0.082524,0.051788,2.453341 [DEBUG] (2017-08-26 21:10:17.061) Camera.cpp:100::takeImage() Time capturing image = 0.016820s [DEBUG] (2017-08-26 21:10:17.061) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.061) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.078) Camera.cpp:100::takeImage() Time capturing image = 0.016490s [DEBUG] (2017-08-26 21:10:17.078) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.078) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.087) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.087) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.088) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:17.088) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:17.094) Camera.cpp:100::takeImage() Time capturing image = 0.016287s [DEBUG] (2017-08-26 21:10:17.094) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.094) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:17.094) RtabmapThread.cpp:630::addData() Added data 1607 [ INFO] (2017-08-26 21:10:17.094) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:17.094) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:17.095) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:17.095) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:17.095) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:17.095) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:17.096) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:17.096) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:17.096) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:17.111) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:17.111) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:17.113) Camera.cpp:100::takeImage() Time capturing image = 0.018831s [DEBUG] (2017-08-26 21:10:17.113) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.113) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.116) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:17.116) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:17.116) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:17.134) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.134) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.167) Camera.cpp:100::takeImage() Time capturing image = 0.053703s [DEBUG] (2017-08-26 21:10:17.167) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.167) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.171) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.171) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.172) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071143,-0.315122,0.346857 rpy=-0.082674,0.053788,2.453816 [DEBUG] (2017-08-26 21:10:17.190) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.074567 s, keypoints extracted = 8 (mask empty=0) [DEBUG] (2017-08-26 21:10:17.190) Memory.cpp:3409::createSignature() time keypoints (8) = 0.095402s [DEBUG] (2017-08-26 21:10:17.192) Camera.cpp:100::takeImage() Time capturing image = 0.024450s [DEBUG] (2017-08-26 21:10:17.192) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.192) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.193) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 8, remaining kpts=8 [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3414::createSignature() time descriptors (8) = 0.003280s [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3427::createSignature() time keypoints 3D (8) = 0.000087s [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3539::createSignature() time descriptor and memory update (8 of size=64) = 0.000081s [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:593::addNewWords() id=28 descriptors=8 [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000315 s [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000056 s [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:874::addNewWords() 0 new words added... [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:876::addNewWords() 8 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:17.194) VWDictionary.cpp:877::addNewWords() total time 0.000434s [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3599::createSignature() time addNewWords 0.000504s indexed=86 not=0 [DEBUG] (2017-08-26 21:10:17.194) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:17.202) Camera.cpp:100::takeImage() Time capturing image = 0.010600s [DEBUG] (2017-08-26 21:10:17.202) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.203) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:3897::createSignature() time compressing data (id=28) 0.017816s [DEBUG] (2017-08-26 21:10:17.212) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:626::update() time creating signature=117.393967 ms [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:711::addSignatureToStm() adding 28 [DEBUG] (2017-08-26 21:10:17.212) Signature.cpp:121::addLink() Add link 28 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:17.212) Signature.cpp:121::addLink() Add link 22 to 28 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:773::addSignatureToStm() 8 words ref for the signature 28 [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:781::addSignatureToStm() time = 0.000180s [DEBUG] (2017-08-26 21:10:17.212) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:17.213) Memory.cpp:2836::rehearsal() merged=0, sim=0.437500 t=0.000143s [DEBUG] (2017-08-26 21:10:17.213) Memory.cpp:647::update() time rehearsal=0.402927 ms [DEBUG] (2017-08-26 21:10:17.213) Memory.cpp:700::update() totalTimer = 0.117861s [DEBUG] (2017-08-26 21:10:17.213) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:17.213) Rtabmap.cpp:1002::process() Processing signature 28 w=0 [ INFO] (2017-08-26 21:10:17.213) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.117984s [DEBUG] (2017-08-26 21:10:17.213) Rtabmap.cpp:1158::process() Added pose xyz=0.033026,0.013753,0.039642 rpy=0.237539,-1.508255,-0.469638 (odom=xyz=0.033026,0.013753,0.039642 rpy=0.237539,-1.508255,-0.469638) [ INFO] (2017-08-26 21:10:17.213) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000134s [ INFO] (2017-08-26 21:10:17.213) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:17.213) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:17.213) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000046 s [DEBUG] (2017-08-26 21:10:17.213) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:17.213) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:17.213) Rtabmap.cpp:3230::adjustLikelihood() mean=0.274994, stdDev=0.220484, max=0.572834, maxId=1, time=0.000020s [ INFO] (2017-08-26 21:10:17.213) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000196s [ INFO] (2017-08-26 21:10:17.213) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000037s [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000024s [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000024s [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:575::updatePrediction() time copying = 0.000028s [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000102s [DEBUG] (2017-08-26 21:10:17.213) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:17.213) Camera.cpp:100::takeImage() Time capturing image = 0.010669s [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000310s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000287s [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:208::computePosterior() sum=2.044079 [DEBUG] (2017-08-26 21:10:17.214) BayesFilter.cpp:216::computePosterior() normalize time=0.000041s [ INFO] (2017-08-26 21:10:17.214) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000771s [DEBUG] (2017-08-26 21:10:17.214) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:17.214) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:17.214) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.084465, timeHypothesesCreation=0.000169s [DEBUG] (2017-08-26 21:10:17.214) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:17.214) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:17.214) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.004460s, joining (actual overhead) = 0.000171s [ INFO] (2017-08-26 21:10:17.214) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1514::process() nt=11 m=9 immunized=1 [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:17.214) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:17.215) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000346s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:17.215) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003221 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:17.215) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 1 (0.003221 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 3 (0.006489 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 4 (0.063843 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 5 (0.202733 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 10 (0.212313 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 9 (0.222106 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 11 (0.230368 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.215) Rtabmap.cpp:1748::process() local node 7 (0.235069 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.216) Rtabmap.cpp:1748::process() local node 8 (0.246566 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.216) Rtabmap.cpp:1748::process() local node 6 (0.257468 m) immunized=1 [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:17.216) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:17.216) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000001s [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000193s [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000031s... [DEBUG] (2017-08-26 21:10:17.216) Memory.cpp:4120::reactivateSignatures() time = 0.000475s [ INFO] (2017-08-26 21:10:17.216) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000208s) [ INFO] (2017-08-26 21:10:17.216) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000208s [ INFO] (2017-08-26 21:10:17.216) Rtabmap.cpp:1807::process() timeReactivations=0.002015s [ INFO] (2017-08-26 21:10:17.216) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000021s [DEBUG] (2017-08-26 21:10:17.216) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:17.216) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:17.216) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:17.217) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003221 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:17.217) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:17.217) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:17.217) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003221 [DEBUG] (2017-08-26 21:10:17.217) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:17.217) SensorData.cpp:557::uncompressData() 28 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:17.217) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:217::computeTransformationImpl() Input(28): to=8 words, 8 3D words, 8 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:17.218) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.218) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=8 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=8 [DEBUG] (2017-08-26 21:10:17.218) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:17.218) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:17.218) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:17.218) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:17.219) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:593::addNewWords() id=2 descriptors=8 [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000073 s [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000068 s [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:874::addNewWords() 4 new words added... [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:876::addNewWords() 4 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:877::addNewWords() total time 0.000204s [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:17.219) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:17.219) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:17.219) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=5 [ INFO] (2017-08-26 21:10:17.219) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=5, min=20) [DEBUG] (2017-08-26 21:10:17.219) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:17.219) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:17.219) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003291s [ INFO] (2017-08-26 21:10:17.219) Rtabmap.cpp:2307::process() timeMapOptimization=0.000027s [ INFO] (2017-08-26 21:10:17.219) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2430::process() Time creating stats = 0.000174... [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:2187::removeRawData() id=28 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2476::process() Ignoring location 28 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:2114::deleteLocation() Deleting location 28 [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:1894::moveToTrash() id=28 [DEBUG] (2017-08-26 21:10:17.220) Signature.cpp:160::removeLink() Removed link 28 from 22 [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:3929::disableWordsRef() id=28 [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:3945::disableWordsRef() 8 words total ref removed from signature 28... (total active ref = 338) [DEBUG] (2017-08-26 21:10:17.220) DBDriver.cpp:368::asyncSave() s=28 [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000395s... 1 signatures removed [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2500::process() Total time processing = 0.125370s... [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:17.220) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:17.220) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:17.220) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:17.220) Rtabmap.cpp:2557::process() Removed 28 from local map [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000184... [ INFO] (2017-08-26 21:10:17.220) Rtabmap.cpp:2624::process() Adding data 28 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:17.220) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:17.220) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:17.221) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:17.221) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 28 [DEBUG] (2017-08-26 21:10:17.222) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001127s [DEBUG] (2017-08-26 21:10:17.222) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:17.222) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:17.223) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:17.223) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.223) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:17.223) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:17.224) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:17.224) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:17.224) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:17.224) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000069s [DEBUG] (2017-08-26 21:10:17.224) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:17.224) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:17.224) DBDriverSqlite3.cpp:4240::stepNode() Save node 28 [DEBUG] (2017-08-26 21:10:17.224) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000465s [DEBUG] (2017-08-26 21:10:17.224) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000077s [DEBUG] (2017-08-26 21:10:17.225) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000480s [DEBUG] (2017-08-26 21:10:17.225) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:17.225) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 28 (image=73809 depth=54664) depth2d = 0 [DEBUG] (2017-08-26 21:10:17.226) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000671s [DEBUG] (2017-08-26 21:10:17.226) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000049s [DEBUG] (2017-08-26 21:10:17.226) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001924... [DEBUG] (2017-08-26 21:10:17.226) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:17.227) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001132s [DEBUG] (2017-08-26 21:10:17.227) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003653s... [DEBUG] (2017-08-26 21:10:17.234) Camera.cpp:100::takeImage() Time capturing image = 0.010784s [DEBUG] (2017-08-26 21:10:17.234) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.234) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.244) Camera.cpp:100::takeImage() Time capturing image = 0.010462s [DEBUG] (2017-08-26 21:10:17.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.245) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.257) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.257) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.258) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070961,-0.314850,0.345168 rpy=-0.083315,0.056438,2.453667 [DEBUG] (2017-08-26 21:10:17.260) Camera.cpp:100::takeImage() Time capturing image = 0.016046s [DEBUG] (2017-08-26 21:10:17.261) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.261) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.276) Camera.cpp:100::takeImage() Time capturing image = 0.015738s [DEBUG] (2017-08-26 21:10:17.276) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.277) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.294) Camera.cpp:100::takeImage() Time capturing image = 0.017072s [DEBUG] (2017-08-26 21:10:17.294) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.294) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.294) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.294) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.295) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070922,-0.313851,0.343623 rpy=-0.083653,0.059998,2.451612 [DEBUG] (2017-08-26 21:10:17.309) Camera.cpp:100::takeImage() Time capturing image = 0.015413s [DEBUG] (2017-08-26 21:10:17.310) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.310) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.326) Camera.cpp:100::takeImage() Time capturing image = 0.016766s [DEBUG] (2017-08-26 21:10:17.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.327) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.330) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.330) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.343) Camera.cpp:100::takeImage() Time capturing image = 0.016763s [DEBUG] (2017-08-26 21:10:17.343) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.344) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.360) Camera.cpp:100::takeImage() Time capturing image = 0.016782s [DEBUG] (2017-08-26 21:10:17.360) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.361) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.367) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.367) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.376) Camera.cpp:100::takeImage() Time capturing image = 0.015804s [DEBUG] (2017-08-26 21:10:17.376) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.377) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.393) Camera.cpp:100::takeImage() Time capturing image = 0.017006s [DEBUG] (2017-08-26 21:10:17.394) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.394) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.402) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.403) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.404) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070894,-0.313477,0.342800 rpy=-0.084054,0.063001,2.449051 [DEBUG] (2017-08-26 21:10:17.409) Camera.cpp:100::takeImage() Time capturing image = 0.015735s [DEBUG] (2017-08-26 21:10:17.409) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.410) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.427) Camera.cpp:100::takeImage() Time capturing image = 0.017113s [DEBUG] (2017-08-26 21:10:17.427) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.427) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.439) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.439) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.441) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070967,-0.313367,0.342123 rpy=-0.085346,0.065350,2.445106 [DEBUG] (2017-08-26 21:10:17.443) Camera.cpp:100::takeImage() Time capturing image = 0.016296s [DEBUG] (2017-08-26 21:10:17.443) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.443) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.460) Camera.cpp:100::takeImage() Time capturing image = 0.016877s [DEBUG] (2017-08-26 21:10:17.460) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.460) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.476) Camera.cpp:100::takeImage() Time capturing image = 0.015874s [DEBUG] (2017-08-26 21:10:17.476) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.476) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.477) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.478) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.493) Camera.cpp:100::takeImage() Time capturing image = 0.017061s [DEBUG] (2017-08-26 21:10:17.493) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.494) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.509) Camera.cpp:100::takeImage() Time capturing image = 0.016007s [DEBUG] (2017-08-26 21:10:17.510) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.510) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.516) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.516) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.527) Camera.cpp:100::takeImage() Time capturing image = 0.016951s [DEBUG] (2017-08-26 21:10:17.527) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.527) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.544) Camera.cpp:100::takeImage() Time capturing image = 0.017193s [DEBUG] (2017-08-26 21:10:17.544) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.544) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.547) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.547) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.548) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071130,-0.313612,0.341622 rpy=-0.087656,0.066190,2.441884 [DEBUG] (2017-08-26 21:10:17.560) Camera.cpp:100::takeImage() Time capturing image = 0.016005s [DEBUG] (2017-08-26 21:10:17.560) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.560) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.579) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.579) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.580) Camera.cpp:100::takeImage() Time capturing image = 0.019977s [DEBUG] (2017-08-26 21:10:17.580) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071328,-0.314194,0.341528 rpy=-0.090832,0.065866,2.439026 [DEBUG] (2017-08-26 21:10:17.580) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.581) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.594) Camera.cpp:100::takeImage() Time capturing image = 0.013148s [DEBUG] (2017-08-26 21:10:17.594) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.594) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.611) Camera.cpp:100::takeImage() Time capturing image = 0.016582s [DEBUG] (2017-08-26 21:10:17.611) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.611) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.613) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.613) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.627) Camera.cpp:100::takeImage() Time capturing image = 0.015922s [DEBUG] (2017-08-26 21:10:17.627) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.627) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.645) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.645) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.646) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071511,-0.314470,0.341326 rpy=-0.094427,0.064874,2.434528 [DEBUG] (2017-08-26 21:10:17.648) Camera.cpp:100::takeImage() Time capturing image = 0.020802s [DEBUG] (2017-08-26 21:10:17.648) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.648) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.660) Camera.cpp:100::takeImage() Time capturing image = 0.012715s [DEBUG] (2017-08-26 21:10:17.661) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.661) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.676) Camera.cpp:100::takeImage() Time capturing image = 0.015738s [DEBUG] (2017-08-26 21:10:17.676) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.677) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.678) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.678) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.694) Camera.cpp:100::takeImage() Time capturing image = 0.017459s [DEBUG] (2017-08-26 21:10:17.694) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.694) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.710) Camera.cpp:100::takeImage() Time capturing image = 0.016119s [DEBUG] (2017-08-26 21:10:17.710) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.711) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.712) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.712) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.713) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071916,-0.314776,0.341312 rpy=-0.097009,0.063747,2.429118 [DEBUG] (2017-08-26 21:10:17.726) Camera.cpp:100::takeImage() Time capturing image = 0.015826s [DEBUG] (2017-08-26 21:10:17.726) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.727) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.745) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.745) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.748) Camera.cpp:100::takeImage() Time capturing image = 0.021195s [DEBUG] (2017-08-26 21:10:17.748) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.748) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.760) Camera.cpp:100::takeImage() Time capturing image = 0.012370s [DEBUG] (2017-08-26 21:10:17.760) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.761) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.775) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.775) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.776) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.072377,-0.315010,0.341279 rpy=-0.098748,0.062789,2.424431 [DEBUG] (2017-08-26 21:10:17.780) Camera.cpp:100::takeImage() Time capturing image = 0.019429s [DEBUG] (2017-08-26 21:10:17.780) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.780) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.794) Camera.cpp:100::takeImage() Time capturing image = 0.014299s [DEBUG] (2017-08-26 21:10:17.794) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.795) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.805) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.805) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.806) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:17.806) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:17.811) Camera.cpp:100::takeImage() Time capturing image = 0.016359s [DEBUG] (2017-08-26 21:10:17.811) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.811) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.826) Camera.cpp:100::takeImage() Time capturing image = 0.015146s [DEBUG] (2017-08-26 21:10:17.826) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.827) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.843) Camera.cpp:100::takeImage() Time capturing image = 0.016619s [DEBUG] (2017-08-26 21:10:17.843) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.843) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.848) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.848) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.861) Camera.cpp:100::takeImage() Time capturing image = 0.017420s [DEBUG] (2017-08-26 21:10:17.861) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.861) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.876) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.876) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.880) Camera.cpp:100::takeImage() Time capturing image = 0.018855s [DEBUG] (2017-08-26 21:10:17.880) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.880) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.894) Camera.cpp:100::takeImage() Time capturing image = 0.013883s [DEBUG] (2017-08-26 21:10:17.894) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.894) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.908) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.908) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.909) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073550,-0.315662,0.341148 rpy=-0.100811,0.060842,2.415729 [DEBUG] (2017-08-26 21:10:17.910) Camera.cpp:100::takeImage() Time capturing image = 0.015983s [DEBUG] (2017-08-26 21:10:17.910) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.910) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.927) Camera.cpp:100::takeImage() Time capturing image = 0.016674s [DEBUG] (2017-08-26 21:10:17.927) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.927) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.941) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.941) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.942) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073911,-0.316237,0.341019 rpy=-0.102369,0.060419,2.411566 [DEBUG] (2017-08-26 21:10:17.943) Camera.cpp:100::takeImage() Time capturing image = 0.016334s [DEBUG] (2017-08-26 21:10:17.943) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.944) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.960) Camera.cpp:100::takeImage() Time capturing image = 0.016670s [DEBUG] (2017-08-26 21:10:17.960) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.960) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.974) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:17.974) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:17.975) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074067,-0.316709,0.341002 rpy=-0.104497,0.060847,2.407869 [DEBUG] (2017-08-26 21:10:17.980) Camera.cpp:100::takeImage() Time capturing image = 0.019717s [DEBUG] (2017-08-26 21:10:17.980) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.980) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:17.998) Camera.cpp:100::takeImage() Time capturing image = 0.017541s [DEBUG] (2017-08-26 21:10:17.998) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:17.998) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.006) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.006) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.009) Camera.cpp:100::takeImage() Time capturing image = 0.011528s [DEBUG] (2017-08-26 21:10:18.010) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.010) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.032) Camera.cpp:100::takeImage() Time capturing image = 0.022885s [DEBUG] (2017-08-26 21:10:18.033) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.033) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.033) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:18.033) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:18.034) SensorData.cpp:557::uncompressData() 17 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:18.034) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:18.045) Camera.cpp:100::takeImage() Time capturing image = 0.011626s [DEBUG] (2017-08-26 21:10:18.045) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.045) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.046) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:18.049) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:18.049) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 14 [DEBUG] (2017-08-26 21:10:18.049) MainWindow.cpp:3838::drawKeypoints() source time = 0.000136 s [DEBUG] (2017-08-26 21:10:18.050) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:18.050) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:18.050) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:18.050) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:18.060) Camera.cpp:100::takeImage() Time capturing image = 0.015506s [DEBUG] (2017-08-26 21:10:18.060) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.061) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.063) MainWindow.cpp:1715::processStats() time= 13 ms [DEBUG] (2017-08-26 21:10:18.063) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:18.063) MainWindow.cpp:1912::updateMapCloud() posesIn=14 constraints=13 mapIdsIn=14 labelsIn=1 [DEBUG] (2017-08-26 21:10:18.063) MainWindow.cpp:1991::updateMapCloud() Update map with 14 locations [DEBUG] (2017-08-26 21:10:18.064) SensorData.cpp:557::uncompressData() 17 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:18.064) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:18.064) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:18.064) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:18.065) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:18.078) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.001013s [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:18.080) MainWindow.cpp:1796::processStats() time= 17 ms [DEBUG] (2017-08-26 21:10:18.084) Camera.cpp:100::takeImage() Time capturing image = 0.023942s [DEBUG] (2017-08-26 21:10:18.084) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.085) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.088) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:18.088) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:18.089) MainWindow.cpp:1874::processStats() Updating GUI time = 0.056000s [DEBUG] (2017-08-26 21:10:18.099) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.099) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.100) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073923,-0.317296,0.340916 rpy=-0.107233,0.062213,2.405026 [DEBUG] (2017-08-26 21:10:18.100) Camera.cpp:100::takeImage() Time capturing image = 0.015888s [DEBUG] (2017-08-26 21:10:18.100) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.101) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:18.101) RtabmapThread.cpp:630::addData() Added data 1665 [ INFO] (2017-08-26 21:10:18.101) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:18.101) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:18.101) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:18.101) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:608::update() time preUpdate=0.036955 ms [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:18.101) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:18.102) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:18.102) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:18.102) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:18.102) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:18.115) Camera.cpp:100::takeImage() Time capturing image = 0.014051s [DEBUG] (2017-08-26 21:10:18.115) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.115) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.118) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:18.118) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:18.123) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:18.123) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:18.123) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:18.143) Camera.cpp:100::takeImage() Time capturing image = 0.028147s [DEBUG] (2017-08-26 21:10:18.143) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.143) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.153) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.153) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.189) Camera.cpp:100::takeImage() Time capturing image = 0.045759s [DEBUG] (2017-08-26 21:10:18.189) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.189) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.196) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.073328 s, keypoints extracted = 6 (mask empty=0) [DEBUG] (2017-08-26 21:10:18.196) Memory.cpp:3409::createSignature() time keypoints (6) = 0.094986s [DEBUG] (2017-08-26 21:10:18.202) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 6, remaining kpts=6 [DEBUG] (2017-08-26 21:10:18.203) Memory.cpp:3414::createSignature() time descriptors (6) = 0.006122s [DEBUG] (2017-08-26 21:10:18.203) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:18.203) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:18.203) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:18.203) Memory.cpp:3603::createSignature() id 29 is a bad signature [DEBUG] (2017-08-26 21:10:18.203) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:18.203) Camera.cpp:100::takeImage() Time capturing image = 0.013838s [DEBUG] (2017-08-26 21:10:18.203) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.204) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.204) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.205) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.206) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073447,-0.317848,0.340887 rpy=-0.111175,0.063917,2.402718 [DEBUG] (2017-08-26 21:10:18.214) Camera.cpp:100::takeImage() Time capturing image = 0.010710s [DEBUG] (2017-08-26 21:10:18.214) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.215) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:3897::createSignature() time compressing data (id=29) 0.012383s [DEBUG] (2017-08-26 21:10:18.215) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:626::update() time creating signature=113.658188 ms [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:711::addSignatureToStm() adding 29 [DEBUG] (2017-08-26 21:10:18.215) Signature.cpp:121::addLink() Add link 29 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:18.215) Signature.cpp:121::addLink() Add link 22 to 29 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 29 [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:781::addSignatureToStm() time = 0.000171s [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:647::update() time rehearsal=0.222921 ms [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:700::update() totalTimer = 0.114050s [DEBUG] (2017-08-26 21:10:18.215) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:18.215) Rtabmap.cpp:1002::process() Processing signature 29 w=0 [ INFO] (2017-08-26 21:10:18.215) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.114177s [DEBUG] (2017-08-26 21:10:18.216) Rtabmap.cpp:1158::process() Added pose xyz=0.034459,0.014518,0.041235 rpy=0.239530,-1.508565,-0.471279 (odom=xyz=0.034459,0.014518,0.041235 rpy=0.239530,-1.508565,-0.471279) [ INFO] (2017-08-26 21:10:18.216) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000124s [DEBUG] (2017-08-26 21:10:18.216) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:18.216) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:18.216) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003653s, joining (actual overhead) = 0.000063s [DEBUG] (2017-08-26 21:10:18.216) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003482 [DEBUG] (2017-08-26 21:10:18.216) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:18.216) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:18.216) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:18.216) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [ INFO] (2017-08-26 21:10:18.216) Rtabmap.cpp:1807::process() timeReactivations=0.000582s [ INFO] (2017-08-26 21:10:18.216) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000025s [DEBUG] (2017-08-26 21:10:18.216) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:18.216) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:18.216) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:18.216) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003482 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:18.217) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:18.217) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003482 [DEBUG] (2017-08-26 21:10:18.217) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:18.217) SensorData.cpp:557::uncompressData() 29 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:18.217) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:18.217) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000858s [ INFO] (2017-08-26 21:10:18.217) Rtabmap.cpp:2307::process() timeMapOptimization=0.000022s [ INFO] (2017-08-26 21:10:18.217) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:18.217) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:18.217) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:18.217) Rtabmap.cpp:2430::process() Time creating stats = 0.000162... [DEBUG] (2017-08-26 21:10:18.217) Memory.cpp:2187::removeRawData() id=29 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:18.217) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:18.218) Rtabmap.cpp:2476::process() Ignoring location 29 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:18.218) Memory.cpp:2114::deleteLocation() Deleting location 29 [DEBUG] (2017-08-26 21:10:18.218) Memory.cpp:1894::moveToTrash() id=29 [DEBUG] (2017-08-26 21:10:18.218) Signature.cpp:160::removeLink() Removed link 29 from 22 [DEBUG] (2017-08-26 21:10:18.218) Memory.cpp:3929::disableWordsRef() id=29 [DEBUG] (2017-08-26 21:10:18.218) DBDriver.cpp:368::asyncSave() s=29 [ INFO] (2017-08-26 21:10:18.218) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000382s... 1 signatures removed [ INFO] (2017-08-26 21:10:18.218) Rtabmap.cpp:2500::process() Total time processing = 0.116416s... [DEBUG] (2017-08-26 21:10:18.218) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:18.218) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:18.218) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:18.218) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:18.218) Rtabmap.cpp:2557::process() Removed 29 from local map [ INFO] (2017-08-26 21:10:18.218) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000169... [ INFO] (2017-08-26 21:10:18.218) Rtabmap.cpp:2624::process() Adding data 29 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:18.218) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:18.218) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:18.219) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:18.219) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 29 [DEBUG] (2017-08-26 21:10:18.220) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000970s [DEBUG] (2017-08-26 21:10:18.220) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:18.220) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:18.220) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:18.220) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:18.220) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:18.221) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:18.221) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:18.221) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:18.221) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000047s [DEBUG] (2017-08-26 21:10:18.221) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:18.221) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:18.221) DBDriverSqlite3.cpp:4240::stepNode() Save node 29 [DEBUG] (2017-08-26 21:10:18.221) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000455s [DEBUG] (2017-08-26 21:10:18.221) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000119s [DEBUG] (2017-08-26 21:10:18.221) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000156s [DEBUG] (2017-08-26 21:10:18.222) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:18.222) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 29 (image=73776 depth=54093) depth2d = 0 [DEBUG] (2017-08-26 21:10:18.222) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000607s [DEBUG] (2017-08-26 21:10:18.222) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000055s [DEBUG] (2017-08-26 21:10:18.222) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001477... [DEBUG] (2017-08-26 21:10:18.222) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:18.223) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001188s [DEBUG] (2017-08-26 21:10:18.223) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.002933s... [DEBUG] (2017-08-26 21:10:18.228) Camera.cpp:100::takeImage() Time capturing image = 0.013559s [DEBUG] (2017-08-26 21:10:18.228) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.228) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.239) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.239) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.244) Camera.cpp:100::takeImage() Time capturing image = 0.015693s [DEBUG] (2017-08-26 21:10:18.244) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.244) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.259) Camera.cpp:100::takeImage() Time capturing image = 0.015193s [DEBUG] (2017-08-26 21:10:18.259) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.260) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.269) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.269) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.276) Camera.cpp:100::takeImage() Time capturing image = 0.016426s [DEBUG] (2017-08-26 21:10:18.276) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.276) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.295) Camera.cpp:100::takeImage() Time capturing image = 0.018613s [DEBUG] (2017-08-26 21:10:18.295) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.295) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.306) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.307) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.308) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.072365,-0.318117,0.340503 rpy=-0.116534,0.066346,2.398625 [DEBUG] (2017-08-26 21:10:18.309) Camera.cpp:100::takeImage() Time capturing image = 0.013808s [DEBUG] (2017-08-26 21:10:18.309) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.309) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.325) Camera.cpp:100::takeImage() Time capturing image = 0.016603s [DEBUG] (2017-08-26 21:10:18.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.326) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.341) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.342) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.343) Camera.cpp:100::takeImage() Time capturing image = 0.017089s [DEBUG] (2017-08-26 21:10:18.343) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071348,-0.317977,0.339920 rpy=-0.122146,0.069082,2.393896 [DEBUG] (2017-08-26 21:10:18.343) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.343) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.367) Camera.cpp:100::takeImage() Time capturing image = 0.023842s [DEBUG] (2017-08-26 21:10:18.367) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.367) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.375) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.375) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.382) Camera.cpp:100::takeImage() Time capturing image = 0.015026s [DEBUG] (2017-08-26 21:10:18.382) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.382) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.394) Camera.cpp:100::takeImage() Time capturing image = 0.011530s [DEBUG] (2017-08-26 21:10:18.394) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.394) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.409) Camera.cpp:100::takeImage() Time capturing image = 0.015369s [DEBUG] (2017-08-26 21:10:18.409) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.409) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.410) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.410) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.411) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070443,-0.318101,0.339780 rpy=-0.127715,0.071403,2.390193 [DEBUG] (2017-08-26 21:10:18.426) Camera.cpp:100::takeImage() Time capturing image = 0.016905s [DEBUG] (2017-08-26 21:10:18.426) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.427) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.442) Camera.cpp:100::takeImage() Time capturing image = 0.015973s [DEBUG] (2017-08-26 21:10:18.442) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.443) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.447) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.447) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.459) Camera.cpp:100::takeImage() Time capturing image = 0.016654s [DEBUG] (2017-08-26 21:10:18.459) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.459) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.476) Camera.cpp:100::takeImage() Time capturing image = 0.016533s [DEBUG] (2017-08-26 21:10:18.476) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.476) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.482) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.482) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.483) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069538,-0.318303,0.339776 rpy=-0.134587,0.073052,2.386894 [DEBUG] (2017-08-26 21:10:18.493) Camera.cpp:100::takeImage() Time capturing image = 0.016547s [DEBUG] (2017-08-26 21:10:18.493) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.493) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.509) Camera.cpp:100::takeImage() Time capturing image = 0.016305s [DEBUG] (2017-08-26 21:10:18.509) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.509) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.518) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.518) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.526) Camera.cpp:100::takeImage() Time capturing image = 0.016632s [DEBUG] (2017-08-26 21:10:18.526) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.526) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.542) Camera.cpp:100::takeImage() Time capturing image = 0.016314s [DEBUG] (2017-08-26 21:10:18.542) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.543) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.554) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.554) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.555) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068772,-0.319043,0.340077 rpy=-0.141286,0.073210,2.382851 [DEBUG] (2017-08-26 21:10:18.560) Camera.cpp:100::takeImage() Time capturing image = 0.017153s [DEBUG] (2017-08-26 21:10:18.560) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.560) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.576) Camera.cpp:100::takeImage() Time capturing image = 0.015929s [DEBUG] (2017-08-26 21:10:18.576) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.576) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.589) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.589) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.593) Camera.cpp:100::takeImage() Time capturing image = 0.016646s [DEBUG] (2017-08-26 21:10:18.593) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.593) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.609) Camera.cpp:100::takeImage() Time capturing image = 0.016217s [DEBUG] (2017-08-26 21:10:18.609) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.609) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.625) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.625) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.626) Camera.cpp:100::takeImage() Time capturing image = 0.016444s [DEBUG] (2017-08-26 21:10:18.626) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068409,-0.319447,0.340505 rpy=-0.146230,0.072692,2.378634 [DEBUG] (2017-08-26 21:10:18.626) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.626) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.642) Camera.cpp:100::takeImage() Time capturing image = 0.016322s [DEBUG] (2017-08-26 21:10:18.642) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.643) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.659) Camera.cpp:100::takeImage() Time capturing image = 0.016589s [DEBUG] (2017-08-26 21:10:18.659) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.659) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.661) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.661) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.676) Camera.cpp:100::takeImage() Time capturing image = 0.016555s [DEBUG] (2017-08-26 21:10:18.676) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.676) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.692) Camera.cpp:100::takeImage() Time capturing image = 0.016398s [DEBUG] (2017-08-26 21:10:18.692) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.692) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.696) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.696) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.697) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068189,-0.319779,0.340905 rpy=-0.150372,0.071707,2.375276 [DEBUG] (2017-08-26 21:10:18.709) Camera.cpp:100::takeImage() Time capturing image = 0.016478s [DEBUG] (2017-08-26 21:10:18.709) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.709) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.726) Camera.cpp:100::takeImage() Time capturing image = 0.016588s [DEBUG] (2017-08-26 21:10:18.726) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.726) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.732) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.732) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.742) Camera.cpp:100::takeImage() Time capturing image = 0.016343s [DEBUG] (2017-08-26 21:10:18.742) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.742) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.759) Camera.cpp:100::takeImage() Time capturing image = 0.016601s [DEBUG] (2017-08-26 21:10:18.759) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.759) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.767) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.767) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.768) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068134,-0.320105,0.341489 rpy=-0.152819,0.070190,2.373554 [DEBUG] (2017-08-26 21:10:18.776) Camera.cpp:100::takeImage() Time capturing image = 0.016574s [DEBUG] (2017-08-26 21:10:18.776) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.776) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.792) Camera.cpp:100::takeImage() Time capturing image = 0.016457s [DEBUG] (2017-08-26 21:10:18.792) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.792) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.803) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.803) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.809) Camera.cpp:100::takeImage() Time capturing image = 0.016475s [DEBUG] (2017-08-26 21:10:18.809) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.809) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.825) Camera.cpp:100::takeImage() Time capturing image = 0.016327s [DEBUG] (2017-08-26 21:10:18.825) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.826) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.837) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.837) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.838) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068349,-0.320562,0.342123 rpy=-0.153955,0.067629,2.371832 [DEBUG] (2017-08-26 21:10:18.842) Camera.cpp:100::takeImage() Time capturing image = 0.016189s [DEBUG] (2017-08-26 21:10:18.842) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.842) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.858) Camera.cpp:100::takeImage() Time capturing image = 0.016254s [DEBUG] (2017-08-26 21:10:18.858) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.858) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.871) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.871) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.875) Camera.cpp:100::takeImage() Time capturing image = 0.017007s [DEBUG] (2017-08-26 21:10:18.875) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.876) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.892) Camera.cpp:100::takeImage() Time capturing image = 0.016192s [DEBUG] (2017-08-26 21:10:18.892) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.892) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.903) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.903) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.905) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068881,-0.320997,0.343085 rpy=-0.155157,0.063507,2.369485 [DEBUG] (2017-08-26 21:10:18.908) Camera.cpp:100::takeImage() Time capturing image = 0.016791s [DEBUG] (2017-08-26 21:10:18.909) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.909) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.925) Camera.cpp:100::takeImage() Time capturing image = 0.016099s [DEBUG] (2017-08-26 21:10:18.925) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.925) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.937) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.937) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.941) Camera.cpp:100::takeImage() Time capturing image = 0.016571s [DEBUG] (2017-08-26 21:10:18.942) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.942) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.959) Camera.cpp:100::takeImage() Time capturing image = 0.017104s [DEBUG] (2017-08-26 21:10:18.959) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.959) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.970) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:18.970) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:18.971) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069399,-0.321588,0.344087 rpy=-0.156093,0.059640,2.369198 [DEBUG] (2017-08-26 21:10:18.975) Camera.cpp:100::takeImage() Time capturing image = 0.015750s [DEBUG] (2017-08-26 21:10:18.975) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.975) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:18.992) Camera.cpp:100::takeImage() Time capturing image = 0.017111s [DEBUG] (2017-08-26 21:10:18.992) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:18.992) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.003) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.003) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.008) Camera.cpp:100::takeImage() Time capturing image = 0.015860s [DEBUG] (2017-08-26 21:10:19.008) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.008) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.027) Camera.cpp:100::takeImage() Time capturing image = 0.018338s [DEBUG] (2017-08-26 21:10:19.027) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.027) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.037) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.037) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.038) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.069844,-0.322033,0.344518 rpy=-0.156319,0.056905,2.370564 [DEBUG] (2017-08-26 21:10:19.041) Camera.cpp:100::takeImage() Time capturing image = 0.014602s [DEBUG] (2017-08-26 21:10:19.041) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.042) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.058) Camera.cpp:100::takeImage() Time capturing image = 0.016510s [DEBUG] (2017-08-26 21:10:19.058) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.058) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.073) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.073) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.076) Camera.cpp:100::takeImage() Time capturing image = 0.018019s [DEBUG] (2017-08-26 21:10:19.076) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.077) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.097) Camera.cpp:100::takeImage() Time capturing image = 0.020494s [DEBUG] (2017-08-26 21:10:19.097) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.098) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.108) Camera.cpp:100::takeImage() Time capturing image = 0.010644s [DEBUG] (2017-08-26 21:10:19.108) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.109) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:19.109) RtabmapThread.cpp:630::addData() Added data 1724 [ INFO] (2017-08-26 21:10:19.109) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:19.109) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.109) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.109) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:19.109) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:19.109) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:19.109) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:19.109) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:19.109) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:19.109) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:19.109) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:19.111) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070620,-0.322465,0.344842 rpy=-0.156014,0.053997,2.369699 [DEBUG] (2017-08-26 21:10:19.130) Camera.cpp:100::takeImage() Time capturing image = 0.021877s [DEBUG] (2017-08-26 21:10:19.130) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.131) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.131) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:19.131) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:19.136) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:19.136) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:19.136) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:19.152) Camera.cpp:100::takeImage() Time capturing image = 0.021330s [DEBUG] (2017-08-26 21:10:19.152) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.152) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.153) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.153) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.174) Camera.cpp:100::takeImage() Time capturing image = 0.021711s [DEBUG] (2017-08-26 21:10:19.174) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.174) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.198) Camera.cpp:100::takeImage() Time capturing image = 0.023833s [DEBUG] (2017-08-26 21:10:19.198) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.198) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.201) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.201) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.202) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071360,-0.322803,0.344926 rpy=-0.155530,0.051759,2.367674 [DEBUG] (2017-08-26 21:10:19.211) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.075254 s, keypoints extracted = 8 (mask empty=0) [DEBUG] (2017-08-26 21:10:19.211) Memory.cpp:3409::createSignature() time keypoints (8) = 0.102038s [DEBUG] (2017-08-26 21:10:19.213) Camera.cpp:100::takeImage() Time capturing image = 0.015444s [DEBUG] (2017-08-26 21:10:19.214) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.214) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.217) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 8, remaining kpts=8 [DEBUG] (2017-08-26 21:10:19.217) Memory.cpp:3414::createSignature() time descriptors (8) = 0.005715s [DEBUG] (2017-08-26 21:10:19.217) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:19.217) Memory.cpp:3427::createSignature() time keypoints 3D (8) = 0.000095s [DEBUG] (2017-08-26 21:10:19.217) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:19.217) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:19.217) Memory.cpp:3539::createSignature() time descriptor and memory update (8 of size=64) = 0.000084s [DEBUG] (2017-08-26 21:10:19.217) VWDictionary.cpp:593::addNewWords() id=30 descriptors=8 [DEBUG] (2017-08-26 21:10:19.217) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:19.218) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000460 s [DEBUG] (2017-08-26 21:10:19.218) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000198 s [DEBUG] (2017-08-26 21:10:19.218) VWDictionary.cpp:874::addNewWords() 2 new words added... [DEBUG] (2017-08-26 21:10:19.218) VWDictionary.cpp:876::addNewWords() 6 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:19.218) VWDictionary.cpp:877::addNewWords() total time 0.000830s [DEBUG] (2017-08-26 21:10:19.218) Memory.cpp:3599::createSignature() time addNewWords 0.000904s indexed=86 not=2 [DEBUG] (2017-08-26 21:10:19.218) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:19.231) Camera.cpp:100::takeImage() Time capturing image = 0.017514s [DEBUG] (2017-08-26 21:10:19.231) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.231) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.234) Memory.cpp:3897::createSignature() time compressing data (id=30) 0.016228s [DEBUG] (2017-08-26 21:10:19.234) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:19.234) Memory.cpp:626::update() time creating signature=125.258209 ms [DEBUG] (2017-08-26 21:10:19.234) Memory.cpp:711::addSignatureToStm() adding 30 [DEBUG] (2017-08-26 21:10:19.235) Signature.cpp:121::addLink() Add link 30 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:19.235) Signature.cpp:121::addLink() Add link 22 to 30 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:773::addSignatureToStm() 8 words ref for the signature 30 [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:781::addSignatureToStm() time = 0.000175s [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:2836::rehearsal() merged=0, sim=0.312500 t=0.000036s [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:647::update() time rehearsal=0.284910 ms [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:700::update() totalTimer = 0.125608s [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:19.235) Rtabmap.cpp:1002::process() Processing signature 30 w=0 [ INFO] (2017-08-26 21:10:19.235) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.125732s [DEBUG] (2017-08-26 21:10:19.235) Rtabmap.cpp:1158::process() Added pose xyz=0.035828,0.016373,0.043434 rpy=0.242489,-1.508937,-0.473423 (odom=xyz=0.035828,0.016373,0.043434 rpy=0.242489,-1.508937,-0.473423) [ INFO] (2017-08-26 21:10:19.235) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000111s [ INFO] (2017-08-26 21:10:19.235) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:19.235) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000041 s [DEBUG] (2017-08-26 21:10:19.235) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:19.235) Rtabmap.cpp:3183::adjustLikelihood() values.size=4 [DEBUG] (2017-08-26 21:10:19.235) Rtabmap.cpp:3230::adjustLikelihood() mean=0.068050, stdDev=0.054136, max=0.130720, maxId=5, time=0.000020s [ INFO] (2017-08-26 21:10:19.235) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000185s [ INFO] (2017-08-26 21:10:19.235) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000033s [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000027s [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000024s [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:575::updatePrediction() time copying = 0.000029s [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000115s [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000310s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:19.235) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:19.236) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000095s [DEBUG] (2017-08-26 21:10:19.236) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000022s [DEBUG] (2017-08-26 21:10:19.236) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:10:19.236) BayesFilter.cpp:208::computePosterior() sum=2.048921 [DEBUG] (2017-08-26 21:10:19.236) BayesFilter.cpp:216::computePosterior() normalize time=0.000039s [ INFO] (2017-08-26 21:10:19.236) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000565s [ INFO] (2017-08-26 21:10:19.236) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:19.236) Rtabmap.cpp:1373::process() Highest hypothesis=5, value=0.083028, timeHypothesesCreation=0.000053s [DEBUG] (2017-08-26 21:10:19.236) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:19.236) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:19.236) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.002933s, joining (actual overhead) = 0.000064s [ INFO] (2017-08-26 21:10:19.236) Rtabmap.cpp:1462::process() Retrieving locations... around id=5 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1483::process() neighbors of 5 in time = 20 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=5 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=4 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=6 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=3 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=7 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=1 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=8 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=9 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=10 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1514::process() nt=11 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:19.236) Rtabmap.cpp:1537::process() neighbors of 5 in space = 20 [ INFO] (2017-08-26 21:10:19.236) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000454s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:19.236) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003844 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:19.237) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 1 (0.003844 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 3 (0.006786 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 4 (0.063468 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 5 (0.201351 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 10 (0.211394 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 9 (0.221139 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 11 (0.229400 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 7 (0.233774 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 8 (0.245264 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1748::process() local node 6 (0.255476 m) immunized=1 [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:19.237) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:19.237) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000021s [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000019s... [DEBUG] (2017-08-26 21:10:19.237) Memory.cpp:4120::reactivateSignatures() time = 0.000137s [ INFO] (2017-08-26 21:10:19.237) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000055s) [ INFO] (2017-08-26 21:10:19.237) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000055s [ INFO] (2017-08-26 21:10:19.237) Rtabmap.cpp:1807::process() timeReactivations=0.001685s [ INFO] (2017-08-26 21:10:19.237) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000020s [DEBUG] (2017-08-26 21:10:19.237) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:19.238) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003844 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:19.238) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:19.238) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:19.238) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003844 [DEBUG] (2017-08-26 21:10:19.238) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:19.238) SensorData.cpp:557::uncompressData() 30 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:19.238) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:19.238) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:19.238) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:19.238) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:19.238) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:19.238) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:217::computeTransformationImpl() Input(30): to=8 words, 8 3D words, 8 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:19.239) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:19.240) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:19.240) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=8 [DEBUG] (2017-08-26 21:10:19.240) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:19.240) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=8 [DEBUG] (2017-08-26 21:10:19.240) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:19.240) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:593::addNewWords() id=2 descriptors=8 [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000088 s [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000088 s [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:874::addNewWords() 6 new words added... [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:876::addNewWords() 2 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:877::addNewWords() total time 0.000240s [DEBUG] (2017-08-26 21:10:19.240) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:19.241) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:19.241) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:19.241) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=8 [ INFO] (2017-08-26 21:10:19.241) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=8, min=20) [DEBUG] (2017-08-26 21:10:19.241) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:19.241) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003493s [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2307::process() timeMapOptimization=0.000026s [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2430::process() Time creating stats = 0.000186... [DEBUG] (2017-08-26 21:10:19.241) Memory.cpp:2187::removeRawData() id=30 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:19.241) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2476::process() Ignoring location 30 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:19.241) Memory.cpp:2114::deleteLocation() Deleting location 30 [DEBUG] (2017-08-26 21:10:19.241) Memory.cpp:1894::moveToTrash() id=30 [DEBUG] (2017-08-26 21:10:19.241) Signature.cpp:160::removeLink() Removed link 30 from 22 [DEBUG] (2017-08-26 21:10:19.241) Memory.cpp:3929::disableWordsRef() id=30 [DEBUG] (2017-08-26 21:10:19.241) Memory.cpp:3945::disableWordsRef() 8 words total ref removed from signature 30... (total active ref = 338) [DEBUG] (2017-08-26 21:10:19.241) DBDriver.cpp:368::asyncSave() s=30 [ INFO] (2017-08-26 21:10:19.241) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000328s... 1 signatures removed [ INFO] (2017-08-26 21:10:19.242) Rtabmap.cpp:2500::process() Total time processing = 0.132471s... [DEBUG] (2017-08-26 21:10:19.242) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:19.242) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:19.242) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:19.242) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:19.242) Rtabmap.cpp:2557::process() Removed 30 from local map [ INFO] (2017-08-26 21:10:19.242) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000176... [ INFO] (2017-08-26 21:10:19.242) Rtabmap.cpp:2624::process() Adding data 30 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:19.242) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:19.242) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:19.242) Camera.cpp:100::takeImage() Time capturing image = 0.010684s [DEBUG] (2017-08-26 21:10:19.242) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.242) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.242) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:19.242) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 30 [DEBUG] (2017-08-26 21:10:19.244) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001031s [DEBUG] (2017-08-26 21:10:19.244) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:19.244) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:19.244) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:19.244) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:19.244) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:19.244) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000046s [DEBUG] (2017-08-26 21:10:19.244) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:19.244) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:19.244) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:19.244) DBDriverSqlite3.cpp:4240::stepNode() Save node 30 [DEBUG] (2017-08-26 21:10:19.245) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000434s [DEBUG] (2017-08-26 21:10:19.245) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000085s [DEBUG] (2017-08-26 21:10:19.245) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:19.245) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:19.245) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000517s [DEBUG] (2017-08-26 21:10:19.245) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:19.246) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 30 (image=72612 depth=53070) depth2d = 0 [DEBUG] (2017-08-26 21:10:19.246) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000854s [DEBUG] (2017-08-26 21:10:19.246) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000045s [DEBUG] (2017-08-26 21:10:19.246) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.002068... [DEBUG] (2017-08-26 21:10:19.246) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:19.247) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001154s [DEBUG] (2017-08-26 21:10:19.247) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003611s... [DEBUG] (2017-08-26 21:10:19.251) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.251) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.266) Camera.cpp:100::takeImage() Time capturing image = 0.023693s [DEBUG] (2017-08-26 21:10:19.266) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.266) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.278) Camera.cpp:100::takeImage() Time capturing image = 0.011669s [DEBUG] (2017-08-26 21:10:19.278) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.278) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.289) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.289) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.290) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.072304,-0.323021,0.345047 rpy=-0.154924,0.050022,2.365908 [DEBUG] (2017-08-26 21:10:19.292) Camera.cpp:100::takeImage() Time capturing image = 0.014550s [DEBUG] (2017-08-26 21:10:19.293) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.293) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.309) Camera.cpp:100::takeImage() Time capturing image = 0.016111s [DEBUG] (2017-08-26 21:10:19.309) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.309) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.321) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.321) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.326) Camera.cpp:100::takeImage() Time capturing image = 0.016770s [DEBUG] (2017-08-26 21:10:19.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.326) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.342) Camera.cpp:100::takeImage() Time capturing image = 0.016279s [DEBUG] (2017-08-26 21:10:19.342) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.343) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.349) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.349) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.350) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073242,-0.323627,0.344923 rpy=-0.154288,0.048251,2.363209 [DEBUG] (2017-08-26 21:10:19.359) Camera.cpp:100::takeImage() Time capturing image = 0.016211s [DEBUG] (2017-08-26 21:10:19.359) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.359) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.375) Camera.cpp:100::takeImage() Time capturing image = 0.016450s [DEBUG] (2017-08-26 21:10:19.376) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.376) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.379) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.379) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.392) Camera.cpp:100::takeImage() Time capturing image = 0.016317s [DEBUG] (2017-08-26 21:10:19.392) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.392) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.408) Camera.cpp:100::takeImage() Time capturing image = 0.015673s [DEBUG] (2017-08-26 21:10:19.408) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.408) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.410) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.410) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.425) Camera.cpp:100::takeImage() Time capturing image = 0.016991s [DEBUG] (2017-08-26 21:10:19.425) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.425) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.441) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.441) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.442) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074181,-0.323820,0.344693 rpy=-0.153468,0.046726,2.359469 [DEBUG] (2017-08-26 21:10:19.442) Camera.cpp:100::takeImage() Time capturing image = 0.017190s [DEBUG] (2017-08-26 21:10:19.442) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.443) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.459) Camera.cpp:100::takeImage() Time capturing image = 0.016117s [DEBUG] (2017-08-26 21:10:19.459) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.459) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.470) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.471) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.474) Camera.cpp:100::takeImage() Time capturing image = 0.015593s [DEBUG] (2017-08-26 21:10:19.475) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.475) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.492) Camera.cpp:100::takeImage() Time capturing image = 0.017366s [DEBUG] (2017-08-26 21:10:19.492) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.492) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.498) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.498) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.499) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.075067,-0.323841,0.344791 rpy=-0.153104,0.045147,2.354708 [DEBUG] (2017-08-26 21:10:19.509) Camera.cpp:100::takeImage() Time capturing image = 0.016389s [DEBUG] (2017-08-26 21:10:19.509) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.509) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.526) Camera.cpp:100::takeImage() Time capturing image = 0.016715s [DEBUG] (2017-08-26 21:10:19.526) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.526) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.527) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.528) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.529) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.075909,-0.323626,0.344816 rpy=-0.153211,0.043498,2.348580 [DEBUG] (2017-08-26 21:10:19.542) Camera.cpp:100::takeImage() Time capturing image = 0.016105s [DEBUG] (2017-08-26 21:10:19.542) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.542) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.557) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.557) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.558) Camera.cpp:100::takeImage() Time capturing image = 0.016396s [DEBUG] (2017-08-26 21:10:19.559) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.559) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.575) Camera.cpp:100::takeImage() Time capturing image = 0.016604s [DEBUG] (2017-08-26 21:10:19.575) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.576) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.587) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.587) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.588) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076600,-0.323399,0.344913 rpy=-0.153687,0.041730,2.342553 [DEBUG] (2017-08-26 21:10:19.592) Camera.cpp:100::takeImage() Time capturing image = 0.016306s [DEBUG] (2017-08-26 21:10:19.592) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.592) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.608) Camera.cpp:100::takeImage() Time capturing image = 0.015688s [DEBUG] (2017-08-26 21:10:19.608) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.608) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.618) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.618) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.625) Camera.cpp:100::takeImage() Time capturing image = 0.016608s [DEBUG] (2017-08-26 21:10:19.625) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.625) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.641) Camera.cpp:100::takeImage() Time capturing image = 0.016504s [DEBUG] (2017-08-26 21:10:19.641) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.642) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.646) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.646) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.658) Camera.cpp:100::takeImage() Time capturing image = 0.016989s [DEBUG] (2017-08-26 21:10:19.659) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.659) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.674) Camera.cpp:100::takeImage() Time capturing image = 0.015760s [DEBUG] (2017-08-26 21:10:19.674) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.675) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.676) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.676) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.677) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.077077,-0.323035,0.344994 rpy=-0.154354,0.039837,2.336043 [DEBUG] (2017-08-26 21:10:19.691) Camera.cpp:100::takeImage() Time capturing image = 0.016852s [DEBUG] (2017-08-26 21:10:19.691) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.692) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.708) Camera.cpp:100::takeImage() Time capturing image = 0.016322s [DEBUG] (2017-08-26 21:10:19.708) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.708) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.709) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.709) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.710) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.077395,-0.322341,0.345115 rpy=-0.155114,0.038142,2.327649 [DEBUG] (2017-08-26 21:10:19.724) Camera.cpp:100::takeImage() Time capturing image = 0.016435s [DEBUG] (2017-08-26 21:10:19.725) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.725) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.741) Camera.cpp:100::takeImage() Time capturing image = 0.016467s [DEBUG] (2017-08-26 21:10:19.741) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.741) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.742) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.742) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.758) Camera.cpp:100::takeImage() Time capturing image = 0.016514s [DEBUG] (2017-08-26 21:10:19.758) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.758) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.770) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.771) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.772) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.077407,-0.321281,0.345319 rpy=-0.156789,0.036989,2.316261 [DEBUG] (2017-08-26 21:10:19.774) Camera.cpp:100::takeImage() Time capturing image = 0.016436s [DEBUG] (2017-08-26 21:10:19.774) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.775) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.791) Camera.cpp:100::takeImage() Time capturing image = 0.016766s [DEBUG] (2017-08-26 21:10:19.791) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.792) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.799) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.799) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.808) Camera.cpp:100::takeImage() Time capturing image = 0.016142s [DEBUG] (2017-08-26 21:10:19.808) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.808) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.824) Camera.cpp:100::takeImage() Time capturing image = 0.016609s [DEBUG] (2017-08-26 21:10:19.824) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.825) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.829) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.829) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.830) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076864,-0.319803,0.345496 rpy=-0.159723,0.037193,2.303186 [DEBUG] (2017-08-26 21:10:19.841) Camera.cpp:100::takeImage() Time capturing image = 0.016467s [DEBUG] (2017-08-26 21:10:19.841) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.841) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.858) Camera.cpp:100::takeImage() Time capturing image = 0.016530s [DEBUG] (2017-08-26 21:10:19.858) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.858) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.858) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.859) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.874) Camera.cpp:100::takeImage() Time capturing image = 0.016468s [DEBUG] (2017-08-26 21:10:19.874) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.875) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.889) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.889) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.890) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.075763,-0.317412,0.345742 rpy=-0.163949,0.039663,2.287024 [DEBUG] (2017-08-26 21:10:19.891) Camera.cpp:100::takeImage() Time capturing image = 0.016562s [DEBUG] (2017-08-26 21:10:19.891) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.891) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.907) Camera.cpp:100::takeImage() Time capturing image = 0.016336s [DEBUG] (2017-08-26 21:10:19.908) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.908) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.920) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.920) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.924) Camera.cpp:100::takeImage() Time capturing image = 0.016709s [DEBUG] (2017-08-26 21:10:19.924) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.925) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.941) Camera.cpp:100::takeImage() Time capturing image = 0.016328s [DEBUG] (2017-08-26 21:10:19.941) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.941) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.949) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.949) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.950) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074243,-0.313838,0.346198 rpy=-0.169127,0.044000,2.265349 [DEBUG] (2017-08-26 21:10:19.959) Camera.cpp:100::takeImage() Time capturing image = 0.017526s [DEBUG] (2017-08-26 21:10:19.959) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.959) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.975) Camera.cpp:100::takeImage() Time capturing image = 0.016275s [DEBUG] (2017-08-26 21:10:19.975) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.975) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:19.978) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:19.978) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:19.992) Camera.cpp:100::takeImage() Time capturing image = 0.016596s [DEBUG] (2017-08-26 21:10:19.992) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:19.992) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.008) Camera.cpp:100::takeImage() Time capturing image = 0.016443s [DEBUG] (2017-08-26 21:10:20.008) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.009) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.009) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.009) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.010) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.072860,-0.309934,0.346708 rpy=-0.175202,0.047850,2.240734 [DEBUG] (2017-08-26 21:10:20.025) Camera.cpp:100::takeImage() Time capturing image = 0.016574s [DEBUG] (2017-08-26 21:10:20.025) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.025) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.041) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.041) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.041) Camera.cpp:100::takeImage() Time capturing image = 0.016146s [DEBUG] (2017-08-26 21:10:20.042) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.042) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.042) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071669,-0.305690,0.347710 rpy=-0.182106,0.050366,2.211020 [DEBUG] (2017-08-26 21:10:20.058) Camera.cpp:100::takeImage() Time capturing image = 0.016280s [DEBUG] (2017-08-26 21:10:20.058) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.058) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.072) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.072) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.073) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:20.073) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:20.075) Camera.cpp:100::takeImage() Time capturing image = 0.016893s [DEBUG] (2017-08-26 21:10:20.075) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.075) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.091) Camera.cpp:100::takeImage() Time capturing image = 0.015695s [DEBUG] (2017-08-26 21:10:20.091) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.091) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.108) Camera.cpp:100::takeImage() Time capturing image = 0.016357s [DEBUG] (2017-08-26 21:10:20.108) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.108) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.111) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.111) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.112) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071184,-0.300771,0.349201 rpy=-0.190138,0.050619,2.173625 [DEBUG] (2017-08-26 21:10:20.124) Camera.cpp:100::takeImage() Time capturing image = 0.016464s [DEBUG] (2017-08-26 21:10:20.124) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.124) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:20.124) RtabmapThread.cpp:630::addData() Added data 1784 [ INFO] (2017-08-26 21:10:20.125) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:20.125) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:20.125) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:20.125) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:608::update() time preUpdate=0.034094 ms [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:20.125) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:20.125) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:20.125) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:20.125) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:20.125) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:20.140) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:20.140) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:20.143) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.143) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.144) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:20.144) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:20.145) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:20.145) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:20.145) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:20.149) Camera.cpp:100::takeImage() Time capturing image = 0.024402s [DEBUG] (2017-08-26 21:10:20.149) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.149) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.165) Camera.cpp:100::takeImage() Time capturing image = 0.016190s [DEBUG] (2017-08-26 21:10:20.166) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.166) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.183) Camera.cpp:100::takeImage() Time capturing image = 0.017311s [DEBUG] (2017-08-26 21:10:20.184) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.184) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.186) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.186) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.187) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071898,-0.294930,0.351037 rpy=-0.196167,0.049645,2.131533 [DEBUG] (2017-08-26 21:10:20.200) Camera.cpp:100::takeImage() Time capturing image = 0.016162s [DEBUG] (2017-08-26 21:10:20.200) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.200) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.211) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:20.211) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:20.212) SensorData.cpp:557::uncompressData() 18 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:20.212) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:20.218) Camera.cpp:100::takeImage() Time capturing image = 0.017533s [DEBUG] (2017-08-26 21:10:20.218) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.218) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.228) MainWindow.cpp:1632::processStats() time= 16 ms [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 44 [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:3838::drawKeypoints() source time = 0.000193 s [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:20.232) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:20.236) Camera.cpp:100::takeImage() Time capturing image = 0.017871s [DEBUG] (2017-08-26 21:10:20.237) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.237) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.252) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.107102 s, keypoints extracted = 9 (mask empty=0) [DEBUG] (2017-08-26 21:10:20.252) Memory.cpp:3409::createSignature() time keypoints (9) = 0.127126s [DEBUG] (2017-08-26 21:10:20.252) MainWindow.cpp:1715::processStats() time= 20 ms [DEBUG] (2017-08-26 21:10:20.253) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:20.253) MainWindow.cpp:1912::updateMapCloud() posesIn=15 constraints=14 mapIdsIn=15 labelsIn=1 [DEBUG] (2017-08-26 21:10:20.253) MainWindow.cpp:1991::updateMapCloud() Update map with 15 locations [DEBUG] (2017-08-26 21:10:20.253) Camera.cpp:100::takeImage() Time capturing image = 0.015987s [DEBUG] (2017-08-26 21:10:20.253) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.253) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.254) SensorData.cpp:557::uncompressData() 18 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:20.255) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:20.255) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:20.255) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:20.256) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:20.256) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 9, remaining kpts=9 [DEBUG] (2017-08-26 21:10:20.256) Memory.cpp:3414::createSignature() time descriptors (9) = 0.004108s [DEBUG] (2017-08-26 21:10:20.256) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:20.256) Memory.cpp:3427::createSignature() time keypoints 3D (9) = 0.000089s [DEBUG] (2017-08-26 21:10:20.256) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:20.256) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:20.256) Memory.cpp:3539::createSignature() time descriptor and memory update (9 of size=64) = 0.000081s [DEBUG] (2017-08-26 21:10:20.256) VWDictionary.cpp:593::addNewWords() id=31 descriptors=9 [DEBUG] (2017-08-26 21:10:20.256) VWDictionary.cpp:686::addNewWords() newPts.total()=9 [DEBUG] (2017-08-26 21:10:20.257) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000337 s [DEBUG] (2017-08-26 21:10:20.257) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000183 s [DEBUG] (2017-08-26 21:10:20.257) VWDictionary.cpp:874::addNewWords() 2 new words added... [DEBUG] (2017-08-26 21:10:20.257) VWDictionary.cpp:876::addNewWords() 7 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:20.257) VWDictionary.cpp:877::addNewWords() total time 0.000586s [DEBUG] (2017-08-26 21:10:20.257) Memory.cpp:3599::createSignature() time addNewWords 0.000657s indexed=86 not=2 [DEBUG] (2017-08-26 21:10:20.257) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:20.264) Camera.cpp:100::takeImage() Time capturing image = 0.011159s [DEBUG] (2017-08-26 21:10:20.264) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.265) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.276) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.001219s [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:20.278) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:20.279) MainWindow.cpp:1796::processStats() time= 25 ms [DEBUG] (2017-08-26 21:10:20.283) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:20.284) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:20.284) MainWindow.cpp:1874::processStats() Updating GUI time = 0.073000s [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:3897::createSignature() time compressing data (id=31) 0.033537s [DEBUG] (2017-08-26 21:10:20.291) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:626::update() time creating signature=165.786987 ms [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:711::addSignatureToStm() adding 31 [DEBUG] (2017-08-26 21:10:20.291) Signature.cpp:121::addLink() Add link 31 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:20.291) Signature.cpp:121::addLink() Add link 22 to 31 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:773::addSignatureToStm() 9 words ref for the signature 31 [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:781::addSignatureToStm() time = 0.000240s [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:2836::rehearsal() merged=0, sim=0.437500 t=0.000036s [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:647::update() time rehearsal=0.346899 ms [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:700::update() totalTimer = 0.166197s [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:20.291) Rtabmap.cpp:1002::process() Processing signature 31 w=0 [ INFO] (2017-08-26 21:10:20.291) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.166321s [DEBUG] (2017-08-26 21:10:20.291) Rtabmap.cpp:1158::process() Added pose xyz=0.035858,0.016054,0.042530 rpy=0.242588,-1.509190,-0.473259 (odom=xyz=0.035858,0.016054,0.042530 rpy=0.242588,-1.509190,-0.473259) [ INFO] (2017-08-26 21:10:20.291) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000108s [ INFO] (2017-08-26 21:10:20.291) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:20.291) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000040 s [DEBUG] (2017-08-26 21:10:20.291) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:20.291) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:20.291) Rtabmap.cpp:3230::adjustLikelihood() mean=0.207358, stdDev=0.193708, max=0.481648, maxId=1, time=0.000033s [ INFO] (2017-08-26 21:10:20.291) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000199s [ INFO] (2017-08-26 21:10:20.291) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:20.292) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.292) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000045s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000146s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000023s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000075s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:575::updatePrediction() time copying = 0.000052s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000023s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000419s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000089s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000023s [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:208::computePosterior() sum=1.899393 [DEBUG] (2017-08-26 21:10:20.292) BayesFilter.cpp:216::computePosterior() normalize time=0.000039s [ INFO] (2017-08-26 21:10:20.292) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000777s [ INFO] (2017-08-26 21:10:20.292) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:20.292) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.091345, timeHypothesesCreation=0.000051s [DEBUG] (2017-08-26 21:10:20.292) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:20.292) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:20.292) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003611s, joining (actual overhead) = 0.000058s [ INFO] (2017-08-26 21:10:20.292) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:20.292) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:20.292) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:20.292) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:20.292) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1514::process() nt=11 m=9 immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:20.293) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000341s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:20.293) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003749 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:20.293) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 1 (0.003749 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 3 (0.006815 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 4 (0.063723 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 5 (0.201819 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 10 (0.211727 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 9 (0.221487 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 11 (0.229734 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.293) Rtabmap.cpp:1748::process() local node 7 (0.234177 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:1748::process() local node 8 (0.245634 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:1748::process() local node 6 (0.255951 m) immunized=1 [DEBUG] (2017-08-26 21:10:20.294) Camera.cpp:100::takeImage() Time capturing image = 0.028959s [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:20.294) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:20.294) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000001s [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000029s [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000030s... [DEBUG] (2017-08-26 21:10:20.294) Memory.cpp:4120::reactivateSignatures() time = 0.000195s [ INFO] (2017-08-26 21:10:20.294) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000078s) [ INFO] (2017-08-26 21:10:20.294) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000078s [DEBUG] (2017-08-26 21:10:20.294) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:20.294) Rtabmap.cpp:1807::process() timeReactivations=0.001576s [ INFO] (2017-08-26 21:10:20.294) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000113s [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:20.294) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:20.294) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003749 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:20.294) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:20.295) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:20.295) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:20.295) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:20.295) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:20.295) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003749 [DEBUG] (2017-08-26 21:10:20.295) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:20.295) SensorData.cpp:557::uncompressData() 31 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:20.295) RegistrationVis.cpp:217::computeTransformationImpl() Input(31): to=9 words, 9 3D words, 9 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:20.296) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:20.296) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:20.296) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:20.296) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:20.296) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=9 [DEBUG] (2017-08-26 21:10:20.297) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:20.297) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=9 [DEBUG] (2017-08-26 21:10:20.297) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:20.297) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:593::addNewWords() id=2 descriptors=9 [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:686::addNewWords() newPts.total()=9 [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000078 s [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000074 s [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:874::addNewWords() 7 new words added... [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:876::addNewWords() 2 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:877::addNewWords() total time 0.000214s [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:20.297) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:20.297) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:20.297) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=9 [ INFO] (2017-08-26 21:10:20.298) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=9, min=20) [DEBUG] (2017-08-26 21:10:20.298) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:20.298) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003572s [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2307::process() timeMapOptimization=0.000023s [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2430::process() Time creating stats = 0.000174... [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:2187::removeRawData() id=31 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2476::process() Ignoring location 31 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:2114::deleteLocation() Deleting location 31 [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:1894::moveToTrash() id=31 [DEBUG] (2017-08-26 21:10:20.298) Signature.cpp:160::removeLink() Removed link 31 from 22 [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:3929::disableWordsRef() id=31 [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:3945::disableWordsRef() 9 words total ref removed from signature 31... (total active ref = 338) [DEBUG] (2017-08-26 21:10:20.298) DBDriver.cpp:368::asyncSave() s=31 [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000287s... 1 signatures removed [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2500::process() Total time processing = 0.173281s... [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:20.298) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:20.298) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:20.298) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:20.298) Rtabmap.cpp:2557::process() Removed 31 from local map [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000168... [ INFO] (2017-08-26 21:10:20.298) Rtabmap.cpp:2624::process() Adding data 31 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:20.298) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:20.298) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:20.299) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:20.299) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 31 [DEBUG] (2017-08-26 21:10:20.300) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000990s [DEBUG] (2017-08-26 21:10:20.300) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:20.300) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:20.300) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:20.300) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:20.300) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:20.300) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000050s [DEBUG] (2017-08-26 21:10:20.300) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:20.300) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:20.300) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:20.301) DBDriverSqlite3.cpp:4240::stepNode() Save node 31 [DEBUG] (2017-08-26 21:10:20.301) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:20.301) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:20.301) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000551s [DEBUG] (2017-08-26 21:10:20.301) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000136s [DEBUG] (2017-08-26 21:10:20.302) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000701s [DEBUG] (2017-08-26 21:10:20.302) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:20.302) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 31 (image=72682 depth=52290) depth2d = 0 [DEBUG] (2017-08-26 21:10:20.303) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000916s [DEBUG] (2017-08-26 21:10:20.303) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000081s [DEBUG] (2017-08-26 21:10:20.303) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.002494... [DEBUG] (2017-08-26 21:10:20.303) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:20.304) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001407s [DEBUG] (2017-08-26 21:10:20.304) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.004283s... [DEBUG] (2017-08-26 21:10:20.305) Camera.cpp:100::takeImage() Time capturing image = 0.010685s [DEBUG] (2017-08-26 21:10:20.305) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.305) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.315) Camera.cpp:100::takeImage() Time capturing image = 0.010503s [DEBUG] (2017-08-26 21:10:20.316) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.316) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.326) Camera.cpp:100::takeImage() Time capturing image = 0.010638s [DEBUG] (2017-08-26 21:10:20.326) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.327) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.333) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.333) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.334) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073688,-0.289407,0.353476 rpy=-0.199931,0.048052,2.085603 [DEBUG] (2017-08-26 21:10:20.341) Camera.cpp:100::takeImage() Time capturing image = 0.014757s [DEBUG] (2017-08-26 21:10:20.341) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.341) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.357) Camera.cpp:100::takeImage() Time capturing image = 0.015422s [DEBUG] (2017-08-26 21:10:20.357) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.357) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.372) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.372) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.374) Camera.cpp:100::takeImage() Time capturing image = 0.017518s [DEBUG] (2017-08-26 21:10:20.375) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.375) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.399) Camera.cpp:100::takeImage() Time capturing image = 0.024122s [DEBUG] (2017-08-26 21:10:20.399) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.399) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.403) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.403) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.404) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076450,-0.282621,0.356388 rpy=-0.203029,0.045691,2.035864 [DEBUG] (2017-08-26 21:10:20.410) Camera.cpp:100::takeImage() Time capturing image = 0.011159s [DEBUG] (2017-08-26 21:10:20.410) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.410) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.435) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.435) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.438) Camera.cpp:100::takeImage() Time capturing image = 0.027819s [DEBUG] (2017-08-26 21:10:20.438) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.438) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.452) Camera.cpp:100::takeImage() Time capturing image = 0.014145s [DEBUG] (2017-08-26 21:10:20.452) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.453) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.466) Camera.cpp:100::takeImage() Time capturing image = 0.013841s [DEBUG] (2017-08-26 21:10:20.466) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.467) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.469) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.469) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.478) Camera.cpp:100::takeImage() Time capturing image = 0.011036s [DEBUG] (2017-08-26 21:10:20.478) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.478) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.496) Camera.cpp:100::takeImage() Time capturing image = 0.017881s [DEBUG] (2017-08-26 21:10:20.496) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.496) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.502) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.502) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.503) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.079813,-0.276438,0.359983 rpy=-0.204993,0.041661,1.986397 [DEBUG] (2017-08-26 21:10:20.508) Camera.cpp:100::takeImage() Time capturing image = 0.011722s [DEBUG] (2017-08-26 21:10:20.508) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.508) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.524) Camera.cpp:100::takeImage() Time capturing image = 0.016022s [DEBUG] (2017-08-26 21:10:20.524) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.524) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.538) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.538) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.539) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.083626,-0.272257,0.364201 rpy=-0.206076,0.035627,1.938105 [DEBUG] (2017-08-26 21:10:20.540) Camera.cpp:100::takeImage() Time capturing image = 0.016528s [DEBUG] (2017-08-26 21:10:20.541) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.541) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.557) Camera.cpp:100::takeImage() Time capturing image = 0.016610s [DEBUG] (2017-08-26 21:10:20.557) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.557) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.574) Camera.cpp:100::takeImage() Time capturing image = 0.016256s [DEBUG] (2017-08-26 21:10:20.574) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.574) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.575) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.575) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.590) Camera.cpp:100::takeImage() Time capturing image = 0.016491s [DEBUG] (2017-08-26 21:10:20.590) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.591) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.607) Camera.cpp:100::takeImage() Time capturing image = 0.016608s [DEBUG] (2017-08-26 21:10:20.607) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.607) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.610) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.611) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.624) Camera.cpp:100::takeImage() Time capturing image = 0.016490s [DEBUG] (2017-08-26 21:10:20.624) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.624) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.640) Camera.cpp:100::takeImage() Time capturing image = 0.016324s [DEBUG] (2017-08-26 21:10:20.640) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.640) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.647) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.647) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.648) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.087868,-0.268272,0.369738 rpy=-0.207557,0.027067,1.890110 [DEBUG] (2017-08-26 21:10:20.657) Camera.cpp:100::takeImage() Time capturing image = 0.016185s [DEBUG] (2017-08-26 21:10:20.657) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.657) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.673) Camera.cpp:100::takeImage() Time capturing image = 0.016233s [DEBUG] (2017-08-26 21:10:20.673) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.673) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.685) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.685) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.694) Camera.cpp:100::takeImage() Time capturing image = 0.020552s [DEBUG] (2017-08-26 21:10:20.694) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.694) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.707) Camera.cpp:100::takeImage() Time capturing image = 0.013063s [DEBUG] (2017-08-26 21:10:20.707) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.707) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.716) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.716) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.717) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.092086,-0.264341,0.376183 rpy=-0.208082,0.016670,1.846634 [DEBUG] (2017-08-26 21:10:20.732) Camera.cpp:100::takeImage() Time capturing image = 0.024406s [DEBUG] (2017-08-26 21:10:20.732) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.732) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.743) Camera.cpp:100::takeImage() Time capturing image = 0.010947s [DEBUG] (2017-08-26 21:10:20.743) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.743) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.750) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.750) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.751) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.096212,-0.260860,0.382520 rpy=-0.207129,0.005866,1.805673 [DEBUG] (2017-08-26 21:10:20.757) Camera.cpp:100::takeImage() Time capturing image = 0.013652s [DEBUG] (2017-08-26 21:10:20.757) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.757) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.774) Camera.cpp:100::takeImage() Time capturing image = 0.016595s [DEBUG] (2017-08-26 21:10:20.774) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.774) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.785) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.785) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.790) Camera.cpp:100::takeImage() Time capturing image = 0.015704s [DEBUG] (2017-08-26 21:10:20.790) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.790) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.807) Camera.cpp:100::takeImage() Time capturing image = 0.016791s [DEBUG] (2017-08-26 21:10:20.807) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.807) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.820) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.821) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.823) Camera.cpp:100::takeImage() Time capturing image = 0.016390s [DEBUG] (2017-08-26 21:10:20.824) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.824) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.840) Camera.cpp:100::takeImage() Time capturing image = 0.016303s [DEBUG] (2017-08-26 21:10:20.840) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.840) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.855) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.855) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.857) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100722,-0.256878,0.389520 rpy=-0.205927,-0.005389,1.763489 [DEBUG] (2017-08-26 21:10:20.857) Camera.cpp:100::takeImage() Time capturing image = 0.016770s [DEBUG] (2017-08-26 21:10:20.857) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.857) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.873) Camera.cpp:100::takeImage() Time capturing image = 0.016355s [DEBUG] (2017-08-26 21:10:20.873) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.874) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.890) Camera.cpp:100::takeImage() Time capturing image = 0.016329s [DEBUG] (2017-08-26 21:10:20.890) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.890) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.892) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.892) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.907) Camera.cpp:100::takeImage() Time capturing image = 0.016778s [DEBUG] (2017-08-26 21:10:20.907) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.907) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.923) Camera.cpp:100::takeImage() Time capturing image = 0.016349s [DEBUG] (2017-08-26 21:10:20.923) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.924) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.929) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.929) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.931) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.105960,-0.252020,0.396851 rpy=-0.205175,-0.017506,1.719923 [DEBUG] (2017-08-26 21:10:20.940) Camera.cpp:100::takeImage() Time capturing image = 0.016402s [DEBUG] (2017-08-26 21:10:20.940) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.940) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.957) Camera.cpp:100::takeImage() Time capturing image = 0.016649s [DEBUG] (2017-08-26 21:10:20.957) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.957) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.967) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:20.967) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:20.968) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.110561,-0.248041,0.402737 rpy=-0.204132,-0.026576,1.683043 [DEBUG] (2017-08-26 21:10:20.973) Camera.cpp:100::takeImage() Time capturing image = 0.016662s [DEBUG] (2017-08-26 21:10:20.974) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.974) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:20.990) Camera.cpp:100::takeImage() Time capturing image = 0.016280s [DEBUG] (2017-08-26 21:10:20.990) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:20.990) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.004) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.004) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.006) Camera.cpp:100::takeImage() Time capturing image = 0.016428s [DEBUG] (2017-08-26 21:10:21.007) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.007) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.023) Camera.cpp:100::takeImage() Time capturing image = 0.016606s [DEBUG] (2017-08-26 21:10:21.023) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.024) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.041) Camera.cpp:100::takeImage() Time capturing image = 0.018038s [DEBUG] (2017-08-26 21:10:21.042) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.042) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.043) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.043) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.044) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116208,-0.243000,0.408421 rpy=-0.202057,-0.034488,1.642041 [DEBUG] (2017-08-26 21:10:21.063) Camera.cpp:100::takeImage() Time capturing image = 0.021044s [DEBUG] (2017-08-26 21:10:21.063) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.063) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.073) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.073) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.076) Camera.cpp:100::takeImage() Time capturing image = 0.012405s [DEBUG] (2017-08-26 21:10:21.076) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.076) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.092) Camera.cpp:100::takeImage() Time capturing image = 0.016815s [DEBUG] (2017-08-26 21:10:21.093) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.096) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.105) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.105) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.107) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.122358,-0.237205,0.413611 rpy=-0.199200,-0.039997,1.598142 [DEBUG] (2017-08-26 21:10:21.107) Camera.cpp:100::takeImage() Time capturing image = 0.014841s [DEBUG] (2017-08-26 21:10:21.108) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.108) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.130) Camera.cpp:100::takeImage() Time capturing image = 0.021830s [DEBUG] (2017-08-26 21:10:21.130) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.130) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:21.130) RtabmapThread.cpp:630::addData() Added data 1844 [ INFO] (2017-08-26 21:10:21.130) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:21.130) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:21.130) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:21.130) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:608::update() time preUpdate=0.035048 ms [DEBUG] (2017-08-26 21:10:21.130) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:21.131) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:21.131) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:21.134) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.134) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.164) Camera.cpp:100::takeImage() Time capturing image = 0.034656s [DEBUG] (2017-08-26 21:10:21.166) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.166) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.176) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:21.176) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:21.176) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:21.194) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.194) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.198) Camera.cpp:100::takeImage() Time capturing image = 0.031413s [DEBUG] (2017-08-26 21:10:21.198) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.199) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.200) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:21.200) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:21.209) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:21.209) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:21.209) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:21.256) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.256) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.257) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.127450,-0.231949,0.417037 rpy=-0.196237,-0.041895,1.561980 [DEBUG] (2017-08-26 21:10:21.274) Camera.cpp:100::takeImage() Time capturing image = 0.076554s [DEBUG] (2017-08-26 21:10:21.276) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.276) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.287) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.287) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.288) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.133499,-0.225272,0.419937 rpy=-0.193687,-0.042534,1.524309 [DEBUG] (2017-08-26 21:10:21.315) Camera.cpp:100::takeImage() Time capturing image = 0.039079s [DEBUG] (2017-08-26 21:10:21.315) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.315) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.329) Camera.cpp:100::takeImage() Time capturing image = 0.013565s [DEBUG] (2017-08-26 21:10:21.329) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.329) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.332) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.332) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.343) Camera.cpp:100::takeImage() Time capturing image = 0.013365s [DEBUG] (2017-08-26 21:10:21.343) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.343) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.350) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.141186 s, keypoints extracted = 7 (mask empty=0) [DEBUG] (2017-08-26 21:10:21.350) Memory.cpp:3409::createSignature() time keypoints (7) = 0.219667s [DEBUG] (2017-08-26 21:10:21.357) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 7, remaining kpts=7 [DEBUG] (2017-08-26 21:10:21.357) Memory.cpp:3414::createSignature() time descriptors (7) = 0.006398s [DEBUG] (2017-08-26 21:10:21.357) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:21.357) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:21.357) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:21.357) Memory.cpp:3603::createSignature() id 32 is a bad signature [DEBUG] (2017-08-26 21:10:21.357) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:21.357) Camera.cpp:100::takeImage() Time capturing image = 0.013865s [DEBUG] (2017-08-26 21:10:21.357) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.357) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.370) Camera.cpp:100::takeImage() Time capturing image = 0.012950s [DEBUG] (2017-08-26 21:10:21.371) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.371) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.377) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.377) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.377) Memory.cpp:3897::createSignature() time compressing data (id=32) 0.020566s [DEBUG] (2017-08-26 21:10:21.377) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:21.377) Memory.cpp:626::update() time creating signature=246.867889 ms [DEBUG] (2017-08-26 21:10:21.377) Memory.cpp:711::addSignatureToStm() adding 32 [DEBUG] (2017-08-26 21:10:21.377) Signature.cpp:121::addLink() Add link 32 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:21.377) Signature.cpp:121::addLink() Add link 22 to 32 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:21.377) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:21.377) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 32 [DEBUG] (2017-08-26 21:10:21.378) Memory.cpp:781::addSignatureToStm() time = 0.000173s [DEBUG] (2017-08-26 21:10:21.378) Memory.cpp:647::update() time rehearsal=0.226021 ms [DEBUG] (2017-08-26 21:10:21.378) Memory.cpp:700::update() totalTimer = 0.247163s [DEBUG] (2017-08-26 21:10:21.378) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1002::process() Processing signature 32 w=0 [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.247291s [DEBUG] (2017-08-26 21:10:21.378) Rtabmap.cpp:1158::process() Added pose xyz=0.033910,0.014173,0.039198 rpy=0.245315,-1.508985,-0.476330 (odom=xyz=0.033910,0.014173,0.039198 rpy=0.245315,-1.508985,-0.476330) [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000110s [DEBUG] (2017-08-26 21:10:21.378) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:21.378) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.004283s, joining (actual overhead) = 0.000063s [DEBUG] (2017-08-26 21:10:21.378) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003252 [DEBUG] (2017-08-26 21:10:21.378) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.139177,-0.219033,0.421564 rpy=-0.191667,-0.042511,1.490361 [DEBUG] (2017-08-26 21:10:21.378) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:21.378) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:21.378) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1807::process() timeReactivations=0.000440s [ INFO] (2017-08-26 21:10:21.378) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:21.378) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:21.378) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:21.378) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:21.379) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003252 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:21.379) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:21.379) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003252 [DEBUG] (2017-08-26 21:10:21.379) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:21.379) SensorData.cpp:557::uncompressData() 32 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:21.379) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000865s [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2430::process() Time creating stats = 0.000160... [DEBUG] (2017-08-26 21:10:21.379) Memory.cpp:2187::removeRawData() id=32 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:21.379) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:21.379) Rtabmap.cpp:2476::process() Ignoring location 32 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:21.379) Memory.cpp:2114::deleteLocation() Deleting location 32 [DEBUG] (2017-08-26 21:10:21.379) Memory.cpp:1894::moveToTrash() id=32 [DEBUG] (2017-08-26 21:10:21.379) Signature.cpp:160::removeLink() Removed link 32 from 22 [DEBUG] (2017-08-26 21:10:21.380) Memory.cpp:3929::disableWordsRef() id=32 [DEBUG] (2017-08-26 21:10:21.380) DBDriver.cpp:368::asyncSave() s=32 [ INFO] (2017-08-26 21:10:21.380) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000250s... 1 signatures removed [ INFO] (2017-08-26 21:10:21.380) Rtabmap.cpp:2500::process() Total time processing = 0.249243s... [DEBUG] (2017-08-26 21:10:21.380) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:21.380) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:21.380) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:21.380) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:21.380) Rtabmap.cpp:2557::process() Removed 32 from local map [ INFO] (2017-08-26 21:10:21.380) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000176... [ INFO] (2017-08-26 21:10:21.380) Rtabmap.cpp:2624::process() Adding data 32 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:21.380) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:21.380) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:21.380) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:21.380) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 32 [DEBUG] (2017-08-26 21:10:21.382) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001222s [DEBUG] (2017-08-26 21:10:21.382) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:21.382) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:21.382) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:21.382) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:21.383) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:21.383) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:21.383) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:21.383) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:21.383) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000044s [DEBUG] (2017-08-26 21:10:21.383) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:21.383) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:21.383) DBDriverSqlite3.cpp:4240::stepNode() Save node 32 [DEBUG] (2017-08-26 21:10:21.383) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000376s [DEBUG] (2017-08-26 21:10:21.383) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000088s [DEBUG] (2017-08-26 21:10:21.384) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000144s [DEBUG] (2017-08-26 21:10:21.384) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:21.384) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 32 (image=72306 depth=53403) depth2d = 0 [DEBUG] (2017-08-26 21:10:21.384) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000670s [DEBUG] (2017-08-26 21:10:21.384) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000064s [DEBUG] (2017-08-26 21:10:21.384) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001425... [DEBUG] (2017-08-26 21:10:21.384) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:21.386) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001118s [DEBUG] (2017-08-26 21:10:21.386) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003136s... [DEBUG] (2017-08-26 21:10:21.388) Camera.cpp:100::takeImage() Time capturing image = 0.017607s [DEBUG] (2017-08-26 21:10:21.389) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.389) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.400) Camera.cpp:100::takeImage() Time capturing image = 0.011329s [DEBUG] (2017-08-26 21:10:21.400) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.400) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.406) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.406) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.418) Camera.cpp:100::takeImage() Time capturing image = 0.018317s [DEBUG] (2017-08-26 21:10:21.419) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.419) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.425) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.425) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.426) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.145326,-0.212241,0.422354 rpy=-0.188669,-0.039934,1.457854 [DEBUG] (2017-08-26 21:10:21.429) Camera.cpp:100::takeImage() Time capturing image = 0.010589s [DEBUG] (2017-08-26 21:10:21.429) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.429) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.440) Camera.cpp:100::takeImage() Time capturing image = 0.010480s [DEBUG] (2017-08-26 21:10:21.440) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.440) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.447) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.447) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.461) Camera.cpp:100::takeImage() Time capturing image = 0.020824s [DEBUG] (2017-08-26 21:10:21.461) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.462) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.470) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.470) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.471) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.152851,-0.204888,0.422079 rpy=-0.185168,-0.036234,1.424570 [DEBUG] (2017-08-26 21:10:21.473) Camera.cpp:100::takeImage() Time capturing image = 0.011311s [DEBUG] (2017-08-26 21:10:21.473) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.473) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.489) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.489) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.491) Camera.cpp:100::takeImage() Time capturing image = 0.017471s [DEBUG] (2017-08-26 21:10:21.491) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.491) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.506) Camera.cpp:100::takeImage() Time capturing image = 0.015200s [DEBUG] (2017-08-26 21:10:21.506) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.506) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.511) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.511) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.512) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.160340,-0.198108,0.420711 rpy=-0.182274,-0.032971,1.391396 [DEBUG] (2017-08-26 21:10:21.523) Camera.cpp:100::takeImage() Time capturing image = 0.017036s [DEBUG] (2017-08-26 21:10:21.523) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.523) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.532) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.532) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.540) Camera.cpp:100::takeImage() Time capturing image = 0.016185s [DEBUG] (2017-08-26 21:10:21.540) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.540) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.551) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.551) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.552) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.168218,-0.191044,0.418405 rpy=-0.179190,-0.029107,1.355020 [DEBUG] (2017-08-26 21:10:21.559) Camera.cpp:100::takeImage() Time capturing image = 0.019310s [DEBUG] (2017-08-26 21:10:21.559) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.559) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.572) Camera.cpp:100::takeImage() Time capturing image = 0.012795s [DEBUG] (2017-08-26 21:10:21.572) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.572) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.574) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.574) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.589) Camera.cpp:100::takeImage() Time capturing image = 0.016811s [DEBUG] (2017-08-26 21:10:21.589) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.589) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.593) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.593) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.605) Camera.cpp:100::takeImage() Time capturing image = 0.016098s [DEBUG] (2017-08-26 21:10:21.605) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.606) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.614) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.614) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.615) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.175152,-0.183119,0.415242 rpy=-0.178183,-0.021567,1.316801 [DEBUG] (2017-08-26 21:10:21.623) Camera.cpp:100::takeImage() Time capturing image = 0.016997s [DEBUG] (2017-08-26 21:10:21.623) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.623) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.638) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.638) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.639) Camera.cpp:100::takeImage() Time capturing image = 0.016317s [DEBUG] (2017-08-26 21:10:21.639) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.639) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.655) Camera.cpp:100::takeImage() Time capturing image = 0.016292s [DEBUG] (2017-08-26 21:10:21.655) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.656) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.656) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.657) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.657) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.178735,-0.175264,0.411806 rpy=-0.185445,-0.014619,1.291671 [DEBUG] (2017-08-26 21:10:21.672) Camera.cpp:100::takeImage() Time capturing image = 0.016534s [DEBUG] (2017-08-26 21:10:21.672) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.672) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.680) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.680) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.681) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.181702,-0.168682,0.407511 rpy=-0.193563,-0.013783,1.263658 [DEBUG] (2017-08-26 21:10:21.689) Camera.cpp:100::takeImage() Time capturing image = 0.016801s [DEBUG] (2017-08-26 21:10:21.689) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.689) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.705) Camera.cpp:100::takeImage() Time capturing image = 0.016237s [DEBUG] (2017-08-26 21:10:21.705) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.706) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.721) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.721) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.722) Camera.cpp:100::takeImage() Time capturing image = 0.016794s [DEBUG] (2017-08-26 21:10:21.722) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.723) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.739) Camera.cpp:100::takeImage() Time capturing image = 0.016359s [DEBUG] (2017-08-26 21:10:21.739) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.739) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.743) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.743) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.744) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.185504,-0.162196,0.402575 rpy=-0.196469,-0.015203,1.227310 [DEBUG] (2017-08-26 21:10:21.755) Camera.cpp:100::takeImage() Time capturing image = 0.016374s [DEBUG] (2017-08-26 21:10:21.755) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.756) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.763) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.763) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.772) Camera.cpp:100::takeImage() Time capturing image = 0.016537s [DEBUG] (2017-08-26 21:10:21.772) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.772) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.783) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.783) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.784) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.188213,-0.156369,0.398529 rpy=-0.196048,-0.016633,1.192100 [DEBUG] (2017-08-26 21:10:21.789) Camera.cpp:100::takeImage() Time capturing image = 0.016778s [DEBUG] (2017-08-26 21:10:21.789) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.789) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.805) Camera.cpp:100::takeImage() Time capturing image = 0.016201s [DEBUG] (2017-08-26 21:10:21.805) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.805) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.807) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.822) Camera.cpp:100::takeImage() Time capturing image = 0.016791s [DEBUG] (2017-08-26 21:10:21.822) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.822) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.826) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.826) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.827) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.190164,-0.151522,0.395663 rpy=-0.196119,-0.020438,1.158060 [DEBUG] (2017-08-26 21:10:21.839) Camera.cpp:100::takeImage() Time capturing image = 0.016189s [DEBUG] (2017-08-26 21:10:21.839) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.839) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.849) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.849) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.855) Camera.cpp:100::takeImage() Time capturing image = 0.016583s [DEBUG] (2017-08-26 21:10:21.855) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.855) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.871) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.871) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.872) Camera.cpp:100::takeImage() Time capturing image = 0.016553s [DEBUG] (2017-08-26 21:10:21.872) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.191434,-0.147017,0.392887 rpy=-0.195609,-0.031574,1.116065 [DEBUG] (2017-08-26 21:10:21.872) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.872) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.889) Camera.cpp:100::takeImage() Time capturing image = 0.016657s [DEBUG] (2017-08-26 21:10:21.889) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.889) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.890) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.890) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.891) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.191933,-0.143688,0.390746 rpy=-0.190835,-0.049936,1.068680 [DEBUG] (2017-08-26 21:10:21.905) Camera.cpp:100::takeImage() Time capturing image = 0.016166s [DEBUG] (2017-08-26 21:10:21.905) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.905) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.913) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.913) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.922) Camera.cpp:100::takeImage() Time capturing image = 0.016850s [DEBUG] (2017-08-26 21:10:21.922) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.922) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.933) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.933) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.938) Camera.cpp:100::takeImage() Time capturing image = 0.016154s [DEBUG] (2017-08-26 21:10:21.939) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.939) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.952) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.952) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.953) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.190981,-0.141073,0.388680 rpy=-0.183062,-0.067445,1.027034 [DEBUG] (2017-08-26 21:10:21.956) Camera.cpp:100::takeImage() Time capturing image = 0.017594s [DEBUG] (2017-08-26 21:10:21.956) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.956) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.972) Camera.cpp:100::takeImage() Time capturing image = 0.015851s [DEBUG] (2017-08-26 21:10:21.972) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.972) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.976) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.976) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.991) Camera.cpp:100::takeImage() Time capturing image = 0.018979s [DEBUG] (2017-08-26 21:10:21.991) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:21.992) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:21.995) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:21.995) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:21.996) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.189713,-0.139680,0.386559 rpy=-0.168757,-0.088154,0.979495 [DEBUG] (2017-08-26 21:10:22.006) Camera.cpp:100::takeImage() Time capturing image = 0.014154s [DEBUG] (2017-08-26 21:10:22.006) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.006) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.017) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.017) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.024) Camera.cpp:100::takeImage() Time capturing image = 0.018055s [DEBUG] (2017-08-26 21:10:22.024) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.024) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.033) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:22.033) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:22.033) SensorData.cpp:557::uncompressData() 19 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:22.033) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:22.038) Camera.cpp:100::takeImage() Time capturing image = 0.014325s [DEBUG] (2017-08-26 21:10:22.038) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.039) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.046) MainWindow.cpp:1632::processStats() time= 13 ms [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:3838::drawKeypoints() source time = 0.000019 s [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:22.049) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:22.055) Camera.cpp:100::takeImage() Time capturing image = 0.016624s [DEBUG] (2017-08-26 21:10:22.055) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.055) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.055) MainWindow.cpp:1715::processStats() time= 6 ms [DEBUG] (2017-08-26 21:10:22.056) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:22.056) MainWindow.cpp:1912::updateMapCloud() posesIn=16 constraints=15 mapIdsIn=16 labelsIn=1 [DEBUG] (2017-08-26 21:10:22.056) MainWindow.cpp:1991::updateMapCloud() Update map with 16 locations [DEBUG] (2017-08-26 21:10:22.056) SensorData.cpp:557::uncompressData() 19 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:22.056) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:22.056) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:22.056) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:22.057) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:22.066) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000718s [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:22.067) MainWindow.cpp:1796::processStats() time= 11 ms [DEBUG] (2017-08-26 21:10:22.070) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:22.070) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:22.070) MainWindow.cpp:1874::processStats() Updating GUI time = 0.037000s [DEBUG] (2017-08-26 21:10:22.073) Camera.cpp:100::takeImage() Time capturing image = 0.018104s [DEBUG] (2017-08-26 21:10:22.073) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.074) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.077) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.077) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.077) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.188599,-0.139077,0.384269 rpy=-0.146780,-0.107229,0.928191 [DEBUG] (2017-08-26 21:10:22.088) Camera.cpp:100::takeImage() Time capturing image = 0.015012s [DEBUG] (2017-08-26 21:10:22.089) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.089) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.097) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.097) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.105) Camera.cpp:100::takeImage() Time capturing image = 0.015981s [DEBUG] (2017-08-26 21:10:22.105) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.105) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.115) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.115) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.116) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.187901,-0.138339,0.382988 rpy=-0.121374,-0.114260,0.888863 [DEBUG] (2017-08-26 21:10:22.121) Camera.cpp:100::takeImage() Time capturing image = 0.016318s [DEBUG] (2017-08-26 21:10:22.121) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.121) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.135) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.135) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.139) Camera.cpp:100::takeImage() Time capturing image = 0.017392s [DEBUG] (2017-08-26 21:10:22.139) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.139) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:22.139) RtabmapThread.cpp:630::addData() Added data 1899 [ INFO] (2017-08-26 21:10:22.139) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:22.139) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:22.139) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:22.139) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:22.139) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:22.139) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:22.139) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:22.139) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:22.140) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:22.140) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:22.140) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:22.140) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:22.140) VWDictionary.cpp:307::update() [ INFO] (2017-08-26 21:10:22.140) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:22.140) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:22.140) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:22.156) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.156) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.156) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:22.156) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:22.157) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.188170,-0.136643,0.381018 rpy=-0.090191,-0.112226,0.847543 [DEBUG] (2017-08-26 21:10:22.157) Camera.cpp:100::takeImage() Time capturing image = 0.017981s [DEBUG] (2017-08-26 21:10:22.157) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.157) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.160) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:22.161) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:22.161) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:22.181) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.181) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.203) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.204) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.204) Camera.cpp:100::takeImage() Time capturing image = 0.046658s [DEBUG] (2017-08-26 21:10:22.204) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.204) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.205) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.189314,-0.133839,0.377576 rpy=-0.060532,-0.103125,0.806075 [DEBUG] (2017-08-26 21:10:22.230) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.230) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.233) Camera.cpp:100::takeImage() Time capturing image = 0.029145s [DEBUG] (2017-08-26 21:10:22.234) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.234) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.236) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.075513 s, keypoints extracted = 8 (mask empty=0) [DEBUG] (2017-08-26 21:10:22.236) Memory.cpp:3409::createSignature() time keypoints (8) = 0.096539s [DEBUG] (2017-08-26 21:10:22.240) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 8, remaining kpts=8 [DEBUG] (2017-08-26 21:10:22.240) Memory.cpp:3414::createSignature() time descriptors (8) = 0.003789s [DEBUG] (2017-08-26 21:10:22.240) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:22.240) Memory.cpp:3427::createSignature() time keypoints 3D (8) = 0.000087s [DEBUG] (2017-08-26 21:10:22.240) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:22.240) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:22.240) Memory.cpp:3539::createSignature() time descriptor and memory update (8 of size=64) = 0.000079s [DEBUG] (2017-08-26 21:10:22.240) VWDictionary.cpp:593::addNewWords() id=33 descriptors=8 [DEBUG] (2017-08-26 21:10:22.240) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:22.240) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000299 s [DEBUG] (2017-08-26 21:10:22.241) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000123 s [DEBUG] (2017-08-26 21:10:22.241) VWDictionary.cpp:874::addNewWords() 1 new words added... [DEBUG] (2017-08-26 21:10:22.241) VWDictionary.cpp:876::addNewWords() 7 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:22.241) VWDictionary.cpp:877::addNewWords() total time 0.000487s [DEBUG] (2017-08-26 21:10:22.241) Memory.cpp:3599::createSignature() time addNewWords 0.000556s indexed=86 not=1 [DEBUG] (2017-08-26 21:10:22.241) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:22.250) Camera.cpp:100::takeImage() Time capturing image = 0.016087s [DEBUG] (2017-08-26 21:10:22.250) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.250) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:3897::createSignature() time compressing data (id=33) 0.015391s [DEBUG] (2017-08-26 21:10:22.256) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:626::update() time creating signature=116.618874 ms [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:711::addSignatureToStm() adding 33 [DEBUG] (2017-08-26 21:10:22.256) Signature.cpp:121::addLink() Add link 33 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:22.256) Signature.cpp:121::addLink() Add link 22 to 33 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:773::addSignatureToStm() 8 words ref for the signature 33 [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:781::addSignatureToStm() time = 0.000160s [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:2836::rehearsal() merged=0, sim=0.375000 t=0.000037s [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:647::update() time rehearsal=0.268936 ms [DEBUG] (2017-08-26 21:10:22.256) Memory.cpp:700::update() totalTimer = 0.116953s [DEBUG] (2017-08-26 21:10:22.257) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1002::process() Processing signature 33 w=0 [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.117142s [DEBUG] (2017-08-26 21:10:22.257) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.257) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.257) Rtabmap.cpp:1158::process() Added pose xyz=0.035415,0.015339,0.040637 rpy=0.240516,-1.508931,-0.471725 (odom=xyz=0.035415,0.015339,0.040637 rpy=0.240516,-1.508931,-0.471725) [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000151s [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:22.257) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:22.257) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000115 s [DEBUG] (2017-08-26 21:10:22.257) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:22.257) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:22.257) Rtabmap.cpp:3230::adjustLikelihood() mean=0.112985, stdDev=0.081576, max=0.216207, maxId=5, time=0.000020s [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000266s [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000038s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000025s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000024s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000022s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:575::updatePrediction() time copying = 0.000028s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000206s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000089s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000022s [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:208::computePosterior() sum=2.149102 [DEBUG] (2017-08-26 21:10:22.257) BayesFilter.cpp:216::computePosterior() normalize time=0.000041s [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000462s [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:22.257) Rtabmap.cpp:1373::process() Highest hypothesis=5, value=0.082298, timeHypothesesCreation=0.000048s [DEBUG] (2017-08-26 21:10:22.258) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.191168,-0.130966,0.373712 rpy=-0.038866,-0.092285,0.772662 [DEBUG] (2017-08-26 21:10:22.258) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:22.258) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:22.258) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003136s, joining (actual overhead) = 0.000220s [ INFO] (2017-08-26 21:10:22.258) Rtabmap.cpp:1462::process() Retrieving locations... around id=5 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1483::process() neighbors of 5 in time = 20 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=5 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=4 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=6 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=3 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=7 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=1 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=8 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=9 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=10 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1514::process() nt=11 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1537::process() neighbors of 5 in space = 20 [ INFO] (2017-08-26 21:10:22.258) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000420s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:22.258) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003519 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.258) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:22.259) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 1 (0.003519 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 3 (0.006825 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 4 (0.064193 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 5 (0.202798 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 10 (0.212463 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 9 (0.222253 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 11 (0.230485 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 7 (0.235073 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 8 (0.246491 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1748::process() local node 6 (0.257057 m) immunized=1 [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:22.259) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:22.259) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000001s [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000019s [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:22.259) Memory.cpp:4120::reactivateSignatures() time = 0.000132s [ INFO] (2017-08-26 21:10:22.259) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000052s) [ INFO] (2017-08-26 21:10:22.259) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000052s [ INFO] (2017-08-26 21:10:22.259) Rtabmap.cpp:1807::process() timeReactivations=0.001443s [ INFO] (2017-08-26 21:10:22.259) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000089s [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:22.259) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:22.259) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003519 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:22.260) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:22.260) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:22.260) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003519 [DEBUG] (2017-08-26 21:10:22.260) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:22.260) SensorData.cpp:557::uncompressData() 33 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:22.260) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:217::computeTransformationImpl() Input(33): to=8 words, 8 3D words, 8 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=8 [DEBUG] (2017-08-26 21:10:22.261) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:22.262) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=8 [DEBUG] (2017-08-26 21:10:22.262) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:22.262) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:593::addNewWords() id=2 descriptors=8 [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:686::addNewWords() newPts.total()=8 [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000078 s [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000075 s [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:874::addNewWords() 5 new words added... [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:876::addNewWords() 3 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:877::addNewWords() total time 0.000215s [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:22.262) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:22.263) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:22.263) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=6 [ INFO] (2017-08-26 21:10:22.263) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=6, min=20) [DEBUG] (2017-08-26 21:10:22.263) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:22.263) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003557s [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2307::process() timeMapOptimization=0.000024s [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2430::process() Time creating stats = 0.000181... [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:2187::removeRawData() id=33 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2476::process() Ignoring location 33 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:2114::deleteLocation() Deleting location 33 [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:1894::moveToTrash() id=33 [DEBUG] (2017-08-26 21:10:22.263) Signature.cpp:160::removeLink() Removed link 33 from 22 [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:3929::disableWordsRef() id=33 [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:3945::disableWordsRef() 8 words total ref removed from signature 33... (total active ref = 338) [DEBUG] (2017-08-26 21:10:22.263) DBDriver.cpp:368::asyncSave() s=33 [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000374s... 1 signatures removed [ INFO] (2017-08-26 21:10:22.263) Rtabmap.cpp:2500::process() Total time processing = 0.123979s... [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:22.263) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:22.263) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:22.263) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:22.264) Rtabmap.cpp:2557::process() Removed 33 from local map [ INFO] (2017-08-26 21:10:22.264) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000311... [ INFO] (2017-08-26 21:10:22.264) Rtabmap.cpp:2624::process() Adding data 33 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:22.264) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:22.264) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:22.264) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:22.265) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 33 [DEBUG] (2017-08-26 21:10:22.265) Camera.cpp:100::takeImage() Time capturing image = 0.014424s [DEBUG] (2017-08-26 21:10:22.265) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.265) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.267) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.002064s [DEBUG] (2017-08-26 21:10:22.267) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:22.267) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:22.267) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:22.267) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:22.267) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:22.267) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:22.268) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:22.268) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:22.268) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000045s [DEBUG] (2017-08-26 21:10:22.268) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:22.268) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:22.268) DBDriverSqlite3.cpp:4240::stepNode() Save node 33 [DEBUG] (2017-08-26 21:10:22.268) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000472s [DEBUG] (2017-08-26 21:10:22.268) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000096s [DEBUG] (2017-08-26 21:10:22.269) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000502s [DEBUG] (2017-08-26 21:10:22.269) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:22.269) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 33 (image=72534 depth=54104) depth2d = 0 [DEBUG] (2017-08-26 21:10:22.270) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000753s [DEBUG] (2017-08-26 21:10:22.270) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000071s [DEBUG] (2017-08-26 21:10:22.270) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001988... [DEBUG] (2017-08-26 21:10:22.270) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:22.271) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001150s [DEBUG] (2017-08-26 21:10:22.271) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003382s... [DEBUG] (2017-08-26 21:10:22.282) Camera.cpp:100::takeImage() Time capturing image = 0.016312s [DEBUG] (2017-08-26 21:10:22.282) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.282) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.284) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.284) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.285) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.193529,-0.126744,0.367707 rpy=-0.018521,-0.077383,0.737195 [DEBUG] (2017-08-26 21:10:22.294) Camera.cpp:100::takeImage() Time capturing image = 0.011788s [DEBUG] (2017-08-26 21:10:22.294) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.294) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.305) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.305) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.305) Camera.cpp:100::takeImage() Time capturing image = 0.011474s [DEBUG] (2017-08-26 21:10:22.306) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.306) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.321) Camera.cpp:100::takeImage() Time capturing image = 0.015351s [DEBUG] (2017-08-26 21:10:22.321) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.321) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.328) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.328) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.343) Camera.cpp:100::takeImage() Time capturing image = 0.021817s [DEBUG] (2017-08-26 21:10:22.343) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.344) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.349) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.349) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.350) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.194925,-0.121126,0.360260 rpy=-0.005986,-0.062455,0.706857 [DEBUG] (2017-08-26 21:10:22.356) Camera.cpp:100::takeImage() Time capturing image = 0.012025s [DEBUG] (2017-08-26 21:10:22.356) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.356) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.368) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.368) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.383) Camera.cpp:100::takeImage() Time capturing image = 0.026870s [DEBUG] (2017-08-26 21:10:22.383) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.383) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.390) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.390) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.391) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.195371,-0.115635,0.352828 rpy=-0.000364,-0.050503,0.689759 [DEBUG] (2017-08-26 21:10:22.394) Camera.cpp:100::takeImage() Time capturing image = 0.011215s [DEBUG] (2017-08-26 21:10:22.394) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.394) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.405) Camera.cpp:100::takeImage() Time capturing image = 0.011254s [DEBUG] (2017-08-26 21:10:22.405) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.406) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.416) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.416) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.422) Camera.cpp:100::takeImage() Time capturing image = 0.016512s [DEBUG] (2017-08-26 21:10:22.422) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.422) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.439) Camera.cpp:100::takeImage() Time capturing image = 0.016654s [DEBUG] (2017-08-26 21:10:22.439) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.439) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.439) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.439) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.440) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.195432,-0.108424,0.344335 rpy=0.000152,-0.039074,0.674979 [DEBUG] (2017-08-26 21:10:22.455) Camera.cpp:100::takeImage() Time capturing image = 0.015775s [DEBUG] (2017-08-26 21:10:22.455) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.455) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.463) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.463) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.471) Camera.cpp:100::takeImage() Time capturing image = 0.016310s [DEBUG] (2017-08-26 21:10:22.472) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.472) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.487) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.487) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.488) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.194516,-0.101800,0.336566 rpy=-0.004533,-0.032097,0.661635 [DEBUG] (2017-08-26 21:10:22.488) Camera.cpp:100::takeImage() Time capturing image = 0.016485s [DEBUG] (2017-08-26 21:10:22.488) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.488) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.505) Camera.cpp:100::takeImage() Time capturing image = 0.016434s [DEBUG] (2017-08-26 21:10:22.505) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.505) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.510) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.510) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.521) Camera.cpp:100::takeImage() Time capturing image = 0.016608s [DEBUG] (2017-08-26 21:10:22.521) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.522) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.535) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.535) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.536) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.192260,-0.095652,0.329362 rpy=-0.011946,-0.030882,0.654570 [DEBUG] (2017-08-26 21:10:22.538) Camera.cpp:100::takeImage() Time capturing image = 0.016338s [DEBUG] (2017-08-26 21:10:22.538) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.538) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.555) Camera.cpp:100::takeImage() Time capturing image = 0.016586s [DEBUG] (2017-08-26 21:10:22.555) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.555) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.558) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.559) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.572) Camera.cpp:100::takeImage() Time capturing image = 0.016974s [DEBUG] (2017-08-26 21:10:22.572) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.572) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.583) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.583) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.584) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.189103,-0.090329,0.322702 rpy=-0.018937,-0.035253,0.646186 [DEBUG] (2017-08-26 21:10:22.588) Camera.cpp:100::takeImage() Time capturing image = 0.016236s [DEBUG] (2017-08-26 21:10:22.588) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.588) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.605) Camera.cpp:100::takeImage() Time capturing image = 0.016950s [DEBUG] (2017-08-26 21:10:22.605) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.606) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.607) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.607) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.622) Camera.cpp:100::takeImage() Time capturing image = 0.016386s [DEBUG] (2017-08-26 21:10:22.622) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.622) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.630) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.630) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.638) Camera.cpp:100::takeImage() Time capturing image = 0.016341s [DEBUG] (2017-08-26 21:10:22.638) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.639) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.653) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.653) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.654) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.184790,-0.085788,0.317564 rpy=-0.027251,-0.045563,0.634532 [DEBUG] (2017-08-26 21:10:22.655) Camera.cpp:100::takeImage() Time capturing image = 0.016687s [DEBUG] (2017-08-26 21:10:22.655) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.655) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.672) Camera.cpp:100::takeImage() Time capturing image = 0.016606s [DEBUG] (2017-08-26 21:10:22.672) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.672) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.677) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.677) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.679) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.179300,-0.081192,0.313759 rpy=-0.036638,-0.060093,0.627039 [DEBUG] (2017-08-26 21:10:22.688) Camera.cpp:100::takeImage() Time capturing image = 0.015748s [DEBUG] (2017-08-26 21:10:22.688) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.688) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.706) Camera.cpp:100::takeImage() Time capturing image = 0.017748s [DEBUG] (2017-08-26 21:10:22.706) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.706) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.730) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.731) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.732) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.173113,-0.076026,0.309740 rpy=-0.045677,-0.080324,0.618011 [DEBUG] (2017-08-26 21:10:22.734) Camera.cpp:100::takeImage() Time capturing image = 0.028017s [DEBUG] (2017-08-26 21:10:22.734) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.734) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.748) Camera.cpp:100::takeImage() Time capturing image = 0.014112s [DEBUG] (2017-08-26 21:10:22.748) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.748) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.760) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.760) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.761) Camera.cpp:100::takeImage() Time capturing image = 0.012839s [DEBUG] (2017-08-26 21:10:22.761) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.761) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.772) Camera.cpp:100::takeImage() Time capturing image = 0.010393s [DEBUG] (2017-08-26 21:10:22.772) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.772) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.786) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.786) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.787) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.166448,-0.071162,0.305340 rpy=-0.055821,-0.105076,0.606799 [DEBUG] (2017-08-26 21:10:22.789) Camera.cpp:100::takeImage() Time capturing image = 0.016641s [DEBUG] (2017-08-26 21:10:22.789) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.789) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.804) Camera.cpp:100::takeImage() Time capturing image = 0.015671s [DEBUG] (2017-08-26 21:10:22.805) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.805) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.814) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.814) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.821) Camera.cpp:100::takeImage() Time capturing image = 0.016238s [DEBUG] (2017-08-26 21:10:22.821) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.821) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.837) Camera.cpp:100::takeImage() Time capturing image = 0.016379s [DEBUG] (2017-08-26 21:10:22.837) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.838) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.839) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.839) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.840) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.158578,-0.065836,0.300651 rpy=-0.069314,-0.133069,0.598737 [DEBUG] (2017-08-26 21:10:22.854) Camera.cpp:100::takeImage() Time capturing image = 0.016180s [DEBUG] (2017-08-26 21:10:22.854) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.854) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.865) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.865) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.871) Camera.cpp:100::takeImage() Time capturing image = 0.016886s [DEBUG] (2017-08-26 21:10:22.871) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.871) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.887) Camera.cpp:100::takeImage() Time capturing image = 0.016209s [DEBUG] (2017-08-26 21:10:22.887) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.887) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.890) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.890) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.891) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.148905,-0.060430,0.293845 rpy=-0.088022,-0.168716,0.591192 [DEBUG] (2017-08-26 21:10:22.904) Camera.cpp:100::takeImage() Time capturing image = 0.016743s [DEBUG] (2017-08-26 21:10:22.904) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.904) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.918) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.918) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.919) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:22.919) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:22.921) Camera.cpp:100::takeImage() Time capturing image = 0.016528s [DEBUG] (2017-08-26 21:10:22.921) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.921) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.937) Camera.cpp:100::takeImage() Time capturing image = 0.016567s [DEBUG] (2017-08-26 21:10:22.937) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.938) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.954) Camera.cpp:100::takeImage() Time capturing image = 0.016674s [DEBUG] (2017-08-26 21:10:22.954) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.954) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.955) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.955) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.956) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.139289,-0.055288,0.285581 rpy=-0.111107,-0.202998,0.589867 [DEBUG] (2017-08-26 21:10:22.971) Camera.cpp:100::takeImage() Time capturing image = 0.016892s [DEBUG] (2017-08-26 21:10:22.971) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:22.971) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.982) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:22.982) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:22.988) Camera.cpp:100::takeImage() Time capturing image = 0.016297s [DEBUG] (2017-08-26 21:10:22.988) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:22.988) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.004) Camera.cpp:100::takeImage() Time capturing image = 0.016321s [DEBUG] (2017-08-26 21:10:23.004) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.005) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.007) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.007) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.008) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.131500,-0.050923,0.278153 rpy=-0.131010,-0.232286,0.579292 [DEBUG] (2017-08-26 21:10:23.021) Camera.cpp:100::takeImage() Time capturing image = 0.016170s [DEBUG] (2017-08-26 21:10:23.021) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.021) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.035) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.035) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.038) Camera.cpp:100::takeImage() Time capturing image = 0.017446s [DEBUG] (2017-08-26 21:10:23.038) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.039) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.055) Camera.cpp:100::takeImage() Time capturing image = 0.016674s [DEBUG] (2017-08-26 21:10:23.055) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.055) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.064) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.064) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.065) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.124001,-0.047153,0.269866 rpy=-0.148935,-0.259273,0.566596 [DEBUG] (2017-08-26 21:10:23.066) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:23.066) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:23.071) Camera.cpp:100::takeImage() Time capturing image = 0.015516s [DEBUG] (2017-08-26 21:10:23.071) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.071) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.087) Camera.cpp:100::takeImage() Time capturing image = 0.016354s [DEBUG] (2017-08-26 21:10:23.087) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.087) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.104) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.104) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.104) Camera.cpp:100::takeImage() Time capturing image = 0.016641s [DEBUG] (2017-08-26 21:10:23.104) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.104) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.121) Camera.cpp:100::takeImage() Time capturing image = 0.016492s [DEBUG] (2017-08-26 21:10:23.121) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.121) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.131) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.132) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.133) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.116779,-0.044533,0.262372 rpy=-0.163445,-0.283194,0.556212 [DEBUG] (2017-08-26 21:10:23.137) Camera.cpp:100::takeImage() Time capturing image = 0.016365s [DEBUG] (2017-08-26 21:10:23.137) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.137) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.154) Camera.cpp:100::takeImage() Time capturing image = 0.016536s [DEBUG] (2017-08-26 21:10:23.154) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.154) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:23.154) RtabmapThread.cpp:630::addData() Added data 1958 [ INFO] (2017-08-26 21:10:23.154) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:23.154) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:23.155) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:23.155) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:608::update() time preUpdate=0.033855 ms [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:23.155) Memory.cpp:3331::createSignature() Start dictionary update thread [ INFO] (2017-08-26 21:10:23.155) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:23.156) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:23.156) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:23.156) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:23.161) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.162) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.163) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:23.163) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:23.171) Camera.cpp:100::takeImage() Time capturing image = 0.016650s [DEBUG] (2017-08-26 21:10:23.171) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.171) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.174) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:23.174) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:23.179) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:23.179) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:23.180) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:23.202) Camera.cpp:100::takeImage() Time capturing image = 0.030738s [DEBUG] (2017-08-26 21:10:23.205) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.205) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.206) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.109492,-0.043666,0.256351 rpy=-0.175433,-0.309258,0.547538 [DEBUG] (2017-08-26 21:10:23.217) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.217) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.227) Camera.cpp:100::takeImage() Time capturing image = 0.010388s [DEBUG] (2017-08-26 21:10:23.230) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.230) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.239) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.239) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.240) Camera.cpp:100::takeImage() Time capturing image = 0.010440s [DEBUG] (2017-08-26 21:10:23.241) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.241) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.261) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.081599 s, keypoints extracted = 7 (mask empty=0) [DEBUG] (2017-08-26 21:10:23.261) Memory.cpp:3409::createSignature() time keypoints (7) = 0.106430s [DEBUG] (2017-08-26 21:10:23.262) Camera.cpp:100::takeImage() Time capturing image = 0.020853s [DEBUG] (2017-08-26 21:10:23.262) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.262) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.264) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 7, remaining kpts=7 [DEBUG] (2017-08-26 21:10:23.264) Memory.cpp:3414::createSignature() time descriptors (7) = 0.003082s [DEBUG] (2017-08-26 21:10:23.264) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:23.264) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:23.264) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:23.264) Memory.cpp:3603::createSignature() id 34 is a bad signature [DEBUG] (2017-08-26 21:10:23.264) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:23.273) Camera.cpp:100::takeImage() Time capturing image = 0.011666s [DEBUG] (2017-08-26 21:10:23.273) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.274) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:3897::createSignature() time compressing data (id=34) 0.010937s [DEBUG] (2017-08-26 21:10:23.275) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:626::update() time creating signature=120.591164 ms [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:711::addSignatureToStm() adding 34 [DEBUG] (2017-08-26 21:10:23.275) Signature.cpp:121::addLink() Add link 34 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:23.275) Signature.cpp:121::addLink() Add link 22 to 34 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 34 [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:781::addSignatureToStm() time = 0.000157s [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:647::update() time rehearsal=0.205040 ms [DEBUG] (2017-08-26 21:10:23.275) Memory.cpp:700::update() totalTimer = 0.120861s [DEBUG] (2017-08-26 21:10:23.276) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1002::process() Processing signature 34 w=0 [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.120981s [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:1158::process() Added pose xyz=0.035935,0.016121,0.041605 rpy=0.244717,-1.509133,-0.475834 (odom=xyz=0.035935,0.016121,0.041605 rpy=0.244717,-1.509133,-0.475834) [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000181s [DEBUG] (2017-08-26 21:10:23.276) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:23.276) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.003382s, joining (actual overhead) = 0.000061s [DEBUG] (2017-08-26 21:10:23.276) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003671 [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:23.276) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1807::process() timeReactivations=0.000466s [ INFO] (2017-08-26 21:10:23.276) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:23.276) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003671 [DEBUG] (2017-08-26 21:10:23.276) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:23.277) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:23.277) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003671 [DEBUG] (2017-08-26 21:10:23.277) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:23.277) SensorData.cpp:557::uncompressData() 34 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:23.277) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000712s [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2307::process() timeMapOptimization=0.000021s [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2430::process() Time creating stats = 0.000164... [DEBUG] (2017-08-26 21:10:23.277) Memory.cpp:2187::removeRawData() id=34 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:23.277) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2476::process() Ignoring location 34 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:23.277) Memory.cpp:2114::deleteLocation() Deleting location 34 [DEBUG] (2017-08-26 21:10:23.277) Memory.cpp:1894::moveToTrash() id=34 [DEBUG] (2017-08-26 21:10:23.277) Signature.cpp:160::removeLink() Removed link 34 from 22 [DEBUG] (2017-08-26 21:10:23.277) Memory.cpp:3929::disableWordsRef() id=34 [DEBUG] (2017-08-26 21:10:23.277) DBDriver.cpp:368::asyncSave() s=34 [ INFO] (2017-08-26 21:10:23.277) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000281s... 1 signatures removed [ INFO] (2017-08-26 21:10:23.278) Rtabmap.cpp:2500::process() Total time processing = 0.123015s... [DEBUG] (2017-08-26 21:10:23.278) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:23.278) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:23.278) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:23.278) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:23.278) Rtabmap.cpp:2557::process() Removed 34 from local map [ INFO] (2017-08-26 21:10:23.278) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000308... [ INFO] (2017-08-26 21:10:23.278) Rtabmap.cpp:2624::process() Adding data 34 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:23.278) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:23.278) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:23.278) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:23.278) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 34 [DEBUG] (2017-08-26 21:10:23.279) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000840s [DEBUG] (2017-08-26 21:10:23.279) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:23.279) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:23.280) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:23.280) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:23.280) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:23.280) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:23.280) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:23.280) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:23.280) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000165s [DEBUG] (2017-08-26 21:10:23.280) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:23.280) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:23.280) DBDriverSqlite3.cpp:4240::stepNode() Save node 34 [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000403s [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000095s [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000146s [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 34 (image=72245 depth=54385) depth2d = 0 [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000539s [DEBUG] (2017-08-26 21:10:23.281) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000039s [DEBUG] (2017-08-26 21:10:23.281) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001298... [DEBUG] (2017-08-26 21:10:23.281) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:23.283) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001042s [DEBUG] (2017-08-26 21:10:23.283) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.002717s... [DEBUG] (2017-08-26 21:10:23.283) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.283) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.284) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.100918,-0.043876,0.250115 rpy=-0.185650,-0.351847,0.529922 [DEBUG] (2017-08-26 21:10:23.285) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:23.285) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:23.288) Camera.cpp:100::takeImage() Time capturing image = 0.014583s [DEBUG] (2017-08-26 21:10:23.288) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.288) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.304) Camera.cpp:100::takeImage() Time capturing image = 0.015249s [DEBUG] (2017-08-26 21:10:23.304) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.304) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.321) Camera.cpp:100::takeImage() Time capturing image = 0.016608s [DEBUG] (2017-08-26 21:10:23.321) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.321) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.323) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.323) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.324) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.091875,-0.046179,0.245277 rpy=-0.187761,-0.405545,0.506105 [DEBUG] (2017-08-26 21:10:23.337) Camera.cpp:100::takeImage() Time capturing image = 0.016476s [DEBUG] (2017-08-26 21:10:23.337) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.337) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.351) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.351) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.354) Camera.cpp:100::takeImage() Time capturing image = 0.016408s [DEBUG] (2017-08-26 21:10:23.354) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.354) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.371) Camera.cpp:100::takeImage() Time capturing image = 0.016710s [DEBUG] (2017-08-26 21:10:23.371) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.371) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.379) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.379) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.380) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.083869,-0.049727,0.243170 rpy=-0.176917,-0.456454,0.477778 [DEBUG] (2017-08-26 21:10:23.387) Camera.cpp:100::takeImage() Time capturing image = 0.016235s [DEBUG] (2017-08-26 21:10:23.387) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.387) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.404) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.404) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.404) Camera.cpp:100::takeImage() Time capturing image = 0.017009s [DEBUG] (2017-08-26 21:10:23.404) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.404) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.405) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:23.405) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:23.420) Camera.cpp:100::takeImage() Time capturing image = 0.015822s [DEBUG] (2017-08-26 21:10:23.420) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.420) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.438) Camera.cpp:100::takeImage() Time capturing image = 0.017961s [DEBUG] (2017-08-26 21:10:23.438) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.438) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.446) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.446) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.447) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.076786,-0.053374,0.243069 rpy=-0.156536,-0.501910,0.444329 [DEBUG] (2017-08-26 21:10:23.454) Camera.cpp:100::takeImage() Time capturing image = 0.015613s [DEBUG] (2017-08-26 21:10:23.454) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.454) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.471) Camera.cpp:100::takeImage() Time capturing image = 0.017037s [DEBUG] (2017-08-26 21:10:23.471) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.472) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.476) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.476) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.487) Camera.cpp:100::takeImage() Time capturing image = 0.015835s [DEBUG] (2017-08-26 21:10:23.487) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.488) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.505) Camera.cpp:100::takeImage() Time capturing image = 0.017430s [DEBUG] (2017-08-26 21:10:23.505) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.505) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.505) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.505) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.506) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:23.506) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:23.521) Camera.cpp:100::takeImage() Time capturing image = 0.015530s [DEBUG] (2017-08-26 21:10:23.521) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.521) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.538) Camera.cpp:100::takeImage() Time capturing image = 0.017316s [DEBUG] (2017-08-26 21:10:23.538) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.538) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.547) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.548) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.549) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.061527,-0.058612,0.244272 rpy=-0.115596,-0.588229,0.388214 [DEBUG] (2017-08-26 21:10:23.549) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:23.549) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:23.554) Camera.cpp:100::takeImage() Time capturing image = 0.015756s [DEBUG] (2017-08-26 21:10:23.554) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.554) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.571) Camera.cpp:100::takeImage() Time capturing image = 0.016635s [DEBUG] (2017-08-26 21:10:23.571) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.571) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.588) Camera.cpp:100::takeImage() Time capturing image = 0.016740s [DEBUG] (2017-08-26 21:10:23.588) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.588) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.591) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.591) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.604) Camera.cpp:100::takeImage() Time capturing image = 0.016464s [DEBUG] (2017-08-26 21:10:23.605) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.605) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.621) Camera.cpp:100::takeImage() Time capturing image = 0.016632s [DEBUG] (2017-08-26 21:10:23.621) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.622) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.622) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.622) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.638) Camera.cpp:100::takeImage() Time capturing image = 0.016306s [DEBUG] (2017-08-26 21:10:23.638) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.638) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.653) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.653) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.654) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.054057,-0.060331,0.244648 rpy=-0.097352,-0.629183,0.366037 [DEBUG] (2017-08-26 21:10:23.658) Camera.cpp:100::takeImage() Time capturing image = 0.019749s [DEBUG] (2017-08-26 21:10:23.658) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.658) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.672) Camera.cpp:100::takeImage() Time capturing image = 0.014030s [DEBUG] (2017-08-26 21:10:23.672) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.672) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.687) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.687) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.688) Camera.cpp:100::takeImage() Time capturing image = 0.015774s [DEBUG] (2017-08-26 21:10:23.688) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.688) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.688) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.045873,-0.061500,0.244286 rpy=-0.080679,-0.674029,0.347306 [DEBUG] (2017-08-26 21:10:23.704) Camera.cpp:100::takeImage() Time capturing image = 0.016112s [DEBUG] (2017-08-26 21:10:23.704) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.704) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.716) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:23.716) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:23.716) SensorData.cpp:557::uncompressData() 20 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:23.716) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:23.721) Camera.cpp:100::takeImage() Time capturing image = 0.016863s [DEBUG] (2017-08-26 21:10:23.721) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.721) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.730) MainWindow.cpp:1632::processStats() time= 14 ms [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:3838::drawKeypoints() source time = 0.000021 s [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000020 s [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:23.734) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:23.738) Camera.cpp:100::takeImage() Time capturing image = 0.016260s [DEBUG] (2017-08-26 21:10:23.738) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.738) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.746) MainWindow.cpp:1715::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:23.746) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:23.746) MainWindow.cpp:1912::updateMapCloud() posesIn=17 constraints=16 mapIdsIn=17 labelsIn=1 [DEBUG] (2017-08-26 21:10:23.747) MainWindow.cpp:1991::updateMapCloud() Update map with 17 locations [DEBUG] (2017-08-26 21:10:23.747) SensorData.cpp:557::uncompressData() 20 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:23.747) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:23.747) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:23.747) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:23.748) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:23.764) Camera.cpp:100::takeImage() Time capturing image = 0.026325s [DEBUG] (2017-08-26 21:10:23.765) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.765) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.767) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000949s [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:23.768) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:23.769) MainWindow.cpp:1796::processStats() time= 23 ms [DEBUG] (2017-08-26 21:10:23.772) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:23.772) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:23.773) MainWindow.cpp:1874::processStats() Updating GUI time = 0.057000s [DEBUG] (2017-08-26 21:10:23.777) Camera.cpp:100::takeImage() Time capturing image = 0.012265s [DEBUG] (2017-08-26 21:10:23.777) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.777) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.785) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.785) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.786) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.037736,-0.061287,0.242658 rpy=-0.061078,-0.721807,0.322324 [DEBUG] (2017-08-26 21:10:23.789) Camera.cpp:100::takeImage() Time capturing image = 0.011403s [DEBUG] (2017-08-26 21:10:23.789) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.789) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.805) Camera.cpp:100::takeImage() Time capturing image = 0.016740s [DEBUG] (2017-08-26 21:10:23.806) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.806) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.818) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.818) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.822) Camera.cpp:100::takeImage() Time capturing image = 0.016216s [DEBUG] (2017-08-26 21:10:23.822) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.822) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.838) Camera.cpp:100::takeImage() Time capturing image = 0.015901s [DEBUG] (2017-08-26 21:10:23.838) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.838) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.851) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.851) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.852) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031369,-0.059991,0.240285 rpy=-0.050153,-0.759019,0.306481 [DEBUG] (2017-08-26 21:10:23.854) Camera.cpp:100::takeImage() Time capturing image = 0.015827s [DEBUG] (2017-08-26 21:10:23.854) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.854) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.874) Camera.cpp:100::takeImage() Time capturing image = 0.019924s [DEBUG] (2017-08-26 21:10:23.874) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.874) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.885) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.885) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.887) Camera.cpp:100::takeImage() Time capturing image = 0.012964s [DEBUG] (2017-08-26 21:10:23.887) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.887) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.904) Camera.cpp:100::takeImage() Time capturing image = 0.017124s [DEBUG] (2017-08-26 21:10:23.905) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.905) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.917) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.917) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.918) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.026745,-0.057373,0.236301 rpy=-0.048147,-0.792670,0.297318 [DEBUG] (2017-08-26 21:10:23.920) Camera.cpp:100::takeImage() Time capturing image = 0.015744s [DEBUG] (2017-08-26 21:10:23.921) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.921) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.938) Camera.cpp:100::takeImage() Time capturing image = 0.017062s [DEBUG] (2017-08-26 21:10:23.938) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.938) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.950) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.950) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.954) Camera.cpp:100::takeImage() Time capturing image = 0.015961s [DEBUG] (2017-08-26 21:10:23.954) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.954) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.971) Camera.cpp:100::takeImage() Time capturing image = 0.016935s [DEBUG] (2017-08-26 21:10:23.971) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:23.971) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.981) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:23.981) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:23.987) Camera.cpp:100::takeImage() Time capturing image = 0.016258s [DEBUG] (2017-08-26 21:10:23.988) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:23.988) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.004) Camera.cpp:100::takeImage() Time capturing image = 0.016806s [DEBUG] (2017-08-26 21:10:24.005) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.005) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.007) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.007) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.008) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.023750,-0.052893,0.231408 rpy=-0.055664,-0.819405,0.294408 [DEBUG] (2017-08-26 21:10:24.021) Camera.cpp:100::takeImage() Time capturing image = 0.016373s [DEBUG] (2017-08-26 21:10:24.021) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.022) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.033) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.033) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.039) Camera.cpp:100::takeImage() Time capturing image = 0.016970s [DEBUG] (2017-08-26 21:10:24.039) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.039) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.056) Camera.cpp:100::takeImage() Time capturing image = 0.016897s [DEBUG] (2017-08-26 21:10:24.056) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.056) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.060) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.060) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.061) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.022725,-0.048359,0.227423 rpy=-0.063998,-0.833554,0.291229 [DEBUG] (2017-08-26 21:10:24.074) Camera.cpp:100::takeImage() Time capturing image = 0.017554s [DEBUG] (2017-08-26 21:10:24.074) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.074) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.083) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.083) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.084) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.022999,-0.043594,0.223975 rpy=-0.061941,-0.844297,0.271604 [DEBUG] (2017-08-26 21:10:24.089) Camera.cpp:100::takeImage() Time capturing image = 0.015252s [DEBUG] (2017-08-26 21:10:24.089) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.090) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.103) Camera.cpp:100::takeImage() Time capturing image = 0.013929s [DEBUG] (2017-08-26 21:10:24.104) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.104) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.105) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.105) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.122) Camera.cpp:100::takeImage() Time capturing image = 0.018383s [DEBUG] (2017-08-26 21:10:24.122) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.122) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.127) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.127) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.138) Camera.cpp:100::takeImage() Time capturing image = 0.015635s [DEBUG] (2017-08-26 21:10:24.138) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.138) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.149) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.149) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.150) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.024573,-0.038832,0.221344 rpy=-0.043721,-0.853444,0.230913 [DEBUG] (2017-08-26 21:10:24.154) Camera.cpp:100::takeImage() Time capturing image = 0.015862s [DEBUG] (2017-08-26 21:10:24.154) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:24.154) RtabmapThread.cpp:630::addData() Added data 2017 [ INFO] (2017-08-26 21:10:24.154) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:24.154) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:24.155) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:24.155) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:608::update() time preUpdate=0.036001 ms [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:24.155) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:24.155) CameraThread.cpp:129::mainLoop() [ INFO] (2017-08-26 21:10:24.155) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:24.165) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:24.165) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:24.165) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:24.171) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:24.171) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:24.176) Camera.cpp:100::takeImage() Time capturing image = 0.021424s [DEBUG] (2017-08-26 21:10:24.177) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.177) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.180) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.180) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.181) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.026035,-0.035221,0.219525 rpy=-0.019847,-0.860522,0.186423 [DEBUG] (2017-08-26 21:10:24.184) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:24.184) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:24.184) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:24.201) Camera.cpp:100::takeImage() Time capturing image = 0.024191s [DEBUG] (2017-08-26 21:10:24.201) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.201) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.213) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.213) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.225) Camera.cpp:100::takeImage() Time capturing image = 0.023982s [DEBUG] (2017-08-26 21:10:24.225) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.226) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.249) Camera.cpp:100::takeImage() Time capturing image = 0.024018s [DEBUG] (2017-08-26 21:10:24.250) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.250) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.259) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.259) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.260) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.027290,-0.031210,0.218055 rpy=0.008673,-0.868191,0.132789 [DEBUG] (2017-08-26 21:10:24.267) Camera.cpp:100::takeImage() Time capturing image = 0.017326s [DEBUG] (2017-08-26 21:10:24.267) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.267) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.269) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.085113 s, keypoints extracted = 7 (mask empty=0) [DEBUG] (2017-08-26 21:10:24.269) Memory.cpp:3409::createSignature() time keypoints (7) = 0.114437s [DEBUG] (2017-08-26 21:10:24.271) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 7, remaining kpts=7 [DEBUG] (2017-08-26 21:10:24.271) Memory.cpp:3414::createSignature() time descriptors (7) = 0.002185s [DEBUG] (2017-08-26 21:10:24.272) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:24.272) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:24.272) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:24.272) Memory.cpp:3603::createSignature() id 35 is a bad signature [DEBUG] (2017-08-26 21:10:24.272) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:24.282) Camera.cpp:100::takeImage() Time capturing image = 0.014905s [DEBUG] (2017-08-26 21:10:24.282) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.282) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.288) Memory.cpp:3897::createSignature() time compressing data (id=35) 0.016836s [DEBUG] (2017-08-26 21:10:24.288) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:24.288) Memory.cpp:626::update() time creating signature=133.650070 ms [DEBUG] (2017-08-26 21:10:24.288) Memory.cpp:711::addSignatureToStm() adding 35 [DEBUG] (2017-08-26 21:10:24.289) Signature.cpp:121::addLink() Add link 35 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:24.289) Signature.cpp:121::addLink() Add link 22 to 35 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:773::addSignatureToStm() 0 words ref for the signature 35 [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:781::addSignatureToStm() time = 0.000251s [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:647::update() time rehearsal=0.302076 ms [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:700::update() totalTimer = 0.134019s [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:24.289) Rtabmap.cpp:1002::process() Processing signature 35 w=0 [ INFO] (2017-08-26 21:10:24.289) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.134143s [DEBUG] (2017-08-26 21:10:24.289) Rtabmap.cpp:1158::process() Added pose xyz=0.035985,0.015494,0.040644 rpy=0.246241,-1.509361,-0.477143 (odom=xyz=0.035985,0.015494,0.040644 rpy=0.246241,-1.509361,-0.477143) [ INFO] (2017-08-26 21:10:24.289) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000105s [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:24.289) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:24.289) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.002717s, joining (actual overhead) = 0.000059s [DEBUG] (2017-08-26 21:10:24.289) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003565 [DEBUG] (2017-08-26 21:10:24.289) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:24.289) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:24.289) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:24.289) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [ INFO] (2017-08-26 21:10:24.289) Rtabmap.cpp:1807::process() timeReactivations=0.000500s [ INFO] (2017-08-26 21:10:24.290) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000022s [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:24.290) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003565 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:24.290) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:24.290) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003565 [DEBUG] (2017-08-26 21:10:24.290) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:24.290) SensorData.cpp:557::uncompressData() 35 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:24.290) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:24.290) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.000888s [ INFO] (2017-08-26 21:10:24.290) Rtabmap.cpp:2307::process() timeMapOptimization=0.000022s [ INFO] (2017-08-26 21:10:24.290) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:24.290) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2430::process() Time creating stats = 0.000229... [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:2187::removeRawData() id=35 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2476::process() Ignoring location 35 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:2114::deleteLocation() Deleting location 35 [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:1894::moveToTrash() id=35 [DEBUG] (2017-08-26 21:10:24.291) Signature.cpp:160::removeLink() Removed link 35 from 22 [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:3929::disableWordsRef() id=35 [DEBUG] (2017-08-26 21:10:24.291) DBDriver.cpp:368::asyncSave() s=35 [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000298s... 1 signatures removed [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2500::process() Total time processing = 0.136285s... [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:24.291) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:24.291) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:24.291) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:24.291) Rtabmap.cpp:2557::process() Removed 35 from local map [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000161... [ INFO] (2017-08-26 21:10:24.291) Rtabmap.cpp:2624::process() Adding data 35 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:24.291) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:24.291) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:24.292) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:24.292) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 35 [DEBUG] (2017-08-26 21:10:24.293) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.001012s [DEBUG] (2017-08-26 21:10:24.293) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:24.293) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:24.293) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.293) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.294) Camera.cpp:100::takeImage() Time capturing image = 0.011229s [DEBUG] (2017-08-26 21:10:24.294) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.294) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.294) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:24.294) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:24.294) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000053s [DEBUG] (2017-08-26 21:10:24.294) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:24.294) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:24.294) DBDriverSqlite3.cpp:4240::stepNode() Save node 35 [DEBUG] (2017-08-26 21:10:24.295) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000463s [DEBUG] (2017-08-26 21:10:24.295) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000111s [DEBUG] (2017-08-26 21:10:24.295) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000171s [DEBUG] (2017-08-26 21:10:24.295) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:24.295) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 35 (image=72579 depth=54107) depth2d = 0 [DEBUG] (2017-08-26 21:10:24.297) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.001682s [DEBUG] (2017-08-26 21:10:24.297) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000120s [DEBUG] (2017-08-26 21:10:24.297) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.002650... [DEBUG] (2017-08-26 21:10:24.297) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:24.298) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:24.298) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:24.299) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:24.299) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:24.300) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.003569s [DEBUG] (2017-08-26 21:10:24.300) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.006531s... [DEBUG] (2017-08-26 21:10:24.308) Camera.cpp:100::takeImage() Time capturing image = 0.014125s [DEBUG] (2017-08-26 21:10:24.308) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.308) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.320) Camera.cpp:100::takeImage() Time capturing image = 0.012081s [DEBUG] (2017-08-26 21:10:24.320) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.320) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.325) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.325) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.326) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028859,-0.027407,0.216252 rpy=0.033945,-0.877765,0.081341 [DEBUG] (2017-08-26 21:10:24.337) Camera.cpp:100::takeImage() Time capturing image = 0.016287s [DEBUG] (2017-08-26 21:10:24.337) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.337) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.354) Camera.cpp:100::takeImage() Time capturing image = 0.016911s [DEBUG] (2017-08-26 21:10:24.354) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.354) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.355) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.355) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.370) Camera.cpp:100::takeImage() Time capturing image = 0.015857s [DEBUG] (2017-08-26 21:10:24.370) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.370) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.387) Camera.cpp:100::takeImage() Time capturing image = 0.016761s [DEBUG] (2017-08-26 21:10:24.387) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.387) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031154,-0.023756,0.213893 rpy=0.058141,-0.892601,0.029100 [DEBUG] (2017-08-26 21:10:24.387) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.403) Camera.cpp:100::takeImage() Time capturing image = 0.016411s [DEBUG] (2017-08-26 21:10:24.403) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.404) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.417) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.417) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.420) Camera.cpp:100::takeImage() Time capturing image = 0.016729s [DEBUG] (2017-08-26 21:10:24.420) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.420) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.437) Camera.cpp:100::takeImage() Time capturing image = 0.016305s [DEBUG] (2017-08-26 21:10:24.437) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.437) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.447) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.447) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.448) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033847,-0.020200,0.210951 rpy=0.087818,-0.912527,-0.033154 [DEBUG] (2017-08-26 21:10:24.454) Camera.cpp:100::takeImage() Time capturing image = 0.016769s [DEBUG] (2017-08-26 21:10:24.454) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.454) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.470) Camera.cpp:100::takeImage() Time capturing image = 0.015860s [DEBUG] (2017-08-26 21:10:24.470) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.470) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.476) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.476) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.487) Camera.cpp:100::takeImage() Time capturing image = 0.016909s [DEBUG] (2017-08-26 21:10:24.487) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.487) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.503) Camera.cpp:100::takeImage() Time capturing image = 0.016317s [DEBUG] (2017-08-26 21:10:24.503) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.503) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.506) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.506) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.507) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.037496,-0.016885,0.207873 rpy=0.116298,-0.931209,-0.097047 [DEBUG] (2017-08-26 21:10:24.520) Camera.cpp:100::takeImage() Time capturing image = 0.016697s [DEBUG] (2017-08-26 21:10:24.520) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.520) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.536) Camera.cpp:100::takeImage() Time capturing image = 0.016255s [DEBUG] (2017-08-26 21:10:24.537) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.537) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.538) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.538) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.553) Camera.cpp:100::takeImage() Time capturing image = 0.016638s [DEBUG] (2017-08-26 21:10:24.553) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.554) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.562) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.563) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.570) Camera.cpp:100::takeImage() Time capturing image = 0.016841s [DEBUG] (2017-08-26 21:10:24.570) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.571) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.586) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.586) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.587) Camera.cpp:100::takeImage() Time capturing image = 0.016803s [DEBUG] (2017-08-26 21:10:24.587) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.588) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.603) Camera.cpp:100::takeImage() Time capturing image = 0.016023s [DEBUG] (2017-08-26 21:10:24.604) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.604) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.607) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.607) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.607) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.041332,-0.012909,0.204329 rpy=0.134436,-0.949955,-0.152145 [DEBUG] (2017-08-26 21:10:24.620) Camera.cpp:100::takeImage() Time capturing image = 0.016454s [DEBUG] (2017-08-26 21:10:24.620) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.620) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.632) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.632) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.633) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.046135,-0.008285,0.199779 rpy=0.132715,-0.969253,-0.188502 [DEBUG] (2017-08-26 21:10:24.637) Camera.cpp:100::takeImage() Time capturing image = 0.016834s [DEBUG] (2017-08-26 21:10:24.637) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.637) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.653) Camera.cpp:100::takeImage() Time capturing image = 0.016150s [DEBUG] (2017-08-26 21:10:24.653) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.654) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.657) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.657) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.658) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.051322,-0.003534,0.194823 rpy=0.119995,-0.987137,-0.209930 [DEBUG] (2017-08-26 21:10:24.673) Camera.cpp:100::takeImage() Time capturing image = 0.019701s [DEBUG] (2017-08-26 21:10:24.673) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.674) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.682) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.682) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.687) Camera.cpp:100::takeImage() Time capturing image = 0.013239s [DEBUG] (2017-08-26 21:10:24.687) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.687) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.703) Camera.cpp:100::takeImage() Time capturing image = 0.016541s [DEBUG] (2017-08-26 21:10:24.703) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.704) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.704) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.055906,0.001576,0.189136 rpy=0.101515,-1.005213,-0.224042 [DEBUG] (2017-08-26 21:10:24.720) Camera.cpp:100::takeImage() Time capturing image = 0.016779s [DEBUG] (2017-08-26 21:10:24.720) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.721) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.733) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.733) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.736) Camera.cpp:100::takeImage() Time capturing image = 0.015845s [DEBUG] (2017-08-26 21:10:24.736) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.737) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.755) Camera.cpp:100::takeImage() Time capturing image = 0.018550s [DEBUG] (2017-08-26 21:10:24.755) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.755) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.755) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.755) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.756) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.060662,0.006674,0.182322 rpy=0.061566,-1.024221,-0.214906 [DEBUG] (2017-08-26 21:10:24.770) Camera.cpp:100::takeImage() Time capturing image = 0.014420s [DEBUG] (2017-08-26 21:10:24.770) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.770) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.783) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.783) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.787) Camera.cpp:100::takeImage() Time capturing image = 0.017600s [DEBUG] (2017-08-26 21:10:24.788) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.788) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.803) Camera.cpp:100::takeImage() Time capturing image = 0.015405s [DEBUG] (2017-08-26 21:10:24.803) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.803) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.810) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.810) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.825) Camera.cpp:100::takeImage() Time capturing image = 0.021719s [DEBUG] (2017-08-26 21:10:24.825) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.825) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.832) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.832) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.833) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.065070,0.010432,0.176366 rpy=0.015699,-1.036289,-0.193557 [DEBUG] (2017-08-26 21:10:24.836) Camera.cpp:100::takeImage() Time capturing image = 0.010900s [DEBUG] (2017-08-26 21:10:24.836) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.836) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.851) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.851) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.855) Camera.cpp:100::takeImage() Time capturing image = 0.018488s [DEBUG] (2017-08-26 21:10:24.855) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.855) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.869) Camera.cpp:100::takeImage() Time capturing image = 0.014341s [DEBUG] (2017-08-26 21:10:24.869) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.869) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.874) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.874) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.875) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.068452,0.012571,0.171845 rpy=-0.016076,-1.041251,-0.180967 [DEBUG] (2017-08-26 21:10:24.892) Camera.cpp:100::takeImage() Time capturing image = 0.023067s [DEBUG] (2017-08-26 21:10:24.892) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.893) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.896) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.896) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.897) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.071324,0.013310,0.167618 rpy=-0.043096,-1.040677,-0.166929 [DEBUG] (2017-08-26 21:10:24.904) Camera.cpp:100::takeImage() Time capturing image = 0.011384s [DEBUG] (2017-08-26 21:10:24.904) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.904) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.916) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.916) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.924) Camera.cpp:100::takeImage() Time capturing image = 0.019680s [DEBUG] (2017-08-26 21:10:24.924) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.924) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.936) Camera.cpp:100::takeImage() Time capturing image = 0.011867s [DEBUG] (2017-08-26 21:10:24.936) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.936) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.939) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.939) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.953) Camera.cpp:100::takeImage() Time capturing image = 0.016712s [DEBUG] (2017-08-26 21:10:24.953) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.953) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.958) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.958) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.959) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073203,0.013370,0.164651 rpy=-0.064478,-1.035583,-0.149645 [DEBUG] (2017-08-26 21:10:24.969) Camera.cpp:100::takeImage() Time capturing image = 0.016261s [DEBUG] (2017-08-26 21:10:24.969) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.969) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:24.980) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:24.980) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:24.981) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074176,0.012669,0.162961 rpy=-0.068266,-1.029285,-0.144188 [DEBUG] (2017-08-26 21:10:24.986) Camera.cpp:100::takeImage() Time capturing image = 0.016539s [DEBUG] (2017-08-26 21:10:24.986) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:24.986) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.002) Camera.cpp:100::takeImage() Time capturing image = 0.016402s [DEBUG] (2017-08-26 21:10:25.002) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.002) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.005) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.005) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.019) Camera.cpp:100::takeImage() Time capturing image = 0.016754s [DEBUG] (2017-08-26 21:10:25.019) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.019) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.023) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.023) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.024) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074589,0.011499,0.161834 rpy=-0.059380,-1.021495,-0.149296 [DEBUG] (2017-08-26 21:10:25.035) Camera.cpp:100::takeImage() Time capturing image = 0.016287s [DEBUG] (2017-08-26 21:10:25.036) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.036) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.046) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.046) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.052) Camera.cpp:100::takeImage() Time capturing image = 0.016923s [DEBUG] (2017-08-26 21:10:25.053) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.053) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.069) Camera.cpp:100::takeImage() Time capturing image = 0.016192s [DEBUG] (2017-08-26 21:10:25.069) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.069) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.070) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.070) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.071) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.074502,0.008745,0.161455 rpy=-0.017019,-1.027070,-0.194485 [DEBUG] (2017-08-26 21:10:25.086) Camera.cpp:100::takeImage() Time capturing image = 0.017007s [DEBUG] (2017-08-26 21:10:25.086) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.086) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.090) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.090) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.102) Camera.cpp:100::takeImage() Time capturing image = 0.016050s [DEBUG] (2017-08-26 21:10:25.102) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.102) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.112) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.112) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.113) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.073627,0.008611,0.160980 rpy=-0.010220,-1.032724,-0.204801 [DEBUG] (2017-08-26 21:10:25.119) Camera.cpp:100::takeImage() Time capturing image = 0.016778s [DEBUG] (2017-08-26 21:10:25.119) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.119) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.135) Camera.cpp:100::takeImage() Time capturing image = 0.016181s [DEBUG] (2017-08-26 21:10:25.135) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.136) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.137) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.137) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.153) Camera.cpp:100::takeImage() Time capturing image = 0.017185s [DEBUG] (2017-08-26 21:10:25.153) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.153) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.154) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.154) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.155) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.072401,0.008954,0.159936 rpy=-0.005892,-1.040421,-0.213134 [DEBUG] (2017-08-26 21:10:25.169) Camera.cpp:100::takeImage() Time capturing image = 0.016010s [DEBUG] (2017-08-26 21:10:25.169) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.169) RtabmapThread.cpp:330::handleEvent() CameraEvent [ INFO] (2017-08-26 21:10:25.169) RtabmapThread.cpp:630::addData() Added data 2077 [ INFO] (2017-08-26 21:10:25.169) RtabmapThread.cpp:656::getData() wake-up [DEBUG] (2017-08-26 21:10:25.169) Rtabmap.cpp:847::process() [ INFO] (2017-08-26 21:10:25.170) Rtabmap.cpp:905::process() getting data... [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:25.170) Rtabmap.cpp:980::process() Updating memory... [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:595::update() [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:604::update() pre-updating... [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:608::update() time preUpdate=0.037193 ms [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:3253::createSignature() [DEBUG] (2017-08-26 21:10:25.170) Memory.cpp:3331::createSignature() Start dictionary update thread [DEBUG] (2017-08-26 21:10:25.170) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:25.170) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-08-26 21:10:25.170) VWDictionary.cpp:515::update() [ INFO] (2017-08-26 21:10:25.170) Memory.cpp:3365::createSignature() Extract features [DEBUG] (2017-08-26 21:10:25.179) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.179) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.180) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.070368,0.010096,0.158193 rpy=-0.008147,-1.050983,-0.213658 [DEBUG] (2017-08-26 21:10:25.186) Camera.cpp:100::takeImage() Time capturing image = 0.017008s [DEBUG] (2017-08-26 21:10:25.186) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.186) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.187) Memory.cpp:3388::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=400, visMaxFeatures=1000 [DEBUG] (2017-08-26 21:10:25.187) Memory.cpp:3393::createSignature() Changing temporary max features from 400 to 1000 [DEBUG] (2017-08-26 21:10:25.192) util2d.cpp:1146::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000 [DEBUG] (2017-08-26 21:10:25.193) util2d.cpp:1147::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:25.193) util2d.cpp:1174::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-08-26 21:10:25.198) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.198) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.217) Camera.cpp:100::takeImage() Time capturing image = 0.030457s [DEBUG] (2017-08-26 21:10:25.217) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.217) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.220) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.220) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.231) Camera.cpp:100::takeImage() Time capturing image = 0.013838s [DEBUG] (2017-08-26 21:10:25.231) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.231) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.244) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.244) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.251) Camera.cpp:100::takeImage() Time capturing image = 0.020244s [DEBUG] (2017-08-26 21:10:25.251) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.251) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.265) Camera.cpp:100::takeImage() Time capturing image = 0.013441s [DEBUG] (2017-08-26 21:10:25.265) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.265) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.269) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.269) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.269) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.067858,0.011392,0.155982 rpy=-0.016306,-1.064081,-0.204800 [DEBUG] (2017-08-26 21:10:25.290) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:25.291) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:25.291) Camera.cpp:100::takeImage() Time capturing image = 0.026082s [DEBUG] (2017-08-26 21:10:25.291) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.291) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.293) SensorData.cpp:557::uncompressData() 21 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:25.293) MainWindow.cpp:1553::processStats() time= 2 ms [DEBUG] (2017-08-26 21:10:25.295) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0.103044 s, keypoints extracted = 10 (mask empty=0) [DEBUG] (2017-08-26 21:10:25.295) Memory.cpp:3409::createSignature() time keypoints (10) = 0.125108s [DEBUG] (2017-08-26 21:10:25.300) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 10, remaining kpts=10 [DEBUG] (2017-08-26 21:10:25.300) Memory.cpp:3414::createSignature() time descriptors (10) = 0.005068s [DEBUG] (2017-08-26 21:10:25.300) Memory.cpp:3416::createSignature() ratio=0.500000, meanWordsPerLocation=16 [DEBUG] (2017-08-26 21:10:25.300) Memory.cpp:3427::createSignature() time keypoints 3D (10) = 0.000086s [DEBUG] (2017-08-26 21:10:25.300) Memory.cpp:3527::createSignature() Joining dictionary update thread... [DEBUG] (2017-08-26 21:10:25.300) Memory.cpp:3529::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-08-26 21:10:25.300) Memory.cpp:3539::createSignature() time descriptor and memory update (10 of size=64) = 0.000082s [DEBUG] (2017-08-26 21:10:25.300) VWDictionary.cpp:593::addNewWords() id=36 descriptors=10 [DEBUG] (2017-08-26 21:10:25.300) VWDictionary.cpp:686::addNewWords() newPts.total()=10 [DEBUG] (2017-08-26 21:10:25.301) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000368 s [DEBUG] (2017-08-26 21:10:25.301) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000094 s [DEBUG] (2017-08-26 21:10:25.301) VWDictionary.cpp:874::addNewWords() 0 new words added... [DEBUG] (2017-08-26 21:10:25.301) VWDictionary.cpp:876::addNewWords() 10 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:25.301) VWDictionary.cpp:877::addNewWords() total time 0.000607s [DEBUG] (2017-08-26 21:10:25.301) Memory.cpp:3599::createSignature() time addNewWords 0.000691s indexed=86 not=0 [DEBUG] (2017-08-26 21:10:25.301) Memory.cpp:3740::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-08-26 21:10:25.302) Camera.cpp:100::takeImage() Time capturing image = 0.010619s [DEBUG] (2017-08-26 21:10:25.302) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.302) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.310) MainWindow.cpp:1632::processStats() time= 17 ms [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 25 [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:3838::drawKeypoints() source time = 0.000126 s [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:25.313) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:3897::createSignature() time compressing data (id=36) 0.013845s [DEBUG] (2017-08-26 21:10:25.315) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:626::update() time creating signature=145.048859 ms [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:711::addSignatureToStm() adding 36 [DEBUG] (2017-08-26 21:10:25.315) Signature.cpp:121::addLink() Add link 36 to 22 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:25.315) Signature.cpp:121::addLink() Add link 22 to 36 (type=0 var=1.000000,1.000000) [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:739::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:773::addSignatureToStm() 10 words ref for the signature 36 [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:781::addSignatureToStm() time = 0.000157s [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:2813::rehearsal() Comparing with signature (22)... [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:2836::rehearsal() merged=0, sim=0.562500 t=0.000035s [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:647::update() time rehearsal=0.264168 ms [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:700::update() totalTimer = 0.145378s [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:2013::getLastWorkingSignature() [ INFO] (2017-08-26 21:10:25.315) Rtabmap.cpp:1002::process() Processing signature 36 w=0 [ INFO] (2017-08-26 21:10:25.315) Rtabmap.cpp:1004::process() timeMemoryUpdate=0.145530s [DEBUG] (2017-08-26 21:10:25.315) Rtabmap.cpp:1158::process() Added pose xyz=0.036116,0.015407,0.040463 rpy=0.245438,-1.509598,-0.476120 (odom=xyz=0.036116,0.015407,0.040463 rpy=0.245438,-1.509598,-0.476120) [ INFO] (2017-08-26 21:10:25.315) Rtabmap.cpp:1288::process() timeProximityByTimeDetection=0.000098s [ INFO] (2017-08-26 21:10:25.315) Rtabmap.cpp:1307::process() computing likelihood... [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:1498::computeLikelihood() processing... [DEBUG] (2017-08-26 21:10:25.315) Memory.cpp:1535::computeLikelihood() compute likelihood (tf-idf) 0.000039 s [DEBUG] (2017-08-26 21:10:25.315) Rtabmap.cpp:3164::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-08-26 21:10:25.315) Rtabmap.cpp:3183::adjustLikelihood() values.size=5 [DEBUG] (2017-08-26 21:10:25.315) Rtabmap.cpp:3230::adjustLikelihood() mean=0.274994, stdDev=0.220484, max=0.572834, maxId=1, time=0.000019s [ INFO] (2017-08-26 21:10:25.315) Rtabmap.cpp:1337::process() timeLikelihoodCalculation=0.000179s [ INFO] (2017-08-26 21:10:25.315) Rtabmap.cpp:1343::process() getting posterior... [DEBUG] (2017-08-26 21:10:25.315) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000034s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000024s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000022s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000021s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:575::updatePrediction() time copying = 0.000026s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000021s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=10 [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000197s, rows=11, cols=11 [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=11, _posterior size=11 [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000155s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000023s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000021s [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:208::computePosterior() sum=2.045637 [DEBUG] (2017-08-26 21:10:25.316) BayesFilter.cpp:216::computePosterior() normalize time=0.000039s [ INFO] (2017-08-26 21:10:25.316) Rtabmap.cpp:1348::process() timePosteriorCalculation=0.000586s [ INFO] (2017-08-26 21:10:25.316) Rtabmap.cpp:1359::process() creating hypotheses... [ INFO] (2017-08-26 21:10:25.316) Rtabmap.cpp:1373::process() Highest hypothesis=1, value=0.083634, timeHypothesesCreation=0.000046s [DEBUG] (2017-08-26 21:10:25.316) Memory.cpp:1724::joinTrashThread() [DEBUG] (2017-08-26 21:10:25.316) Memory.cpp:1726::joinTrashThread() [ INFO] (2017-08-26 21:10:25.316) Rtabmap.cpp:1448::process() Time emptying memory trash = 0.006531s, joining (actual overhead) = 0.000055s [ INFO] (2017-08-26 21:10:25.316) Rtabmap.cpp:1462::process() Retrieving locations... around id=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1465::process() margin=17 maxRetieved=2 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1475::process() In TIME [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1483::process() neighbors of 1 in time = 17 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=1 m=0 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=3 m=1 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=4 m=2 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=5 m=3 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=6 m=4 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=7 m=5 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=8 m=6 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=9 m=7 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=10 m=8 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1514::process() nt=11 m=9 immunized=1 [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1529::process() In SPACE [DEBUG] (2017-08-26 21:10:25.316) Rtabmap.cpp:1537::process() neighbors of 1 in space = 17 [ INFO] (2017-08-26 21:10:25.316) Rtabmap.cpp:1584::process() neighborhoodSize=17, reactivatedIds.size=10, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000318s (0.000000s 0.000000s) [DEBUG] (2017-08-26 21:10:25.317) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003555 [DEBUG] (2017-08-26 21:10:25.317) Camera.cpp:100::takeImage() Time capturing image = 0.014813s [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 1 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 3 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 4 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 5 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 6 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 7 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 8 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 9 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 10 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1701::process() local node 11 on path immunized=1 [DEBUG] (2017-08-26 21:10:25.317) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.317) Graph.cpp:1661::getNodesInRadius() found nodes=19 [ INFO] (2017-08-26 21:10:25.317) Rtabmap.cpp:1721::process() near nodes=19, max local immunized=2, ratio=0.250000 WM=11 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 1 (0.003555 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 3 (0.006918 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 4 (0.064360 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 5 (0.202937 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 10 (0.212529 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 9 (0.222324 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 11 (0.230534 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 7 (0.235135 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 8 (0.246506 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Rtabmap.cpp:1748::process() local node 6 (0.257047 m) immunized=1 [DEBUG] (2017-08-26 21:10:25.317) Memory.cpp:4088::reactivateSignatures() [DEBUG] (2017-08-26 21:10:25.317) Memory.cpp:4104::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-08-26 21:10:25.317) DBDriver.cpp:512::loadSignatures() [DEBUG] (2017-08-26 21:10:25.317) DBDriver.cpp:551::loadSignatures() [DEBUG] (2017-08-26 21:10:25.317) Memory.cpp:3977::enableWordsRef() size=0 [DEBUG] (2017-08-26 21:10:25.317) Memory.cpp:4004::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s [DEBUG] (2017-08-26 21:10:25.317) Memory.cpp:4013::enableWordsRef() loading words(0) time=0.000018s [DEBUG] (2017-08-26 21:10:25.317) Memory.cpp:4079::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000020s... [DEBUG] (2017-08-26 21:10:25.318) Memory.cpp:4120::reactivateSignatures() time = 0.000126s [ INFO] (2017-08-26 21:10:25.318) Rtabmap.cpp:1798::process() retrieval of 0 (db time = 0.000050s) [ INFO] (2017-08-26 21:10:25.318) Rtabmap.cpp:1801::process() total timeRetrievalDbAccess=0.000050s [ INFO] (2017-08-26 21:10:25.318) Rtabmap.cpp:1807::process() timeReactivations=0.001449s [ INFO] (2017-08-26 21:10:25.318) Rtabmap.cpp:1856::process() timeAddLoopClosureLink=0.000019s [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:1889::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:1899::process() nearestIds=20/20 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:1908::process() nearestPoses=10 [DEBUG] (2017-08-26 21:10:25.318) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003555 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 1 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 3 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 4 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 5 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 6 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 7 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 8 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 9 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 10 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:2999::getPaths() 1 <- 11 [DEBUG] (2017-08-26 21:10:25.318) Rtabmap.cpp:1912::process() nearestPaths=1 proximityMaxPaths=3 [DEBUG] (2017-08-26 21:10:25.318) Graph.cpp:1731::getPosesInRadius() found nodes=3 [DEBUG] (2017-08-26 21:10:25.318) Graph.cpp:1606::findNearestNode() Nearest node = 1: 0.003555 [DEBUG] (2017-08-26 21:10:25.318) SensorData.cpp:557::uncompressData() 1 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:25.318) SensorData.cpp:557::uncompressData() 36 data(0,0,0,0,0) [DEBUG] (2017-08-26 21:10:25.318) RegistrationVis.cpp:182::computeTransformationImpl() Vis/MinInliers=20 [DEBUG] (2017-08-26 21:10:25.318) RegistrationVis.cpp:183::computeTransformationImpl() Vis/InlierDistance=0.100000 [DEBUG] (2017-08-26 21:10:25.318) RegistrationVis.cpp:184::computeTransformationImpl() Vis/Iterations=100 [DEBUG] (2017-08-26 21:10:25.318) RegistrationVis.cpp:185::computeTransformationImpl() Vis/EstimationType=1 [DEBUG] (2017-08-26 21:10:25.318) RegistrationVis.cpp:186::computeTransformationImpl() Vis/ForwardEstOnly=1 [DEBUG] (2017-08-26 21:10:25.318) RegistrationVis.cpp:187::computeTransformationImpl() Vis/EpipolarGeometryVar=0.020000 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:188::computeTransformationImpl() Vis/PnPReprojError=2.000000 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:189::computeTransformationImpl() Vis/PnPFlags=0 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:190::computeTransformationImpl() Vis/CorType=0 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:191::computeTransformationImpl() Vis/CorFlowWinSize=16 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:192::computeTransformationImpl() Vis/CorFlowIterations=30 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowEps=0.010000 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:194::computeTransformationImpl() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:195::computeTransformationImpl() guess=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:206::computeTransformationImpl() Input(1): from=5 words, 5 3D words, 5 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=0x0 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:217::computeTransformationImpl() Input(36): to=10 words, 10 3D words, 10 words descriptors, 0 kpts, 0 kpts3D, 0 descriptors, image=640x480 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:236::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:317::computeTransformationImpl() IDs are not unique, IDs will be regenerated! [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:470::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:510::computeTransformationImpl() kptsFrom=5 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:511::computeTransformationImpl() kptsTo=10 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:710::computeTransformationImpl() descriptorsFrom=5 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:711::computeTransformationImpl() descriptorsTo=10 [DEBUG] (2017-08-26 21:10:25.319) RegistrationVis.cpp:960::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:307::update() [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 5 words... [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-08-26 21:10:25.320) FlannIndex.cpp:366::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 5 words... done! [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=5 removed=0) [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:515::update() [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:593::addNewWords() id=2 descriptors=10 [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:686::addNewWords() newPts.total()=10 [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.000080 s [DEBUG] (2017-08-26 21:10:25.320) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.000081 s [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:874::addNewWords() 8 new words added... [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:876::addNewWords() 2 duplicated words added (from current image = 0)... [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:877::addNewWords() total time 0.000264s [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:25.320) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:25.320) RegistrationVis.cpp:1147::computeTransformationImpl() [DEBUG] (2017-08-26 21:10:25.321) RegistrationVis.cpp:1160::computeTransformationImpl() words from3D=5 to2D=10 [ INFO] (2017-08-26 21:10:25.321) RegistrationVis.cpp:1197::computeTransformationImpl() Not enough features in images (old=5, new=10, min=20) [DEBUG] (2017-08-26 21:10:25.321) RegistrationVis.cpp:1474::computeTransformationImpl() transform=xyz=[null] rpy=[null] [DEBUG] (2017-08-26 21:10:25.321) Rtabmap.cpp:1980::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2112::process() timeProximityBySpaceDetection=0.003093s [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2307::process() timeMapOptimization=0.000024s [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2334::process() sending stats... [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2344::process() send all stats... [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2376::process() Set map correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2430::process() Time creating stats = 0.000173... [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:2187::removeRawData() id=36 image=1 scan=0 userData=1 [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:1637::cleanup() [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2476::process() Ignoring location 36 because the displacement is too small! (d=0.100000 a=0.100000) [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:2114::deleteLocation() Deleting location 36 [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:1894::moveToTrash() id=36 [DEBUG] (2017-08-26 21:10:25.321) Signature.cpp:160::removeLink() Removed link 36 from 22 [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:3929::disableWordsRef() id=36 [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:3945::disableWordsRef() 10 words total ref removed from signature 36... (total active ref = 338) [DEBUG] (2017-08-26 21:10:25.321) DBDriver.cpp:368::asyncSave() s=36 [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2487::process() timeMemoryCleanup = 0.000271s... 1 signatures removed [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2500::process() Total time processing = 0.151545s... [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:25.321) Memory.cpp:2013::getLastWorkingSignature() [DEBUG] (2017-08-26 21:10:25.321) Rtabmap.cpp:2542::process() Refresh local map from 22 [DEBUG] (2017-08-26 21:10:25.321) Rtabmap.cpp:2544::process() id=22 _optimizedPoses=20 [DEBUG] (2017-08-26 21:10:25.321) Rtabmap.cpp:2557::process() Removed 36 from local map [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2595::process() Time limit reached processing = 0.000233... [ INFO] (2017-08-26 21:10:25.321) Rtabmap.cpp:2624::process() Adding data 36 (rgb/left=1 depth/right=1) [DEBUG] (2017-08-26 21:10:25.321) Rtabmap.cpp:2627::process() [DEBUG] (2017-08-26 21:10:25.322) Rtabmap.cpp:2642::process() Get all node infos... [DEBUG] (2017-08-26 21:10:25.325) Rtabmap.cpp:2675::process() [DEBUG] (2017-08-26 21:10:25.325) DBDriverSqlite3.cpp:3687::addStatisticsQuery() Ref ID = 36 [DEBUG] (2017-08-26 21:10:25.326) DBDriverSqlite3.cpp:3725::addStatisticsQuery() Time=0.000923s [DEBUG] (2017-08-26 21:10:25.326) Rtabmap.cpp:2685::process() Empty trash... [DEBUG] (2017-08-26 21:10:25.326) DBDriver.cpp:297::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-08-26 21:10:25.326) Rtabmap.cpp:2761::process() End process [DEBUG] (2017-08-26 21:10:25.326) RtabmapThread.cpp:539::process() posting statistics_ event... [DEBUG] (2017-08-26 21:10:25.327) DBDriver.cpp:309::emptyTrashes() signatures=1, visualWords=0 [DEBUG] (2017-08-26 21:10:25.327) DBDriver.cpp:275::beginTransaction() [DEBUG] (2017-08-26 21:10:25.327) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.000059s [DEBUG] (2017-08-26 21:10:25.327) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:25.327) RtabmapThread.cpp:654::getData() waiting for data [DEBUG] (2017-08-26 21:10:25.327) DBDriver.cpp:391::saveOrUpdate() [DEBUG] (2017-08-26 21:10:25.327) DBDriverSqlite3.cpp:3353::saveQuery() [DEBUG] (2017-08-26 21:10:25.327) DBDriverSqlite3.cpp:4240::stepNode() Save node 36 [DEBUG] (2017-08-26 21:10:25.327) DBDriverSqlite3.cpp:3375::saveQuery() Time=0.000345s [DEBUG] (2017-08-26 21:10:25.327) DBDriverSqlite3.cpp:3394::saveQuery() Time=0.000072s [DEBUG] (2017-08-26 21:10:25.328) Camera.cpp:100::takeImage() Time capturing image = 0.010592s [DEBUG] (2017-08-26 21:10:25.328) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.328) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.328) DBDriverSqlite3.cpp:3432::saveQuery() Time=0.000593s [DEBUG] (2017-08-26 21:10:25.328) DBDriverSqlite3.cpp:3440::saveQuery() Saving 1 images [DEBUG] (2017-08-26 21:10:25.328) DBDriverSqlite3.cpp:4551::stepSensorData() Save sensor data 36 (image=72575 depth=53369) depth2d = 0 [DEBUG] (2017-08-26 21:10:25.329) DBDriverSqlite3.cpp:3459::saveQuery() Time=0.000733s [DEBUG] (2017-08-26 21:10:25.329) DBDriverSqlite3.cpp:3500::saveQuery() Time=0.000093s [DEBUG] (2017-08-26 21:10:25.329) DBDriver.cpp:337::emptyTrashes() Time emptying memory signatures trash = 0.001949... [DEBUG] (2017-08-26 21:10:25.329) DBDriver.cpp:281::commit() [DEBUG] (2017-08-26 21:10:25.330) DBDriverSqlite3.cpp:477::executeNoResultQuery() Time=0.001238s [DEBUG] (2017-08-26 21:10:25.330) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.003627s... [DEBUG] (2017-08-26 21:10:25.332) MainWindow.cpp:1715::processStats() time= 19 ms [DEBUG] (2017-08-26 21:10:25.332) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:25.332) MainWindow.cpp:1912::updateMapCloud() posesIn=18 constraints=17 mapIdsIn=18 labelsIn=1 [DEBUG] (2017-08-26 21:10:25.332) MainWindow.cpp:1991::updateMapCloud() Update map with 18 locations [DEBUG] (2017-08-26 21:10:25.332) SensorData.cpp:557::uncompressData() 21 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:25.333) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:25.333) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:25.333) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:25.334) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:25.350) Camera.cpp:100::takeImage() Time capturing image = 0.021962s [DEBUG] (2017-08-26 21:10:25.350) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.350) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.353) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000821s [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:25.354) MainWindow.cpp:1796::processStats() time= 22 ms [DEBUG] (2017-08-26 21:10:25.358) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:25.358) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:25.358) MainWindow.cpp:1874::processStats() Updating GUI time = 0.067000s [DEBUG] (2017-08-26 21:10:25.360) Camera.cpp:100::takeImage() Time capturing image = 0.010375s [DEBUG] (2017-08-26 21:10:25.360) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.361) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.371) Camera.cpp:100::takeImage() Time capturing image = 0.010396s [DEBUG] (2017-08-26 21:10:25.371) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.371) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.372) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.372) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.385) Camera.cpp:100::takeImage() Time capturing image = 0.014111s [DEBUG] (2017-08-26 21:10:25.385) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.385) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.401) Camera.cpp:100::takeImage() Time capturing image = 0.016257s [DEBUG] (2017-08-26 21:10:25.402) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.402) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.403) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.403) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.404) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.061372,0.014014,0.147979 rpy=-0.060418,-1.107098,-0.153154 [DEBUG] (2017-08-26 21:10:25.419) Camera.cpp:100::takeImage() Time capturing image = 0.016951s [DEBUG] (2017-08-26 21:10:25.419) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.419) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.435) Camera.cpp:100::takeImage() Time capturing image = 0.016166s [DEBUG] (2017-08-26 21:10:25.435) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.435) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.435) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.435) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.452) Camera.cpp:100::takeImage() Time capturing image = 0.017169s [DEBUG] (2017-08-26 21:10:25.452) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.452) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.466) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.466) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.467) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.058355,0.015299,0.143913 rpy=-0.090195,-1.127452,-0.121406 [DEBUG] (2017-08-26 21:10:25.468) Camera.cpp:100::takeImage() Time capturing image = 0.015867s [DEBUG] (2017-08-26 21:10:25.468) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.468) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.486) Camera.cpp:100::takeImage() Time capturing image = 0.017539s [DEBUG] (2017-08-26 21:10:25.486) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.486) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.487) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.487) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.502) Camera.cpp:100::takeImage() Time capturing image = 0.016528s [DEBUG] (2017-08-26 21:10:25.503) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.503) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.505) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.505) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.521) Camera.cpp:100::takeImage() Time capturing image = 0.017988s [DEBUG] (2017-08-26 21:10:25.521) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.521) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.524) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.524) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.525) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.054540,0.015954,0.138961 rpy=-0.124978,-1.152186,-0.081557 [DEBUG] (2017-08-26 21:10:25.537) Camera.cpp:100::takeImage() Time capturing image = 0.016224s [DEBUG] (2017-08-26 21:10:25.537) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.537) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.543) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.543) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.554) Camera.cpp:100::takeImage() Time capturing image = 0.016227s [DEBUG] (2017-08-26 21:10:25.554) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.554) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.561) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.561) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.562) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.050849,0.016181,0.134660 rpy=-0.159242,-1.174363,-0.037143 [DEBUG] (2017-08-26 21:10:25.571) Camera.cpp:100::takeImage() Time capturing image = 0.017363s [DEBUG] (2017-08-26 21:10:25.571) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.571) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.583) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.583) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.584) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.046998,0.016025,0.131081 rpy=-0.186520,-1.194531,0.002320 [DEBUG] (2017-08-26 21:10:25.586) Camera.cpp:100::takeImage() Time capturing image = 0.014496s [DEBUG] (2017-08-26 21:10:25.586) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.586) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.602) Camera.cpp:100::takeImage() Time capturing image = 0.015937s [DEBUG] (2017-08-26 21:10:25.602) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.602) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.604) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.604) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.619) Camera.cpp:100::takeImage() Time capturing image = 0.017337s [DEBUG] (2017-08-26 21:10:25.619) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.620) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.624) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.624) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.635) Camera.cpp:100::takeImage() Time capturing image = 0.015960s [DEBUG] (2017-08-26 21:10:25.636) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.636) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.644) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.644) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.645) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.043999,0.015928,0.128106 rpy=-0.193478,-1.211731,0.015490 [DEBUG] (2017-08-26 21:10:25.652) Camera.cpp:100::takeImage() Time capturing image = 0.016757s [DEBUG] (2017-08-26 21:10:25.653) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.653) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.665) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.665) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.666) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.042702,0.016213,0.126361 rpy=-0.179131,-1.222929,-0.000586 [DEBUG] (2017-08-26 21:10:25.668) Camera.cpp:100::takeImage() Time capturing image = 0.015395s [DEBUG] (2017-08-26 21:10:25.668) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.668) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.685) Camera.cpp:100::takeImage() Time capturing image = 0.017009s [DEBUG] (2017-08-26 21:10:25.685) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.686) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.686) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.686) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.704) Camera.cpp:100::takeImage() Time capturing image = 0.018012s [DEBUG] (2017-08-26 21:10:25.704) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.704) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.704) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.704) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.705) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.043219,0.017232,0.124902 rpy=-0.145645,-1.230656,-0.041785 [DEBUG] (2017-08-26 21:10:25.721) Camera.cpp:100::takeImage() Time capturing image = 0.016887s [DEBUG] (2017-08-26 21:10:25.721) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.721) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.724) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.724) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.736) Camera.cpp:100::takeImage() Time capturing image = 0.015744s [DEBUG] (2017-08-26 21:10:25.737) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.737) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.742) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.742) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.743) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044948,0.019085,0.123359 rpy=-0.098982,-1.237193,-0.105128 [DEBUG] (2017-08-26 21:10:25.754) Camera.cpp:100::takeImage() Time capturing image = 0.016983s [DEBUG] (2017-08-26 21:10:25.754) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.754) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.761) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.761) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.771) Camera.cpp:100::takeImage() Time capturing image = 0.017160s [DEBUG] (2017-08-26 21:10:25.771) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.771) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.782) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.782) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.783) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.046161,0.020314,0.122035 rpy=-0.058063,-1.241800,-0.158382 [DEBUG] (2017-08-26 21:10:25.785) Camera.cpp:100::takeImage() Time capturing image = 0.014467s [DEBUG] (2017-08-26 21:10:25.786) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.786) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.802) Camera.cpp:100::takeImage() Time capturing image = 0.015934s [DEBUG] (2017-08-26 21:10:25.802) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.802) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.803) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.803) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.819) Camera.cpp:100::takeImage() Time capturing image = 0.017369s [DEBUG] (2017-08-26 21:10:25.819) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.819) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.823) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.823) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.824) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.046612,0.020398,0.120264 rpy=-0.031443,-1.248532,-0.189050 [DEBUG] (2017-08-26 21:10:25.835) Camera.cpp:100::takeImage() Time capturing image = 0.015692s [DEBUG] (2017-08-26 21:10:25.835) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.835) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.845) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.845) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.852) Camera.cpp:100::takeImage() Time capturing image = 0.017019s [DEBUG] (2017-08-26 21:10:25.852) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.852) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.864) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:25.864) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:25.865) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.045594,0.020078,0.117080 rpy=-0.035008,-1.261532,-0.181906 [DEBUG] (2017-08-26 21:10:25.868) Camera.cpp:100::takeImage() Time capturing image = 0.016208s [DEBUG] (2017-08-26 21:10:25.869) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.869) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.892) Camera.cpp:100::takeImage() Time capturing image = 0.022755s [DEBUG] (2017-08-26 21:10:25.892) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.892) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.903) Camera.cpp:100::takeImage() Time capturing image = 0.011241s [DEBUG] (2017-08-26 21:10:25.903) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.903) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.924) Camera.cpp:100::takeImage() Time capturing image = 0.021111s [DEBUG] (2017-08-26 21:10:25.925) CameraThread.cpp:129::mainLoop() [DEBUG] (2017-08-26 21:10:25.925) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.928) CameraThread.cpp:151::mainLoopKill() [DEBUG] (2017-08-26 21:10:25.937) Camera.cpp:100::takeImage() Time capturing image = 0.011919s [DEBUG] (2017-08-26 21:10:25.937) RtabmapThread.cpp:330::handleEvent() CameraEvent [DEBUG] (2017-08-26 21:10:25.941) MainWindow.cpp:4655::stopDetection() [DEBUG] (2017-08-26 21:10:25.941) CameraThread.cpp:72::~CameraThread() [DEBUG] (2017-08-26 21:10:25.941) CameraRGBD.cpp:2005::~CameraRealSense() [DEBUG] (2017-08-26 21:10:25.941) CameraRGBD.cpp:2007::~CameraRealSense() [DEBUG] (2017-08-26 21:10:26.170) CameraRGBD.cpp:2020::~CameraRealSense() [DEBUG] (2017-08-26 21:10:26.171) CameraRGBD.cpp:2026::~CameraRealSense() [DEBUG] (2017-08-26 21:10:26.211) Camera.cpp:57::~Camera() [DEBUG] (2017-08-26 21:10:26.211) Camera.cpp:59::~Camera() [DEBUG] (2017-08-26 21:10:26.224) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.224) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.243) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.243) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.244) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044502,0.020158,0.114319 rpy=-0.039854,-1.274325,-0.174048 [DEBUG] (2017-08-26 21:10:26.246) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:26.246) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:26.275) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.275) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.293) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.293) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.294) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044426,0.020545,0.112244 rpy=-0.045168,-1.285347,-0.167014 [DEBUG] (2017-08-26 21:10:26.313) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.313) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.314) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:26.314) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:26.343) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.343) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.344) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044268,0.020980,0.109765 rpy=-0.049625,-1.296951,-0.162523 [DEBUG] (2017-08-26 21:10:26.363) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.363) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.381) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.381) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.382) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044185,0.021615,0.107307 rpy=-0.054539,-1.309506,-0.158468 [DEBUG] (2017-08-26 21:10:26.401) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.401) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.420) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.420) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.421) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044322,0.022052,0.104768 rpy=-0.058108,-1.320245,-0.156955 [DEBUG] (2017-08-26 21:10:26.440) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.440) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.459) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.459) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.460) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044621,0.022554,0.101290 rpy=-0.064530,-1.334266,-0.153719 [DEBUG] (2017-08-26 21:10:26.461) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:26.461) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:26.490) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.490) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.508) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.509) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.509) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.044109,0.022847,0.096519 rpy=-0.075439,-1.351566,-0.145694 [DEBUG] (2017-08-26 21:10:26.528) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.528) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.529) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:26.529) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:26.558) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.558) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.577) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.577) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.578) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.043065,0.022850,0.092388 rpy=-0.089243,-1.366970,-0.131502 [DEBUG] (2017-08-26 21:10:26.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.597) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.598) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:26.598) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:26.626) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.626) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.627) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.041433,0.022301,0.086888 rpy=-0.100741,-1.386188,-0.118456 [DEBUG] (2017-08-26 21:10:26.646) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.646) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.647) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.039647,0.021243,0.081246 rpy=-0.133525,-1.406134,-0.083257 [DEBUG] (2017-08-26 21:10:26.665) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.666) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.684) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.684) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.685) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.038314,0.019972,0.077130 rpy=-0.163718,-1.418727,-0.048911 [DEBUG] (2017-08-26 21:10:26.704) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.704) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.722) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.723) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.723) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.037312,0.019290,0.074083 rpy=-0.201773,-1.428943,-0.005490 [DEBUG] (2017-08-26 21:10:26.742) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.742) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.761) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.761) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.779) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.779) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.780) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036718,0.019387,0.072363 rpy=-0.233414,-1.435379,0.026828 [DEBUG] (2017-08-26 21:10:26.798) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.799) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.817) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.817) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.818) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036352,0.019750,0.070416 rpy=-0.196181,-1.442677,-0.014146 [DEBUG] (2017-08-26 21:10:26.837) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.837) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.838) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035963,0.020289,0.066472 rpy=-0.194024,-1.455774,-0.019295 [DEBUG] (2017-08-26 21:10:26.858) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.858) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.859) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035181,0.021069,0.060452 rpy=-0.280527,-1.477321,0.064584 [DEBUG] (2017-08-26 21:10:26.879) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.879) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.880) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032209,0.026120,0.055093 rpy=0.046952,-1.498339,-0.285167 [DEBUG] (2017-08-26 21:10:26.899) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.899) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.900) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030959,0.029344,0.053012 rpy=0.186585,-1.500348,-0.437527 [DEBUG] (2017-08-26 21:10:26.919) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.919) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.937) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:26.937) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:26.952) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:26.953) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:26.953) SensorData.cpp:557::uncompressData() 22 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:26.953) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:26.979) MainWindow.cpp:1632::processStats() time= 26 ms [DEBUG] (2017-08-26 21:10:26.983) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:26.983) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 16 [DEBUG] (2017-08-26 21:10:26.984) MainWindow.cpp:3838::drawKeypoints() source time = 0.000156 s [DEBUG] (2017-08-26 21:10:26.984) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:26.984) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000032 s [DEBUG] (2017-08-26 21:10:26.984) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:26.984) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:26.991) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:26.991) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:26.991) MainWindow.cpp:1912::updateMapCloud() posesIn=19 constraints=18 mapIdsIn=19 labelsIn=1 [DEBUG] (2017-08-26 21:10:26.991) MainWindow.cpp:1991::updateMapCloud() Update map with 19 locations [DEBUG] (2017-08-26 21:10:26.992) SensorData.cpp:557::uncompressData() 22 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:26.992) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:26.992) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:26.992) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:26.993) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:27.010) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000954s [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:27.012) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:27.013) MainWindow.cpp:1796::processStats() time= 22 ms [DEBUG] (2017-08-26 21:10:27.016) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:27.016) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:27.016) MainWindow.cpp:1874::processStats() Updating GUI time = 0.064000s [DEBUG] (2017-08-26 21:10:27.023) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.023) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.024) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030736,0.029227,0.052024 rpy=0.134508,-1.498753,-0.388769 [DEBUG] (2017-08-26 21:10:27.043) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.043) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.062) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.062) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.063) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029855,0.028567,0.049453 rpy=0.151370,-1.501373,-0.406406 [DEBUG] (2017-08-26 21:10:27.082) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.082) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.100) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.100) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.101) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029221,0.027983,0.047924 rpy=0.198252,-1.501732,-0.453792 [DEBUG] (2017-08-26 21:10:27.119) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.119) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.138) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.138) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.139) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028458,0.026808,0.045799 rpy=0.187814,-1.501384,-0.441697 [DEBUG] (2017-08-26 21:10:27.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.158) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.176) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.176) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.177) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.027524,0.025892,0.044308 rpy=0.206409,-1.502203,-0.459515 [DEBUG] (2017-08-26 21:10:27.196) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.196) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.214) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.215) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.215) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.026595,0.024701,0.042624 rpy=0.232785,-1.502665,-0.485111 [DEBUG] (2017-08-26 21:10:27.234) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.234) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.252) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.252) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.253) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025831,0.023649,0.041587 rpy=0.227036,-1.503266,-0.478914 [DEBUG] (2017-08-26 21:10:27.272) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.272) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.290) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.291) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.291) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025413,0.022905,0.041105 rpy=0.210724,-1.503954,-0.462245 [DEBUG] (2017-08-26 21:10:27.310) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.310) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.329) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.329) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.330) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025446,0.022257,0.041090 rpy=0.186579,-1.505021,-0.437704 [DEBUG] (2017-08-26 21:10:27.349) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.349) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.367) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.368) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.368) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025558,0.021640,0.041393 rpy=0.154701,-1.506854,-0.406025 [DEBUG] (2017-08-26 21:10:27.387) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.387) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.405) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.406) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.406) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025760,0.021312,0.042114 rpy=0.122055,-1.507229,-0.373173 [DEBUG] (2017-08-26 21:10:27.425) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.425) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.444) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.444) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.462) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.463) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.463) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025893,0.020996,0.042999 rpy=0.130110,-1.507684,-0.380835 [DEBUG] (2017-08-26 21:10:27.482) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.482) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.501) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.501) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.502) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.025712,0.020349,0.042865 rpy=0.170975,-1.507304,-0.421190 [DEBUG] (2017-08-26 21:10:27.521) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.521) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.522) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.026973,0.019103,0.043318 rpy=0.098524,-1.507338,-0.345894 [DEBUG] (2017-08-26 21:10:27.540) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.541) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.559) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.559) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.577) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.577) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.578) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.027537,0.018491,0.043595 rpy=0.116598,-1.507390,-0.362091 [DEBUG] (2017-08-26 21:10:27.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.597) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.615) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.615) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.616) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028329,0.018080,0.044190 rpy=0.089815,-1.507124,-0.335179 [DEBUG] (2017-08-26 21:10:27.635) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.635) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.636) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028656,0.017343,0.043901 rpy=0.069856,-1.506756,-0.314876 [DEBUG] (2017-08-26 21:10:27.655) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.655) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.673) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.673) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.674) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028706,0.016794,0.043879 rpy=0.123782,-1.506677,-0.366528 [DEBUG] (2017-08-26 21:10:27.693) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.693) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.711) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.711) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.712) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028994,0.016326,0.043915 rpy=0.088865,-1.507766,-0.331144 [DEBUG] (2017-08-26 21:10:27.731) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.731) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.749) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.750) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.750) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028760,0.015617,0.043291 rpy=0.136385,-1.508032,-0.377149 [DEBUG] (2017-08-26 21:10:27.769) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.769) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.787) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.788) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.789) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028778,0.015050,0.043281 rpy=0.205625,-1.507614,-0.446657 [DEBUG] (2017-08-26 21:10:27.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.807) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.826) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.826) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.827) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029031,0.014558,0.043164 rpy=0.213338,-1.507370,-0.453668 [DEBUG] (2017-08-26 21:10:27.845) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.845) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.863) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.863) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.864) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028936,0.014153,0.042937 rpy=0.224784,-1.507332,-0.464693 [DEBUG] (2017-08-26 21:10:27.883) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.883) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.901) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.901) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.902) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028826,0.013906,0.042974 rpy=0.249146,-1.506810,-0.488978 [DEBUG] (2017-08-26 21:10:27.921) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.921) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.939) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.939) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.940) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028517,0.013691,0.042731 rpy=0.237689,-1.507033,-0.477830 [DEBUG] (2017-08-26 21:10:27.959) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.959) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.977) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.978) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:27.978) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028084,0.013411,0.042493 rpy=0.248066,-1.507092,-0.487935 [DEBUG] (2017-08-26 21:10:27.997) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:27.997) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.015) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.015) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.016) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028046,0.013486,0.042735 rpy=0.242765,-1.507293,-0.482489 [DEBUG] (2017-08-26 21:10:28.035) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.035) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.054) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.054) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.054) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028151,0.013317,0.042882 rpy=0.236268,-1.507107,-0.475273 [DEBUG] (2017-08-26 21:10:28.073) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.073) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.074) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028197,0.013220,0.042875 rpy=0.230500,-1.506923,-0.469291 [DEBUG] (2017-08-26 21:10:28.093) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.093) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.108) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:28.109) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:28.109) SensorData.cpp:557::uncompressData() 23 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:28.109) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:28.143) MainWindow.cpp:1632::processStats() time= 33 ms [DEBUG] (2017-08-26 21:10:28.146) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:28.146) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 11 [DEBUG] (2017-08-26 21:10:28.146) MainWindow.cpp:3838::drawKeypoints() source time = 0.000130 s [DEBUG] (2017-08-26 21:10:28.146) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:28.146) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000027 s [DEBUG] (2017-08-26 21:10:28.147) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:28.147) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:28.154) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:28.154) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:28.154) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:28.154) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:28.154) SensorData.cpp:557::uncompressData() 23 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:28.155) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:28.155) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:28.155) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:28.156) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:28.171) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:28.172) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000832s [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:28.173) MainWindow.cpp:1796::processStats() time= 19 ms [DEBUG] (2017-08-26 21:10:28.176) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:28.176) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:28.176) MainWindow.cpp:1874::processStats() Updating GUI time = 0.068000s [DEBUG] (2017-08-26 21:10:28.183) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.183) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.184) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028146,0.013093,0.042871 rpy=0.229138,-1.507007,-0.467772 [DEBUG] (2017-08-26 21:10:28.204) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.204) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.222) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.222) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.223) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028053,0.012987,0.042877 rpy=0.229388,-1.507016,-0.467926 [DEBUG] (2017-08-26 21:10:28.224) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.224) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.261) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.261) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.285) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.285) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.286) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028097,0.012997,0.043060 rpy=0.227423,-1.507038,-0.465816 [DEBUG] (2017-08-26 21:10:28.287) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.287) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.317) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.317) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.336) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.336) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.337) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028137,0.012922,0.043125 rpy=0.225711,-1.507024,-0.463901 [DEBUG] (2017-08-26 21:10:28.358) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.358) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.376) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.377) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.377) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028307,0.012958,0.043348 rpy=0.222592,-1.506856,-0.460660 [DEBUG] (2017-08-26 21:10:28.396) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.396) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.397) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.397) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.428) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.429) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.429) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028596,0.013169,0.043808 rpy=0.219112,-1.506693,-0.457064 [DEBUG] (2017-08-26 21:10:28.450) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.450) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.470) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.470) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.471) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028810,0.013153,0.043784 rpy=0.217362,-1.506575,-0.455201 [DEBUG] (2017-08-26 21:10:28.472) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.473) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.503) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.503) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.524) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.525) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.525) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029004,0.013200,0.043806 rpy=0.214366,-1.506704,-0.452147 [DEBUG] (2017-08-26 21:10:28.545) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.545) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.564) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.564) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.565) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029257,0.013161,0.043695 rpy=0.214806,-1.506644,-0.452448 [DEBUG] (2017-08-26 21:10:28.586) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.586) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.587) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.587) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.618) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.619) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.619) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029547,0.013039,0.043465 rpy=0.212715,-1.506616,-0.450192 [DEBUG] (2017-08-26 21:10:28.639) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.639) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.659) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.659) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.660) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029602,0.012839,0.042895 rpy=0.212033,-1.506541,-0.449265 [DEBUG] (2017-08-26 21:10:28.679) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.679) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.699) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.699) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.700) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029692,0.012783,0.042557 rpy=0.209717,-1.506351,-0.446866 [DEBUG] (2017-08-26 21:10:28.721) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.721) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.722) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.722) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.752) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.752) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.753) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029648,0.012646,0.042038 rpy=0.208934,-1.506321,-0.445909 [DEBUG] (2017-08-26 21:10:28.775) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.775) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.794) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.794) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.795) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029499,0.012494,0.041460 rpy=0.209837,-1.506489,-0.446684 [DEBUG] (2017-08-26 21:10:28.796) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.796) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.830) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.830) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.851) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.851) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.852) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029411,0.012495,0.041196 rpy=0.210855,-1.506660,-0.447623 [DEBUG] (2017-08-26 21:10:28.872) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.872) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.893) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.893) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.894) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029355,0.012391,0.040788 rpy=0.211654,-1.506747,-0.448414 [DEBUG] (2017-08-26 21:10:28.914) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.914) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.915) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.915) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.946) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.946) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.947) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029282,0.012162,0.040212 rpy=0.212173,-1.506735,-0.448808 [DEBUG] (2017-08-26 21:10:28.948) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:28.948) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:28.979) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.979) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:28.999) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:28.999) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.000) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029295,0.012102,0.039941 rpy=0.211048,-1.506645,-0.447523 [DEBUG] (2017-08-26 21:10:29.021) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.021) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.041) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.041) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.042) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029205,0.011917,0.039418 rpy=0.210159,-1.506643,-0.446450 [DEBUG] (2017-08-26 21:10:29.063) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.063) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.064) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:29.064) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:29.094) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.094) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.095) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029068,0.011779,0.039051 rpy=0.210389,-1.506703,-0.446562 [DEBUG] (2017-08-26 21:10:29.115) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.115) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.135) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.135) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.135) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028886,0.011673,0.038721 rpy=0.211700,-1.506833,-0.447834 [DEBUG] (2017-08-26 21:10:29.156) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.157) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.176) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.176) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.177) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028786,0.011527,0.038401 rpy=0.212888,-1.506901,-0.448973 [DEBUG] (2017-08-26 21:10:29.196) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.196) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.217) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.217) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.218) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028800,0.011418,0.038221 rpy=0.213224,-1.506898,-0.449142 [DEBUG] (2017-08-26 21:10:29.240) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.240) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.268) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.268) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.269) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028888,0.011362,0.038152 rpy=0.213003,-1.506845,-0.448806 [DEBUG] (2017-08-26 21:10:29.292) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.292) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.310) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.310) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.311) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028975,0.011286,0.037988 rpy=0.211898,-1.506756,-0.447553 [DEBUG] (2017-08-26 21:10:29.330) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.330) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.349) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.349) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.350) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028976,0.011249,0.037836 rpy=0.212109,-1.506703,-0.447650 [DEBUG] (2017-08-26 21:10:29.368) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.368) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.369) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:29.369) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:29.399) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.399) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.400) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028972,0.011262,0.037829 rpy=0.211449,-1.506792,-0.446895 [DEBUG] (2017-08-26 21:10:29.419) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.420) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.439) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.439) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.440) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.028964,0.011212,0.037720 rpy=0.212465,-1.506887,-0.447857 [DEBUG] (2017-08-26 21:10:29.457) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.457) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.476) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.476) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.477) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029042,0.011182,0.037693 rpy=0.212412,-1.506890,-0.447690 [DEBUG] (2017-08-26 21:10:29.477) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:29.477) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:29.506) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.506) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.525) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.525) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.526) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029130,0.011191,0.037743 rpy=0.213445,-1.506916,-0.448581 [DEBUG] (2017-08-26 21:10:29.544) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.544) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.545) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029249,0.011187,0.037780 rpy=0.213757,-1.506857,-0.448737 [DEBUG] (2017-08-26 21:10:29.564) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.564) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.579) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:29.579) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:29.579) SensorData.cpp:557::uncompressData() 24 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:29.580) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:29.598) MainWindow.cpp:1632::processStats() time= 18 ms [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 9 [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:3838::drawKeypoints() source time = 0.000089 s [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000020 s [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:29.602) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:29.609) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:29.609) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:29.609) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:29.609) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:29.609) SensorData.cpp:557::uncompressData() 24 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:29.610) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:29.610) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:29.610) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:29.611) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:29.626) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000782s [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:29.628) MainWindow.cpp:1796::processStats() time= 19 ms [DEBUG] (2017-08-26 21:10:29.631) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:29.631) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:29.631) MainWindow.cpp:1874::processStats() Updating GUI time = 0.052000s [DEBUG] (2017-08-26 21:10:29.638) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.638) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.639) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029290,0.011168,0.037736 rpy=0.213065,-1.506799,-0.447924 [DEBUG] (2017-08-26 21:10:29.658) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.659) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.677) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.677) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.695) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.695) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.696) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029370,0.011241,0.037869 rpy=0.213118,-1.506799,-0.447878 [DEBUG] (2017-08-26 21:10:29.715) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.715) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.733) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.733) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.734) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029422,0.011364,0.038012 rpy=0.213462,-1.506868,-0.448208 [DEBUG] (2017-08-26 21:10:29.753) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.753) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.771) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.772) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.772) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029414,0.011386,0.037970 rpy=0.213749,-1.506892,-0.448525 [DEBUG] (2017-08-26 21:10:29.791) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.791) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.809) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.810) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.810) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029454,0.011469,0.038037 rpy=0.213716,-1.506931,-0.448477 [DEBUG] (2017-08-26 21:10:29.829) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.829) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.848) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.848) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.849) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029515,0.011538,0.038141 rpy=0.213168,-1.506976,-0.447921 [DEBUG] (2017-08-26 21:10:29.868) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.868) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.893) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.893) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.894) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029601,0.011539,0.038162 rpy=0.213837,-1.506968,-0.448454 [DEBUG] (2017-08-26 21:10:29.918) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.918) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.936) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.937) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.938) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029778,0.011517,0.038077 rpy=0.213836,-1.506965,-0.448397 [DEBUG] (2017-08-26 21:10:29.957) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.957) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.975) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.975) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:29.976) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029920,0.011548,0.038100 rpy=0.214149,-1.506958,-0.448784 [DEBUG] (2017-08-26 21:10:29.995) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:29.995) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.013) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.013) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.014) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.029970,0.011434,0.037875 rpy=0.215132,-1.506977,-0.449781 [DEBUG] (2017-08-26 21:10:30.033) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.033) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.051) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.051) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.052) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030071,0.011384,0.037751 rpy=0.215519,-1.506962,-0.450060 [DEBUG] (2017-08-26 21:10:30.071) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.071) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.089) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.089) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.090) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030117,0.011384,0.037691 rpy=0.215568,-1.507022,-0.450087 [DEBUG] (2017-08-26 21:10:30.109) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.109) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.126) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.126) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.127) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030158,0.011341,0.037557 rpy=0.215356,-1.507033,-0.449836 [DEBUG] (2017-08-26 21:10:30.146) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.146) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.164) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.165) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.165) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030220,0.011262,0.037361 rpy=0.214969,-1.507036,-0.449454 [DEBUG] (2017-08-26 21:10:30.185) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.185) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.203) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.203) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.221) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.221) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.222) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030288,0.011358,0.037452 rpy=0.215096,-1.507039,-0.449601 [DEBUG] (2017-08-26 21:10:30.242) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.242) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.243) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030331,0.011300,0.037329 rpy=0.215439,-1.507079,-0.449799 [DEBUG] (2017-08-26 21:10:30.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.280) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.281) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.281) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030366,0.011212,0.037159 rpy=0.216637,-1.507025,-0.450916 [DEBUG] (2017-08-26 21:10:30.300) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.301) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.319) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.319) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.320) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030362,0.011266,0.037213 rpy=0.216673,-1.507043,-0.450948 [DEBUG] (2017-08-26 21:10:30.338) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.338) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.357) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.357) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.358) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030344,0.011242,0.037106 rpy=0.217224,-1.507058,-0.451492 [DEBUG] (2017-08-26 21:10:30.377) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.377) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.396) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.396) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.397) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030347,0.011267,0.037093 rpy=0.217243,-1.507082,-0.451505 [DEBUG] (2017-08-26 21:10:30.416) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.416) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.435) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.435) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.435) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030411,0.011293,0.037100 rpy=0.217124,-1.507117,-0.451382 [DEBUG] (2017-08-26 21:10:30.454) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.454) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.455) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:30.455) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:30.484) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.485) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.485) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030414,0.011276,0.037000 rpy=0.217297,-1.507163,-0.451518 [DEBUG] (2017-08-26 21:10:30.505) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.505) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.523) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.523) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.524) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030445,0.011343,0.037050 rpy=0.217589,-1.507165,-0.451704 [DEBUG] (2017-08-26 21:10:30.543) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.543) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.561) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.561) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.562) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030527,0.011357,0.037062 rpy=0.218547,-1.507171,-0.452497 [DEBUG] (2017-08-26 21:10:30.581) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.581) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.600) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.600) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.601) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030583,0.011325,0.036993 rpy=0.218812,-1.507180,-0.452637 [DEBUG] (2017-08-26 21:10:30.619) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.620) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.621) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:30.621) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:30.650) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.650) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.651) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030634,0.011352,0.037028 rpy=0.218817,-1.507171,-0.452681 [DEBUG] (2017-08-26 21:10:30.670) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.670) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.688) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.688) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.689) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030693,0.011448,0.037158 rpy=0.219261,-1.507180,-0.453159 [DEBUG] (2017-08-26 21:10:30.690) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:30.690) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:30.719) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.719) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.737) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.737) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.738) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030734,0.011434,0.037132 rpy=0.219464,-1.507146,-0.453351 [DEBUG] (2017-08-26 21:10:30.757) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.757) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.776) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.776) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.794) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.794) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.795) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030803,0.011510,0.037249 rpy=0.219102,-1.507132,-0.453018 [DEBUG] (2017-08-26 21:10:30.814) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.814) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.833) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.833) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.834) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030790,0.011488,0.037179 rpy=0.219893,-1.507168,-0.453833 [DEBUG] (2017-08-26 21:10:30.835) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:30.835) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:30.864) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.864) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.879) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:30.880) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:30.880) SensorData.cpp:557::uncompressData() 25 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:30.880) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:30.907) MainWindow.cpp:1632::processStats() time= 27 ms [DEBUG] (2017-08-26 21:10:30.911) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:30.912) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:30.912) MainWindow.cpp:3838::drawKeypoints() source time = 0.000030 s [DEBUG] (2017-08-26 21:10:30.912) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:30.912) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000028 s [DEBUG] (2017-08-26 21:10:30.912) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:30.912) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:30.918) MainWindow.cpp:1715::processStats() time= 6 ms [DEBUG] (2017-08-26 21:10:30.918) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:30.918) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:30.918) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:30.919) SensorData.cpp:557::uncompressData() 25 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:30.919) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:30.919) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:30.919) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:30.920) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:30.941) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000781s [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:30.942) MainWindow.cpp:1796::processStats() time= 24 ms [DEBUG] (2017-08-26 21:10:30.946) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:30.946) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:30.946) MainWindow.cpp:1874::processStats() Updating GUI time = 0.066000s [DEBUG] (2017-08-26 21:10:30.952) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.952) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.953) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030861,0.011484,0.037173 rpy=0.220736,-1.507241,-0.454528 [DEBUG] (2017-08-26 21:10:30.973) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.973) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.992) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:30.992) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:30.993) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030860,0.011515,0.037230 rpy=0.220280,-1.507256,-0.454035 [DEBUG] (2017-08-26 21:10:31.011) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.011) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.029) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.029) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.048) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.048) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.049) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030879,0.011492,0.037172 rpy=0.220300,-1.507274,-0.454067 [DEBUG] (2017-08-26 21:10:31.067) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.067) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.068) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030885,0.011480,0.037141 rpy=0.220642,-1.507312,-0.454424 [DEBUG] (2017-08-26 21:10:31.087) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.087) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.106) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.106) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.107) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030912,0.011540,0.037264 rpy=0.220820,-1.507315,-0.454620 [DEBUG] (2017-08-26 21:10:31.125) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.125) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.144) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.144) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.145) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.030935,0.011554,0.037289 rpy=0.221447,-1.507349,-0.455268 [DEBUG] (2017-08-26 21:10:31.164) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.164) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.183) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.183) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.184) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031026,0.011543,0.037284 rpy=0.221595,-1.507371,-0.455383 [DEBUG] (2017-08-26 21:10:31.203) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.203) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.221) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.221) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.222) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031134,0.011633,0.037488 rpy=0.221607,-1.507377,-0.455377 [DEBUG] (2017-08-26 21:10:31.242) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.242) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.260) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.260) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.261) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031181,0.011565,0.037488 rpy=0.222573,-1.507352,-0.456211 [DEBUG] (2017-08-26 21:10:31.280) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.280) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.299) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.299) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.300) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031220,0.011528,0.037471 rpy=0.222482,-1.507331,-0.456125 [DEBUG] (2017-08-26 21:10:31.318) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.318) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.337) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.337) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.338) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031321,0.011683,0.037742 rpy=0.221761,-1.507371,-0.455446 [DEBUG] (2017-08-26 21:10:31.357) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.357) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.375) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.376) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.376) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031325,0.011658,0.037764 rpy=0.222064,-1.507445,-0.455760 [DEBUG] (2017-08-26 21:10:31.395) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.395) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.414) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.414) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.415) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031273,0.011664,0.037818 rpy=0.222668,-1.507471,-0.456350 [DEBUG] (2017-08-26 21:10:31.433) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.433) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.452) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.452) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.453) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031230,0.011689,0.037897 rpy=0.222912,-1.507500,-0.456609 [DEBUG] (2017-08-26 21:10:31.472) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.472) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.490) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.490) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.491) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031253,0.011677,0.037898 rpy=0.222800,-1.507511,-0.456396 [DEBUG] (2017-08-26 21:10:31.510) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.510) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.528) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.529) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.529) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031358,0.011737,0.038005 rpy=0.221895,-1.507435,-0.455514 [DEBUG] (2017-08-26 21:10:31.548) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.548) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.566) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.566) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.567) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031438,0.011817,0.038152 rpy=0.221805,-1.507456,-0.455428 [DEBUG] (2017-08-26 21:10:31.586) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.586) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.605) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.605) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.606) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031375,0.011785,0.038133 rpy=0.221759,-1.507457,-0.455369 [DEBUG] (2017-08-26 21:10:31.624) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.625) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.643) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.643) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.644) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031390,0.011848,0.038255 rpy=0.221450,-1.507542,-0.455108 [DEBUG] (2017-08-26 21:10:31.662) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.662) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.681) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.681) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.682) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031420,0.011933,0.038434 rpy=0.221793,-1.507557,-0.455478 [DEBUG] (2017-08-26 21:10:31.701) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.701) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.719) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.719) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.720) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031437,0.011978,0.038538 rpy=0.222120,-1.507594,-0.455690 [DEBUG] (2017-08-26 21:10:31.739) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.739) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.758) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.758) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.759) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031426,0.012003,0.038582 rpy=0.222216,-1.507576,-0.455801 [DEBUG] (2017-08-26 21:10:31.777) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.777) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.796) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.796) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.797) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031474,0.012141,0.038757 rpy=0.222215,-1.507582,-0.455843 [DEBUG] (2017-08-26 21:10:31.816) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.816) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.834) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.834) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.835) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031543,0.012218,0.038816 rpy=0.222168,-1.507634,-0.455774 [DEBUG] (2017-08-26 21:10:31.854) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.854) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.872) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.872) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.873) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031601,0.012299,0.038867 rpy=0.222828,-1.507688,-0.456445 [DEBUG] (2017-08-26 21:10:31.892) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.892) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.911) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.911) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.912) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031640,0.012413,0.039035 rpy=0.222558,-1.507720,-0.456156 [DEBUG] (2017-08-26 21:10:31.930) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.931) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.949) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.949) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.950) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031673,0.012443,0.039050 rpy=0.223682,-1.507801,-0.457123 [DEBUG] (2017-08-26 21:10:31.969) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.969) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.970) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031707,0.012483,0.039073 rpy=0.223688,-1.507781,-0.457147 [DEBUG] (2017-08-26 21:10:31.989) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:31.989) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:31.990) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031705,0.012587,0.039187 rpy=0.223885,-1.507748,-0.457354 [DEBUG] (2017-08-26 21:10:32.009) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.009) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.027) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.027) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.028) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031745,0.012591,0.039142 rpy=0.223486,-1.507758,-0.456962 [DEBUG] (2017-08-26 21:10:32.044) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:32.044) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:32.044) SensorData.cpp:557::uncompressData() 26 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:32.044) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:32.072) MainWindow.cpp:1632::processStats() time= 28 ms [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 8 [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:3838::drawKeypoints() source time = 0.000087 s [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000022 s [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:32.075) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:32.082) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:32.083) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:32.083) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:32.083) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:32.083) SensorData.cpp:557::uncompressData() 26 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:32.083) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:32.083) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:32.083) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:32.085) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:32.099) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000863s [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:32.100) MainWindow.cpp:1796::processStats() time= 17 ms [DEBUG] (2017-08-26 21:10:32.104) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:32.104) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:32.104) MainWindow.cpp:1874::processStats() Updating GUI time = 0.060000s [DEBUG] (2017-08-26 21:10:32.111) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.111) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.129) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.129) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.130) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031698,0.012666,0.039143 rpy=0.223823,-1.507788,-0.457379 [DEBUG] (2017-08-26 21:10:32.150) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.150) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.169) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.169) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.169) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031722,0.012736,0.039192 rpy=0.223562,-1.507753,-0.457147 [DEBUG] (2017-08-26 21:10:32.188) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.188) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.207) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.207) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.208) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031708,0.012785,0.039196 rpy=0.224377,-1.507758,-0.457847 [DEBUG] (2017-08-26 21:10:32.225) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.225) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.243) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.243) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.244) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031706,0.012780,0.039110 rpy=0.225121,-1.507774,-0.458474 [DEBUG] (2017-08-26 21:10:32.263) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.263) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.282) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.282) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.283) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031786,0.012836,0.039143 rpy=0.224736,-1.507766,-0.458088 [DEBUG] (2017-08-26 21:10:32.302) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.302) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.320) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.320) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.321) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031872,0.012997,0.039334 rpy=0.224429,-1.507835,-0.457819 [DEBUG] (2017-08-26 21:10:32.340) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.340) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.359) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.359) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.360) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031944,0.013055,0.039379 rpy=0.224625,-1.507844,-0.458019 [DEBUG] (2017-08-26 21:10:32.378) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.379) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.397) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.397) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.416) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.416) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.417) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.031991,0.013111,0.039396 rpy=0.225140,-1.507818,-0.458626 [DEBUG] (2017-08-26 21:10:32.435) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.435) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.436) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032058,0.013190,0.039519 rpy=0.225749,-1.507798,-0.459239 [DEBUG] (2017-08-26 21:10:32.455) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.455) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.473) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.474) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.474) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032113,0.013222,0.039552 rpy=0.225948,-1.507791,-0.459463 [DEBUG] (2017-08-26 21:10:32.493) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.493) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.512) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.512) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.513) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032148,0.013283,0.039549 rpy=0.225878,-1.507787,-0.459485 [DEBUG] (2017-08-26 21:10:32.532) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.532) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.550) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.550) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.551) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032212,0.013359,0.039683 rpy=0.225978,-1.507802,-0.459588 [DEBUG] (2017-08-26 21:10:32.570) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.570) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.589) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.589) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.590) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032318,0.013350,0.039633 rpy=0.226007,-1.507730,-0.459662 [DEBUG] (2017-08-26 21:10:32.608) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.608) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.627) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.627) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.628) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032351,0.013436,0.039752 rpy=0.226122,-1.507834,-0.459789 [DEBUG] (2017-08-26 21:10:32.646) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.646) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.665) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.665) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.666) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032389,0.013447,0.039774 rpy=0.226619,-1.507892,-0.460282 [DEBUG] (2017-08-26 21:10:32.685) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.685) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.704) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032361,0.013480,0.039787 rpy=0.227256,-1.507981,-0.460969 [DEBUG] (2017-08-26 21:10:32.723) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.723) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.741) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.741) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.742) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032427,0.013461,0.039760 rpy=0.227013,-1.507895,-0.460756 [DEBUG] (2017-08-26 21:10:32.761) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.761) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.779) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.780) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.781) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032468,0.013484,0.039789 rpy=0.227056,-1.507890,-0.460793 [DEBUG] (2017-08-26 21:10:32.799) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.799) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.818) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.818) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.819) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032498,0.013469,0.039763 rpy=0.226595,-1.507872,-0.460325 [DEBUG] (2017-08-26 21:10:32.838) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.838) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.857) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.857) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.858) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032529,0.013485,0.039801 rpy=0.226982,-1.507870,-0.460736 [DEBUG] (2017-08-26 21:10:32.876) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.876) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.895) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.895) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.896) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032556,0.013563,0.039923 rpy=0.227067,-1.507894,-0.460867 [DEBUG] (2017-08-26 21:10:32.915) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.915) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.934) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.934) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.935) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032584,0.013544,0.039919 rpy=0.227025,-1.507872,-0.460835 [DEBUG] (2017-08-26 21:10:32.953) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.954) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.973) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.973) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:32.974) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032614,0.013603,0.040027 rpy=0.226843,-1.507856,-0.460697 [DEBUG] (2017-08-26 21:10:32.992) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:32.993) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.011) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.011) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.012) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032653,0.013635,0.040111 rpy=0.226610,-1.507847,-0.460450 [DEBUG] (2017-08-26 21:10:33.013) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:33.013) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:33.042) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.042) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.061) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.061) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.062) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032672,0.013617,0.040117 rpy=0.227794,-1.507908,-0.461622 [DEBUG] (2017-08-26 21:10:33.063) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:33.063) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:33.092) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.092) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.110) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.110) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.111) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032688,0.013613,0.040149 rpy=0.227748,-1.507873,-0.461594 [DEBUG] (2017-08-26 21:10:33.112) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:33.112) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:33.141) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.141) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.160) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.160) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.161) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032713,0.013672,0.040273 rpy=0.227692,-1.507890,-0.461526 [DEBUG] (2017-08-26 21:10:33.162) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:33.162) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:33.191) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.191) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.192) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032743,0.013612,0.040187 rpy=0.227728,-1.507862,-0.461604 [DEBUG] (2017-08-26 21:10:33.211) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.211) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.212) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032756,0.013617,0.040187 rpy=0.228164,-1.507835,-0.462041 [DEBUG] (2017-08-26 21:10:33.213) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:33.213) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:33.242) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.242) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.243) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032773,0.013692,0.040293 rpy=0.228080,-1.507821,-0.461948 [DEBUG] (2017-08-26 21:10:33.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.277) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:33.278) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:33.278) SensorData.cpp:557::uncompressData() 27 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:33.278) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:33.305) MainWindow.cpp:1632::processStats() time= 26 ms [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:3838::drawKeypoints() source time = 0.000019 s [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000018 s [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:33.307) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:33.314) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:33.314) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:33.314) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:33.314) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:33.314) SensorData.cpp:557::uncompressData() 27 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:33.315) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:33.315) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:33.315) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:33.316) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:33.334) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:33.335) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000784s [DEBUG] (2017-08-26 21:10:33.335) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:33.335) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:33.336) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:33.336) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:33.336) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:33.336) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:33.336) MainWindow.cpp:1796::processStats() time= 22 ms [DEBUG] (2017-08-26 21:10:33.339) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:33.339) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:33.339) MainWindow.cpp:1874::processStats() Updating GUI time = 0.061000s [DEBUG] (2017-08-26 21:10:33.346) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.346) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.365) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.365) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.383) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.383) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.384) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032772,0.013691,0.040283 rpy=0.228511,-1.507892,-0.462248 [DEBUG] (2017-08-26 21:10:33.404) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.404) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.405) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032700,0.013651,0.040170 rpy=0.229019,-1.507925,-0.462656 [DEBUG] (2017-08-26 21:10:33.423) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.424) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.443) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.443) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.444) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032712,0.013729,0.040287 rpy=0.229477,-1.507958,-0.463012 [DEBUG] (2017-08-26 21:10:33.463) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.463) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.483) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.484) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.485) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032718,0.013724,0.040283 rpy=0.230111,-1.508017,-0.463525 [DEBUG] (2017-08-26 21:10:33.505) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.505) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.526) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.526) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.527) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032734,0.013717,0.040281 rpy=0.230744,-1.508027,-0.464086 [DEBUG] (2017-08-26 21:10:33.548) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.548) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.568) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.568) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.569) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032766,0.013848,0.040470 rpy=0.230807,-1.508074,-0.464067 [DEBUG] (2017-08-26 21:10:33.589) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.589) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.609) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.609) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.610) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032791,0.013836,0.040440 rpy=0.231899,-1.508098,-0.465039 [DEBUG] (2017-08-26 21:10:33.629) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.629) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.649) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.649) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.650) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032831,0.013859,0.040472 rpy=0.231911,-1.508089,-0.464948 [DEBUG] (2017-08-26 21:10:33.670) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.670) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.689) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.689) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.690) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032859,0.013865,0.040484 rpy=0.231824,-1.508070,-0.464778 [DEBUG] (2017-08-26 21:10:33.709) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.709) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.729) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.729) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.730) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032869,0.013835,0.040435 rpy=0.231828,-1.508115,-0.464705 [DEBUG] (2017-08-26 21:10:33.749) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.749) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.768) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.768) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.769) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032892,0.013837,0.040433 rpy=0.232596,-1.508089,-0.465398 [DEBUG] (2017-08-26 21:10:33.787) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.787) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.806) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.806) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.807) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032919,0.013907,0.040501 rpy=0.233539,-1.508174,-0.466291 [DEBUG] (2017-08-26 21:10:33.826) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.826) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.845) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.845) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.846) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032969,0.013835,0.040350 rpy=0.233589,-1.508160,-0.466275 [DEBUG] (2017-08-26 21:10:33.866) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.866) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.885) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.885) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.886) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033014,0.013848,0.040336 rpy=0.233518,-1.508170,-0.466137 [DEBUG] (2017-08-26 21:10:33.906) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.906) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.925) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.926) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.926) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033051,0.013887,0.040368 rpy=0.233767,-1.508143,-0.466321 [DEBUG] (2017-08-26 21:10:33.946) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.946) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.966) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.966) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:33.967) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032998,0.013847,0.040243 rpy=0.234166,-1.508117,-0.466650 [DEBUG] (2017-08-26 21:10:33.987) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:33.987) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.006) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.006) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.007) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032963,0.013902,0.040273 rpy=0.234235,-1.508160,-0.466771 [DEBUG] (2017-08-26 21:10:34.028) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.028) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.048) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.049) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.049) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032932,0.014010,0.040379 rpy=0.234779,-1.508207,-0.467327 [DEBUG] (2017-08-26 21:10:34.075) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.075) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.101) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.101) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.102) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032943,0.013989,0.040310 rpy=0.235893,-1.508353,-0.468403 [DEBUG] (2017-08-26 21:10:34.123) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.124) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.146) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.146) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.147) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033030,0.013960,0.040247 rpy=0.236245,-1.508321,-0.468639 [DEBUG] (2017-08-26 21:10:34.168) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.168) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.190) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.190) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.191) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033144,0.013992,0.040275 rpy=0.235847,-1.508229,-0.468095 [DEBUG] (2017-08-26 21:10:34.213) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.213) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.234) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.234) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.235) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033173,0.013994,0.040176 rpy=0.234117,-1.508111,-0.466316 [DEBUG] (2017-08-26 21:10:34.255) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.256) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.278) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.278) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.279) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033111,0.013923,0.040012 rpy=0.234843,-1.508153,-0.467055 [DEBUG] (2017-08-26 21:10:34.300) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.300) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.318) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.318) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.319) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033028,0.013932,0.039978 rpy=0.236849,-1.508194,-0.469017 [DEBUG] (2017-08-26 21:10:34.336) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.337) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.355) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.356) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.357) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032967,0.013926,0.039904 rpy=0.237528,-1.508316,-0.469655 [DEBUG] (2017-08-26 21:10:34.375) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.375) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.397) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.397) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.398) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033003,0.013793,0.039709 rpy=0.238818,-1.508279,-0.470902 [DEBUG] (2017-08-26 21:10:34.420) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.420) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.440) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.440) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.441) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033026,0.013753,0.039642 rpy=0.237539,-1.508255,-0.469638 [DEBUG] (2017-08-26 21:10:34.462) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.462) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.482) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.482) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.483) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032908,0.013653,0.039470 rpy=0.238049,-1.508135,-0.470161 [DEBUG] (2017-08-26 21:10:34.503) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.503) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.524) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.524) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.543) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.543) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.544) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032822,0.013698,0.039493 rpy=0.239253,-1.508222,-0.471349 [DEBUG] (2017-08-26 21:10:34.561) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:34.561) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:34.561) SensorData.cpp:557::uncompressData() 28 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:34.561) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:34.588) MainWindow.cpp:1632::processStats() time= 26 ms [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 8 [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:3838::drawKeypoints() source time = 0.000109 s [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000029 s [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:34.591) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:34.600) MainWindow.cpp:1715::processStats() time= 9 ms [DEBUG] (2017-08-26 21:10:34.600) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:34.600) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:34.600) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:34.600) SensorData.cpp:557::uncompressData() 28 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:34.601) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:34.601) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:34.601) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:34.602) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:34.621) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:34.622) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000772s [DEBUG] (2017-08-26 21:10:34.622) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:34.622) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:34.623) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:34.623) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:34.623) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:34.623) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:34.623) MainWindow.cpp:1796::processStats() time= 23 ms [DEBUG] (2017-08-26 21:10:34.626) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:34.626) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:34.626) MainWindow.cpp:1874::processStats() Updating GUI time = 0.065000s [DEBUG] (2017-08-26 21:10:34.633) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.633) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.634) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032767,0.013710,0.039443 rpy=0.240029,-1.508373,-0.472217 [DEBUG] (2017-08-26 21:10:34.654) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.654) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.673) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.673) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.674) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032648,0.013788,0.039490 rpy=0.240755,-1.508557,-0.473132 [DEBUG] (2017-08-26 21:10:34.693) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.693) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.711) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.711) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.712) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032724,0.013852,0.039585 rpy=0.241469,-1.508412,-0.473915 [DEBUG] (2017-08-26 21:10:34.731) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.731) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.750) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.750) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.751) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032817,0.013830,0.039536 rpy=0.239990,-1.508466,-0.472254 [DEBUG] (2017-08-26 21:10:34.769) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.770) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.788) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.788) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.789) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032909,0.013829,0.039538 rpy=0.239577,-1.508271,-0.471673 [DEBUG] (2017-08-26 21:10:34.808) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.808) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.827) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.827) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.828) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032956,0.013813,0.039448 rpy=0.239023,-1.508391,-0.471021 [DEBUG] (2017-08-26 21:10:34.846) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.847) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.865) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.865) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.866) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032918,0.013815,0.039472 rpy=0.241189,-1.508406,-0.473193 [DEBUG] (2017-08-26 21:10:34.885) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.885) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.904) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.904) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.905) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032850,0.013870,0.039498 rpy=0.242867,-1.508536,-0.474969 [DEBUG] (2017-08-26 21:10:34.923) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.923) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.942) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.942) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.943) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032859,0.013878,0.039512 rpy=0.241734,-1.508563,-0.473840 [DEBUG] (2017-08-26 21:10:34.962) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.962) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.980) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:34.980) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:34.981) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.032924,0.013819,0.039492 rpy=0.242953,-1.508459,-0.475058 [DEBUG] (2017-08-26 21:10:35.000) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.000) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.018) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.018) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.019) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033035,0.013785,0.039433 rpy=0.242740,-1.508278,-0.474773 [DEBUG] (2017-08-26 21:10:35.038) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.038) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.057) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.057) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.058) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033094,0.013810,0.039458 rpy=0.240243,-1.508343,-0.472210 [DEBUG] (2017-08-26 21:10:35.077) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.077) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.096) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.096) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.097) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033152,0.013796,0.039458 rpy=0.241122,-1.508306,-0.473021 [DEBUG] (2017-08-26 21:10:35.115) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.115) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.134) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.134) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.135) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033110,0.013709,0.039379 rpy=0.242406,-1.508392,-0.474309 [DEBUG] (2017-08-26 21:10:35.154) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.154) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.173) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.173) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.174) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033082,0.013704,0.039380 rpy=0.243028,-1.508536,-0.474858 [DEBUG] (2017-08-26 21:10:35.192) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.192) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.210) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.211) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.211) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033135,0.013683,0.039412 rpy=0.242636,-1.508580,-0.474428 [DEBUG] (2017-08-26 21:10:35.230) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.230) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.249) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.249) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.267) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.268) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.268) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033198,0.013643,0.039444 rpy=0.243233,-1.508490,-0.475023 [DEBUG] (2017-08-26 21:10:35.287) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.287) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.288) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033251,0.013667,0.039531 rpy=0.241851,-1.508399,-0.473707 [DEBUG] (2017-08-26 21:10:35.307) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.307) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.328) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.328) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.329) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033537,0.013845,0.039887 rpy=0.241362,-1.508442,-0.473218 [DEBUG] (2017-08-26 21:10:35.349) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.349) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.368) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.368) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.369) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033453,0.013841,0.039888 rpy=0.242992,-1.508554,-0.474903 [DEBUG] (2017-08-26 21:10:35.387) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.388) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.406) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.406) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.407) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033401,0.013867,0.039921 rpy=0.244292,-1.508604,-0.476211 [DEBUG] (2017-08-26 21:10:35.426) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.426) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.445) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.445) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.446) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033382,0.013902,0.039982 rpy=0.243585,-1.508743,-0.475472 [DEBUG] (2017-08-26 21:10:35.465) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.465) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.488) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.488) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.489) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033449,0.013888,0.039978 rpy=0.243574,-1.508680,-0.475418 [DEBUG] (2017-08-26 21:10:35.508) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.508) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.527) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.527) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.528) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033797,0.013995,0.040261 rpy=0.241219,-1.508570,-0.473018 [DEBUG] (2017-08-26 21:10:35.546) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.546) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.565) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.565) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.566) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034097,0.014208,0.040650 rpy=0.239309,-1.508475,-0.471078 [DEBUG] (2017-08-26 21:10:35.585) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.585) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.604) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.604) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.605) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034311,0.014389,0.040978 rpy=0.238733,-1.508482,-0.470481 [DEBUG] (2017-08-26 21:10:35.624) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.624) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.643) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.643) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.644) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034459,0.014518,0.041235 rpy=0.239530,-1.508565,-0.471279 [DEBUG] (2017-08-26 21:10:35.663) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.663) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.681) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.681) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.682) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034662,0.014646,0.041490 rpy=0.239786,-1.508567,-0.471503 [DEBUG] (2017-08-26 21:10:35.683) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:35.683) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:35.713) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.713) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.714) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034876,0.014825,0.041820 rpy=0.238406,-1.508581,-0.470089 [DEBUG] (2017-08-26 21:10:35.733) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.733) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.734) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035162,0.014942,0.042051 rpy=0.237307,-1.508494,-0.468905 [DEBUG] (2017-08-26 21:10:35.735) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:35.735) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:35.765) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.765) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.780) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:35.780) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:35.781) SensorData.cpp:557::uncompressData() 29 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:35.781) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:35.807) MainWindow.cpp:1632::processStats() time= 26 ms [DEBUG] (2017-08-26 21:10:35.811) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:35.811) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:35.811) MainWindow.cpp:3838::drawKeypoints() source time = 0.000120 s [DEBUG] (2017-08-26 21:10:35.811) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:35.811) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000029 s [DEBUG] (2017-08-26 21:10:35.811) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:35.812) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:35.818) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:35.818) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:35.818) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:35.818) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:35.819) SensorData.cpp:557::uncompressData() 29 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:35.819) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:35.819) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:35.819) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:35.820) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:35.834) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000767s [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:35.836) MainWindow.cpp:1796::processStats() time= 18 ms [DEBUG] (2017-08-26 21:10:35.839) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:35.839) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:35.839) MainWindow.cpp:1874::processStats() Updating GUI time = 0.059000s [DEBUG] (2017-08-26 21:10:35.846) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.846) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.847) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035329,0.015149,0.042400 rpy=0.236916,-1.508440,-0.468534 [DEBUG] (2017-08-26 21:10:35.866) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.867) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.885) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.886) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.904) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.904) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.905) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035430,0.015223,0.042537 rpy=0.237271,-1.508482,-0.468870 [DEBUG] (2017-08-26 21:10:35.924) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.924) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.925) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035500,0.015329,0.042703 rpy=0.237267,-1.508593,-0.468838 [DEBUG] (2017-08-26 21:10:35.944) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.944) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.962) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.962) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:35.963) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035551,0.015472,0.042913 rpy=0.237739,-1.508703,-0.469322 [DEBUG] (2017-08-26 21:10:35.982) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:35.982) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.001) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.001) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.019) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.019) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.020) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035626,0.015538,0.043005 rpy=0.238612,-1.508772,-0.470157 [DEBUG] (2017-08-26 21:10:36.039) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.039) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.040) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035735,0.015632,0.043140 rpy=0.238443,-1.508730,-0.469939 [DEBUG] (2017-08-26 21:10:36.059) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.059) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.078) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.078) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.078) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035813,0.015715,0.043257 rpy=0.238131,-1.508827,-0.469511 [DEBUG] (2017-08-26 21:10:36.098) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.098) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.117) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.117) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.118) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035866,0.015810,0.043366 rpy=0.238492,-1.508780,-0.469833 [DEBUG] (2017-08-26 21:10:36.137) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.137) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.155) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.155) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.156) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035904,0.015864,0.043413 rpy=0.238381,-1.508823,-0.469618 [DEBUG] (2017-08-26 21:10:36.175) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.175) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.194) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.194) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.195) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035911,0.015931,0.043481 rpy=0.239057,-1.508823,-0.470261 [DEBUG] (2017-08-26 21:10:36.214) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.214) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.232) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.232) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.233) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035915,0.015960,0.043490 rpy=0.238934,-1.508823,-0.470113 [DEBUG] (2017-08-26 21:10:36.252) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.252) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.271) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.271) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.272) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035930,0.015992,0.043524 rpy=0.238765,-1.508867,-0.469896 [DEBUG] (2017-08-26 21:10:36.290) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.291) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.309) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.310) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.310) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035938,0.016065,0.043593 rpy=0.238884,-1.508840,-0.469958 [DEBUG] (2017-08-26 21:10:36.329) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.329) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.348) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.348) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.349) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035926,0.016095,0.043577 rpy=0.239269,-1.508833,-0.470318 [DEBUG] (2017-08-26 21:10:36.368) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.368) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.387) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035906,0.016127,0.043566 rpy=0.240043,-1.508870,-0.471037 [DEBUG] (2017-08-26 21:10:36.406) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.406) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.425) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.425) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.426) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035906,0.016212,0.043630 rpy=0.240138,-1.508898,-0.471104 [DEBUG] (2017-08-26 21:10:36.443) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.443) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.462) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.462) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.463) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035890,0.016246,0.043622 rpy=0.240402,-1.508969,-0.471312 [DEBUG] (2017-08-26 21:10:36.481) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.481) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.501) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.501) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.502) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035854,0.016279,0.043603 rpy=0.240332,-1.508960,-0.471239 [DEBUG] (2017-08-26 21:10:36.520) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.521) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.539) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.539) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.540) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035849,0.016396,0.043719 rpy=0.239951,-1.508946,-0.470913 [DEBUG] (2017-08-26 21:10:36.559) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.559) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.578) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.578) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.579) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035822,0.016441,0.043723 rpy=0.240396,-1.509017,-0.471333 [DEBUG] (2017-08-26 21:10:36.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.598) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.616) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.616) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.617) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035799,0.016377,0.043563 rpy=0.240424,-1.509007,-0.471369 [DEBUG] (2017-08-26 21:10:36.636) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.637) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.655) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.655) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.656) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035797,0.016427,0.043608 rpy=0.241474,-1.508960,-0.472416 [DEBUG] (2017-08-26 21:10:36.675) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.675) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.693) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.694) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.694) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035772,0.016453,0.043589 rpy=0.242290,-1.508975,-0.473278 [DEBUG] (2017-08-26 21:10:36.713) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.713) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.732) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.732) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.733) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035773,0.016434,0.043533 rpy=0.242596,-1.508972,-0.473574 [DEBUG] (2017-08-26 21:10:36.752) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.752) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.770) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.770) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.771) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035803,0.016440,0.043541 rpy=0.242672,-1.508930,-0.473652 [DEBUG] (2017-08-26 21:10:36.790) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.790) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.809) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.809) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.810) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035811,0.016379,0.043442 rpy=0.242960,-1.508948,-0.473930 [DEBUG] (2017-08-26 21:10:36.829) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.829) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.847) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.847) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.848) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035828,0.016373,0.043434 rpy=0.242489,-1.508937,-0.473423 [DEBUG] (2017-08-26 21:10:36.867) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.867) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.886) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.886) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.887) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035833,0.016370,0.043441 rpy=0.242229,-1.508941,-0.473126 [DEBUG] (2017-08-26 21:10:36.905) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.905) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.924) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.924) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.925) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035807,0.016293,0.043346 rpy=0.242690,-1.508880,-0.473570 [DEBUG] (2017-08-26 21:10:36.944) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.944) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.945) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035800,0.016259,0.043328 rpy=0.242341,-1.508857,-0.473226 [DEBUG] (2017-08-26 21:10:36.964) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.964) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.982) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:36.982) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:36.983) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035805,0.016252,0.043342 rpy=0.242737,-1.508885,-0.473582 [DEBUG] (2017-08-26 21:10:37.002) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.002) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.018) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:37.018) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:37.018) SensorData.cpp:557::uncompressData() 30 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:37.018) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:37.037) MainWindow.cpp:1632::processStats() time= 19 ms [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 8 [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:3838::drawKeypoints() source time = 0.000090 s [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000018 s [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:37.040) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:37.047) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:37.047) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:37.047) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:37.047) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:37.047) SensorData.cpp:557::uncompressData() 30 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:37.048) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:37.048) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:37.048) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:37.049) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:37.063) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000838s [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:37.064) MainWindow.cpp:1796::processStats() time= 17 ms [DEBUG] (2017-08-26 21:10:37.067) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:37.067) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:37.068) MainWindow.cpp:1874::processStats() Updating GUI time = 0.049000s [DEBUG] (2017-08-26 21:10:37.074) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.074) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.075) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035794,0.016167,0.043248 rpy=0.243389,-1.508856,-0.474219 [DEBUG] (2017-08-26 21:10:37.095) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.095) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.114) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.114) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.115) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035815,0.016074,0.043147 rpy=0.243728,-1.508848,-0.474552 [DEBUG] (2017-08-26 21:10:37.134) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.134) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.153) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.153) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.154) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035829,0.016117,0.043246 rpy=0.243605,-1.508874,-0.474487 [DEBUG] (2017-08-26 21:10:37.173) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.173) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.191) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.191) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.192) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035837,0.016058,0.043199 rpy=0.243703,-1.508884,-0.474534 [DEBUG] (2017-08-26 21:10:37.211) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.211) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.229) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.230) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.230) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035830,0.015979,0.043109 rpy=0.244103,-1.508862,-0.474914 [DEBUG] (2017-08-26 21:10:37.249) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.249) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.268) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.268) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.269) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035833,0.015958,0.043093 rpy=0.243835,-1.508869,-0.474641 [DEBUG] (2017-08-26 21:10:37.288) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.288) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.306) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.307) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.307) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035833,0.015935,0.043077 rpy=0.243964,-1.508887,-0.474767 [DEBUG] (2017-08-26 21:10:37.326) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.327) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.345) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.345) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.346) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035866,0.015893,0.043041 rpy=0.244023,-1.508909,-0.474848 [DEBUG] (2017-08-26 21:10:37.365) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.365) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.384) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.384) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.385) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035864,0.015881,0.043026 rpy=0.244148,-1.508913,-0.475002 [DEBUG] (2017-08-26 21:10:37.404) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.404) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.422) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.422) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.423) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035868,0.015832,0.042941 rpy=0.244286,-1.508903,-0.475176 [DEBUG] (2017-08-26 21:10:37.442) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.442) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.461) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.461) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.462) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035851,0.015798,0.042859 rpy=0.244252,-1.508932,-0.475159 [DEBUG] (2017-08-26 21:10:37.481) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.481) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.500) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.500) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.501) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035851,0.015856,0.042880 rpy=0.244503,-1.509002,-0.475403 [DEBUG] (2017-08-26 21:10:37.519) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.519) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.538) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.538) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.539) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035894,0.015876,0.042875 rpy=0.244362,-1.508988,-0.475217 [DEBUG] (2017-08-26 21:10:37.558) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.558) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.577) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.577) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.578) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035944,0.015899,0.042868 rpy=0.242727,-1.508997,-0.473507 [DEBUG] (2017-08-26 21:10:37.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.597) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.615) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.615) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.616) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036012,0.015890,0.042831 rpy=0.241736,-1.508923,-0.472383 [DEBUG] (2017-08-26 21:10:37.635) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.635) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.654) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.654) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.655) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036031,0.015962,0.042892 rpy=0.241483,-1.508933,-0.472154 [DEBUG] (2017-08-26 21:10:37.674) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.674) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.692) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.692) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.693) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036018,0.015971,0.042861 rpy=0.241598,-1.508954,-0.472282 [DEBUG] (2017-08-26 21:10:37.712) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.712) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.731) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.731) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.732) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035956,0.015983,0.042804 rpy=0.241541,-1.509005,-0.472292 [DEBUG] (2017-08-26 21:10:37.750) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.750) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.769) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.769) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.770) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035923,0.016061,0.042866 rpy=0.241430,-1.509065,-0.472207 [DEBUG] (2017-08-26 21:10:37.789) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.789) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.808) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.808) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035894,0.016055,0.042807 rpy=0.242245,-1.509055,-0.473035 [DEBUG] (2017-08-26 21:10:37.827) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.827) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.846) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.846) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.847) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035877,0.016014,0.042704 rpy=0.242621,-1.509104,-0.473412 [DEBUG] (2017-08-26 21:10:37.866) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.866) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.885) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.885) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.886) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035920,0.016051,0.042736 rpy=0.241816,-1.509061,-0.472588 [DEBUG] (2017-08-26 21:10:37.904) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.904) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.923) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.923) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.924) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035944,0.016041,0.042680 rpy=0.241799,-1.509048,-0.472501 [DEBUG] (2017-08-26 21:10:37.943) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.943) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.962) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.962) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:37.963) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035921,0.016013,0.042574 rpy=0.241119,-1.509084,-0.471797 [DEBUG] (2017-08-26 21:10:37.982) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:37.982) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.001) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.001) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.002) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035889,0.016099,0.042640 rpy=0.241942,-1.509161,-0.472614 [DEBUG] (2017-08-26 21:10:38.021) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.021) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.040) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.040) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.041) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035856,0.016065,0.042553 rpy=0.242778,-1.509182,-0.473452 [DEBUG] (2017-08-26 21:10:38.059) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.059) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.078) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.078) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.079) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035858,0.016054,0.042530 rpy=0.242588,-1.509190,-0.473259 [DEBUG] (2017-08-26 21:10:38.098) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.098) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.117) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.118) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.136) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.136) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.137) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035858,0.016019,0.042466 rpy=0.242095,-1.509127,-0.472819 [DEBUG] (2017-08-26 21:10:38.156) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.156) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.157) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035842,0.015961,0.042380 rpy=0.242908,-1.509126,-0.473633 [DEBUG] (2017-08-26 21:10:38.176) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.176) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.195) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.195) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.196) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035839,0.015943,0.042356 rpy=0.243153,-1.509114,-0.473882 [DEBUG] (2017-08-26 21:10:38.215) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.215) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.233) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.233) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.234) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035832,0.015902,0.042294 rpy=0.243040,-1.509045,-0.473748 [DEBUG] (2017-08-26 21:10:38.253) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.253) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.254) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035830,0.015853,0.042216 rpy=0.242620,-1.509013,-0.473298 [DEBUG] (2017-08-26 21:10:38.270) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:38.270) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:38.271) SensorData.cpp:557::uncompressData() 31 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:38.271) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:38.289) MainWindow.cpp:1632::processStats() time= 18 ms [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:1676::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 9 [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:3838::drawKeypoints() source time = 0.000238 s [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000069 s [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:38.297) MainWindow.cpp:1681::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:38.309) MainWindow.cpp:1715::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:38.309) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:38.309) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:38.309) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:38.310) SensorData.cpp:557::uncompressData() 31 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:38.310) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:38.310) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:38.310) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:38.312) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:38.333) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000785s [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:38.334) MainWindow.cpp:1796::processStats() time= 25 ms [DEBUG] (2017-08-26 21:10:38.338) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:38.338) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:38.338) MainWindow.cpp:1874::processStats() Updating GUI time = 0.068000s [DEBUG] (2017-08-26 21:10:38.345) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.345) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.364) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.364) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.382) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.382) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.383) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035851,0.015829,0.042184 rpy=0.242025,-1.508982,-0.472704 [DEBUG] (2017-08-26 21:10:38.403) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.403) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.422) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.423) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.423) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035889,0.015820,0.042181 rpy=0.241369,-1.508934,-0.472037 [DEBUG] (2017-08-26 21:10:38.448) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.448) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.471) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.471) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.472) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035916,0.015760,0.042108 rpy=0.241140,-1.508934,-0.471785 [DEBUG] (2017-08-26 21:10:38.491) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.491) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.509) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.509) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.510) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035933,0.015716,0.042053 rpy=0.241316,-1.508903,-0.471949 [DEBUG] (2017-08-26 21:10:38.529) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.529) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.547) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.548) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.548) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035933,0.015706,0.042052 rpy=0.241157,-1.508907,-0.471785 [DEBUG] (2017-08-26 21:10:38.567) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.567) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.586) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.586) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.587) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035588,0.015417,0.041632 rpy=0.242344,-1.508952,-0.473009 [DEBUG] (2017-08-26 21:10:38.606) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.606) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.625) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.625) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.626) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035600,0.015378,0.041587 rpy=0.242704,-1.508898,-0.473361 [DEBUG] (2017-08-26 21:10:38.645) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.645) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.664) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.664) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.665) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035698,0.015450,0.041690 rpy=0.242007,-1.508916,-0.472669 [DEBUG] (2017-08-26 21:10:38.684) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.684) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.704) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035785,0.015558,0.041804 rpy=0.241679,-1.508909,-0.472353 [DEBUG] (2017-08-26 21:10:38.723) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.723) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.742) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.742) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.743) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035873,0.015592,0.041820 rpy=0.241333,-1.508938,-0.471995 [DEBUG] (2017-08-26 21:10:38.762) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.762) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.781) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.781) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.782) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035504,0.015407,0.041460 rpy=0.242433,-1.508970,-0.473155 [DEBUG] (2017-08-26 21:10:38.801) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.801) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.820) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.820) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.821) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035565,0.015401,0.041442 rpy=0.242372,-1.508988,-0.473093 [DEBUG] (2017-08-26 21:10:38.840) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.840) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.858) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.858) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.859) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035684,0.015447,0.041490 rpy=0.242104,-1.509021,-0.472818 [DEBUG] (2017-08-26 21:10:38.878) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.878) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.897) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.897) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.898) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035849,0.015564,0.041648 rpy=0.241872,-1.508951,-0.472574 [DEBUG] (2017-08-26 21:10:38.917) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.917) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.936) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.936) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.937) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035515,0.015363,0.041247 rpy=0.242118,-1.508976,-0.472869 [DEBUG] (2017-08-26 21:10:38.956) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.956) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.974) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.975) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:38.975) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035203,0.015143,0.040824 rpy=0.243056,-1.508999,-0.473827 [DEBUG] (2017-08-26 21:10:38.994) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:38.994) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.013) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.013) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.014) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035323,0.015214,0.040934 rpy=0.242346,-1.508942,-0.473090 [DEBUG] (2017-08-26 21:10:39.034) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.034) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.053) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.053) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.054) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035034,0.015063,0.040642 rpy=0.243543,-1.508984,-0.474353 [DEBUG] (2017-08-26 21:10:39.072) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.073) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.091) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.091) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.092) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034812,0.014906,0.040380 rpy=0.244014,-1.509015,-0.474821 [DEBUG] (2017-08-26 21:10:39.111) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.111) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.130) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.130) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.131) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034633,0.014764,0.040151 rpy=0.244200,-1.508959,-0.475018 [DEBUG] (2017-08-26 21:10:39.150) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.150) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.168) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.169) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.169) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034463,0.014591,0.039880 rpy=0.244457,-1.508990,-0.475271 [DEBUG] (2017-08-26 21:10:39.189) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.189) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.207) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.207) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.208) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034300,0.014502,0.039711 rpy=0.244546,-1.508990,-0.475426 [DEBUG] (2017-08-26 21:10:39.227) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.227) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.247) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.247) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.248) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034157,0.014429,0.039574 rpy=0.245258,-1.509024,-0.476154 [DEBUG] (2017-08-26 21:10:39.267) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.267) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.286) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.286) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.287) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034008,0.014314,0.039394 rpy=0.245279,-1.509029,-0.476267 [DEBUG] (2017-08-26 21:10:39.306) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.306) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.325) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.325) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.326) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033910,0.014173,0.039198 rpy=0.245315,-1.508985,-0.476330 [DEBUG] (2017-08-26 21:10:39.345) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.345) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.346) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033854,0.014079,0.039080 rpy=0.245022,-1.508930,-0.476044 [DEBUG] (2017-08-26 21:10:39.365) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.365) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.366) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033781,0.013979,0.038946 rpy=0.244163,-1.508880,-0.475241 [DEBUG] (2017-08-26 21:10:39.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.387) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033735,0.013851,0.038778 rpy=0.244149,-1.508886,-0.475226 [DEBUG] (2017-08-26 21:10:39.406) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.406) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.407) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.033970,0.013839,0.038854 rpy=0.242951,-1.508855,-0.474033 [DEBUG] (2017-08-26 21:10:39.426) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.426) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.427) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034256,0.013943,0.039073 rpy=0.242811,-1.508855,-0.473894 [DEBUG] (2017-08-26 21:10:39.446) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.446) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.465) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.465) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.466) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034224,0.013912,0.039025 rpy=0.242645,-1.508856,-0.473750 [DEBUG] (2017-08-26 21:10:39.485) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.485) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.501) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:39.501) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:39.501) SensorData.cpp:557::uncompressData() 32 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:39.501) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:39.517) MainWindow.cpp:1632::processStats() time= 16 ms [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:3838::drawKeypoints() source time = 0.000018 s [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000091 s [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:39.520) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:39.526) MainWindow.cpp:1715::processStats() time= 6 ms [DEBUG] (2017-08-26 21:10:39.527) MainWindow.cpp:1742::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:39.527) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:39.527) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:39.527) SensorData.cpp:557::uncompressData() 32 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:39.527) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:39.527) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:39.528) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:39.528) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:39.543) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:39.544) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000872s [DEBUG] (2017-08-26 21:10:39.544) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:39.544) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:39.544) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:39.544) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:39.544) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:39.545) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:39.545) MainWindow.cpp:1796::processStats() time= 18 ms [DEBUG] (2017-08-26 21:10:39.548) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:39.548) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:39.548) MainWindow.cpp:1874::processStats() Updating GUI time = 0.047000s [DEBUG] (2017-08-26 21:10:39.555) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.555) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.556) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034172,0.013868,0.038948 rpy=0.242515,-1.508917,-0.473639 [DEBUG] (2017-08-26 21:10:39.576) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.576) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.594) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.594) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.595) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034109,0.013826,0.038851 rpy=0.242431,-1.508891,-0.473649 [DEBUG] (2017-08-26 21:10:39.614) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.614) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.633) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.634) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.652) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.652) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.653) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034192,0.013873,0.038936 rpy=0.242072,-1.508863,-0.473314 [DEBUG] (2017-08-26 21:10:39.674) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.674) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.694) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.694) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.695) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034239,0.013902,0.038988 rpy=0.241369,-1.508877,-0.472708 [DEBUG] (2017-08-26 21:10:39.716) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.717) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.734) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.734) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.735) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034309,0.013898,0.038999 rpy=0.241558,-1.508880,-0.472922 [DEBUG] (2017-08-26 21:10:39.753) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.753) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.771) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.771) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.772) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034395,0.013931,0.039045 rpy=0.241862,-1.508894,-0.473245 [DEBUG] (2017-08-26 21:10:39.792) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.792) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.812) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.812) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.813) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034513,0.013994,0.039135 rpy=0.241779,-1.508892,-0.473155 [DEBUG] (2017-08-26 21:10:39.832) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.832) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.849) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.849) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.850) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034630,0.014052,0.039214 rpy=0.241200,-1.508862,-0.472578 [DEBUG] (2017-08-26 21:10:39.868) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.868) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.887) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.887) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.888) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034737,0.014075,0.039233 rpy=0.241095,-1.508878,-0.472401 [DEBUG] (2017-08-26 21:10:39.907) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.907) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.926) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.926) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.927) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034830,0.014180,0.039367 rpy=0.240987,-1.508880,-0.472249 [DEBUG] (2017-08-26 21:10:39.946) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.946) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.965) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.965) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:39.966) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034894,0.014261,0.039467 rpy=0.240805,-1.508901,-0.472080 [DEBUG] (2017-08-26 21:10:39.985) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:39.985) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.003) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.003) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.004) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034926,0.014363,0.039566 rpy=0.240637,-1.508914,-0.471942 [DEBUG] (2017-08-26 21:10:40.023) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.023) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.042) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.042) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.043) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.034974,0.014456,0.039666 rpy=0.240524,-1.508940,-0.471841 [DEBUG] (2017-08-26 21:10:40.062) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.062) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.081) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.081) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.082) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035022,0.014545,0.039740 rpy=0.240489,-1.508910,-0.471801 [DEBUG] (2017-08-26 21:10:40.101) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.101) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.120) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.120) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.121) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035061,0.014610,0.039777 rpy=0.240672,-1.508891,-0.471943 [DEBUG] (2017-08-26 21:10:40.139) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.139) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.158) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.159) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035114,0.014793,0.040001 rpy=0.240454,-1.508913,-0.471738 [DEBUG] (2017-08-26 21:10:40.178) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.178) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.197) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.197) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.198) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035164,0.014865,0.040064 rpy=0.240452,-1.508880,-0.471712 [DEBUG] (2017-08-26 21:10:40.217) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.217) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.237) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.237) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.238) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035210,0.015011,0.040236 rpy=0.240484,-1.508899,-0.471762 [DEBUG] (2017-08-26 21:10:40.259) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.259) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.279) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.279) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.280) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035260,0.015093,0.040322 rpy=0.240412,-1.508857,-0.471719 [DEBUG] (2017-08-26 21:10:40.301) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.301) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.321) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.321) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.322) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035292,0.015149,0.040373 rpy=0.240532,-1.508892,-0.471798 [DEBUG] (2017-08-26 21:10:40.342) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.342) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.363) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.363) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.364) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035329,0.015267,0.040529 rpy=0.240452,-1.508968,-0.471736 [DEBUG] (2017-08-26 21:10:40.384) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.384) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.385) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:40.385) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:40.415) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.415) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.416) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035377,0.015318,0.040609 rpy=0.240673,-1.508972,-0.471907 [DEBUG] (2017-08-26 21:10:40.435) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.435) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.453) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.454) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.454) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035415,0.015339,0.040637 rpy=0.240516,-1.508931,-0.471725 [DEBUG] (2017-08-26 21:10:40.473) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.473) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.492) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.492) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.493) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035441,0.015435,0.040766 rpy=0.240802,-1.508971,-0.471994 [DEBUG] (2017-08-26 21:10:40.512) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.512) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.513) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035461,0.015481,0.040822 rpy=0.241623,-1.508951,-0.472861 [DEBUG] (2017-08-26 21:10:40.530) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.530) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.531) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035453,0.015465,0.040798 rpy=0.241638,-1.508929,-0.472864 [DEBUG] (2017-08-26 21:10:40.550) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.550) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.569) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.569) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.570) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035457,0.015549,0.040925 rpy=0.241683,-1.508956,-0.472895 [DEBUG] (2017-08-26 21:10:40.586) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:40.586) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:40.586) SensorData.cpp:557::uncompressData() 33 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:40.587) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:40.610) MainWindow.cpp:1632::processStats() time= 23 ms [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 8 [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:3838::drawKeypoints() source time = 0.000088 s [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000019 s [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:40.613) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:40.620) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:40.620) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:40.620) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:40.620) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:40.621) SensorData.cpp:557::uncompressData() 33 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:40.621) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:40.621) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:40.621) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:40.622) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:40.643) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000822s [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:40.644) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:40.645) MainWindow.cpp:1796::processStats() time= 25 ms [DEBUG] (2017-08-26 21:10:40.648) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:40.648) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:40.648) MainWindow.cpp:1874::processStats() Updating GUI time = 0.062000s [DEBUG] (2017-08-26 21:10:40.655) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.655) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.674) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.674) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.675) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035482,0.015598,0.041029 rpy=0.241685,-1.508962,-0.472896 [DEBUG] (2017-08-26 21:10:40.695) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.695) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.714) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.714) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.715) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035514,0.015584,0.041038 rpy=0.242013,-1.509002,-0.473215 [DEBUG] (2017-08-26 21:10:40.734) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.734) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.753) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.753) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.754) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035549,0.015582,0.041091 rpy=0.241998,-1.508989,-0.473159 [DEBUG] (2017-08-26 21:10:40.773) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.773) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.792) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.792) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.793) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035577,0.015627,0.041211 rpy=0.242371,-1.508999,-0.473554 [DEBUG] (2017-08-26 21:10:40.812) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.812) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.831) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.831) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.832) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035601,0.015627,0.041267 rpy=0.242149,-1.509003,-0.473299 [DEBUG] (2017-08-26 21:10:40.851) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.851) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.871) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.871) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.871) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035594,0.015607,0.041277 rpy=0.242791,-1.508996,-0.473925 [DEBUG] (2017-08-26 21:10:40.892) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.892) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.911) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.911) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.912) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035604,0.015713,0.041450 rpy=0.242810,-1.509027,-0.474013 [DEBUG] (2017-08-26 21:10:40.931) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.931) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.950) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.950) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:40.951) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035603,0.015720,0.041476 rpy=0.242342,-1.509105,-0.473597 [DEBUG] (2017-08-26 21:10:40.984) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:40.985) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.004) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.004) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.005) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035609,0.015706,0.041488 rpy=0.241919,-1.509061,-0.473176 [DEBUG] (2017-08-26 21:10:41.023) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.023) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.042) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.042) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.043) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035645,0.015756,0.041585 rpy=0.241403,-1.509019,-0.472630 [DEBUG] (2017-08-26 21:10:41.063) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.063) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.082) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.082) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.083) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035649,0.015758,0.041592 rpy=0.241584,-1.509003,-0.472782 [DEBUG] (2017-08-26 21:10:41.102) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.102) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.121) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.121) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.122) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035644,0.015840,0.041700 rpy=0.241419,-1.509025,-0.472609 [DEBUG] (2017-08-26 21:10:41.141) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.141) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.160) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.160) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.161) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035642,0.015862,0.041720 rpy=0.241438,-1.509016,-0.472630 [DEBUG] (2017-08-26 21:10:41.180) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.180) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.199) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.199) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.200) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035624,0.015858,0.041699 rpy=0.242216,-1.509094,-0.473364 [DEBUG] (2017-08-26 21:10:41.219) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.219) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.238) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.238) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.239) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035642,0.015879,0.041723 rpy=0.242599,-1.509141,-0.473719 [DEBUG] (2017-08-26 21:10:41.258) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.258) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.277) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.277) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.278) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035677,0.015899,0.041752 rpy=0.242563,-1.509153,-0.473664 [DEBUG] (2017-08-26 21:10:41.297) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.297) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.321) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.321) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.322) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035713,0.015892,0.041726 rpy=0.242881,-1.509157,-0.473955 [DEBUG] (2017-08-26 21:10:41.343) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.343) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.365) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.365) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.366) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035742,0.015961,0.041788 rpy=0.242788,-1.509152,-0.473879 [DEBUG] (2017-08-26 21:10:41.386) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.386) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.405) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.405) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.406) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035764,0.016041,0.041862 rpy=0.242706,-1.509161,-0.473834 [DEBUG] (2017-08-26 21:10:41.425) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.425) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.444) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.444) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.445) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035757,0.016085,0.041871 rpy=0.242535,-1.509161,-0.473705 [DEBUG] (2017-08-26 21:10:41.465) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.465) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.484) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.484) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.502) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.502) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.503) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035779,0.016092,0.041833 rpy=0.242953,-1.509192,-0.474124 [DEBUG] (2017-08-26 21:10:41.522) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.522) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.523) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035819,0.016123,0.041832 rpy=0.243728,-1.509220,-0.474862 [DEBUG] (2017-08-26 21:10:41.542) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.542) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.561) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.561) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.562) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035863,0.016115,0.041766 rpy=0.244246,-1.509193,-0.475347 [DEBUG] (2017-08-26 21:10:41.587) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.587) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.607) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.607) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.608) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035890,0.016160,0.041772 rpy=0.244001,-1.509168,-0.475106 [DEBUG] (2017-08-26 21:10:41.627) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.627) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.646) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.646) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.647) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035927,0.016188,0.041777 rpy=0.243875,-1.509196,-0.474973 [DEBUG] (2017-08-26 21:10:41.666) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.666) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.685) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.685) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.686) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035937,0.016158,0.041691 rpy=0.244214,-1.509144,-0.475332 [DEBUG] (2017-08-26 21:10:41.705) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.705) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.724) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.724) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.725) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035935,0.016121,0.041605 rpy=0.244717,-1.509133,-0.475834 [DEBUG] (2017-08-26 21:10:41.744) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.744) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.763) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.763) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.764) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035943,0.016197,0.041691 rpy=0.244084,-1.509140,-0.475206 [DEBUG] (2017-08-26 21:10:41.783) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.783) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.784) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035943,0.016196,0.041677 rpy=0.243920,-1.509101,-0.475087 [DEBUG] (2017-08-26 21:10:41.804) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.804) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.830) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.830) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.831) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035938,0.016122,0.041574 rpy=0.244471,-1.509136,-0.475618 [DEBUG] (2017-08-26 21:10:41.856) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.856) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.874) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:41.874) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:41.874) SensorData.cpp:557::uncompressData() 34 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:41.875) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:41.886) MainWindow.cpp:1632::processStats() time= 12 ms [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:3838::drawKeypoints() source time = 0.000021 s [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000021 s [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:41.889) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:41.897) MainWindow.cpp:1715::processStats() time= 8 ms [DEBUG] (2017-08-26 21:10:41.897) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:41.897) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:41.897) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:41.898) SensorData.cpp:557::uncompressData() 34 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:41.898) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:41.898) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:41.898) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:41.899) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:41.915) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000911s [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:41.916) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:41.917) MainWindow.cpp:1796::processStats() time= 20 ms [DEBUG] (2017-08-26 21:10:41.920) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:41.920) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:41.920) MainWindow.cpp:1874::processStats() Updating GUI time = 0.046000s [DEBUG] (2017-08-26 21:10:41.928) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.928) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.929) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035947,0.016113,0.041587 rpy=0.244671,-1.509171,-0.475775 [DEBUG] (2017-08-26 21:10:41.951) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.951) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.971) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.971) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:41.972) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035938,0.016040,0.041507 rpy=0.244275,-1.509170,-0.475345 [DEBUG] (2017-08-26 21:10:41.991) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:41.991) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.010) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.011) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.011) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035924,0.016016,0.041485 rpy=0.244590,-1.509225,-0.475677 [DEBUG] (2017-08-26 21:10:42.031) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.031) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.050) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.050) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.051) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035941,0.016062,0.041555 rpy=0.245058,-1.509256,-0.476167 [DEBUG] (2017-08-26 21:10:42.072) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.072) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.095) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.095) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.096) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035952,0.015998,0.041468 rpy=0.245109,-1.509277,-0.476161 [DEBUG] (2017-08-26 21:10:42.117) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.117) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.137) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.137) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.138) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035966,0.016007,0.041479 rpy=0.245490,-1.509322,-0.476528 [DEBUG] (2017-08-26 21:10:42.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.158) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.179) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.179) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.198) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.198) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.199) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035980,0.016022,0.041496 rpy=0.245584,-1.509334,-0.476644 [DEBUG] (2017-08-26 21:10:42.218) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.218) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.219) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035956,0.015971,0.041407 rpy=0.246263,-1.509303,-0.477347 [DEBUG] (2017-08-26 21:10:42.238) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.238) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.257) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.257) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.258) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035939,0.015891,0.041294 rpy=0.246189,-1.509280,-0.477304 [DEBUG] (2017-08-26 21:10:42.278) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.278) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.297) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.297) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.298) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035930,0.015914,0.041333 rpy=0.246550,-1.509355,-0.477695 [DEBUG] (2017-08-26 21:10:42.317) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.317) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.336) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.336) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.337) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035935,0.015855,0.041255 rpy=0.247198,-1.509426,-0.478320 [DEBUG] (2017-08-26 21:10:42.358) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.358) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.377) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.377) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.378) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035954,0.015818,0.041204 rpy=0.247354,-1.509473,-0.478421 [DEBUG] (2017-08-26 21:10:42.397) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.397) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.416) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.417) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.417) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035990,0.015800,0.041192 rpy=0.247172,-1.509439,-0.478185 [DEBUG] (2017-08-26 21:10:42.436) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.436) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.457) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.457) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.458) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035994,0.015720,0.041090 rpy=0.246758,-1.509394,-0.477751 [DEBUG] (2017-08-26 21:10:42.478) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.478) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.497) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.497) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.498) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035977,0.015670,0.041017 rpy=0.246794,-1.509360,-0.477807 [DEBUG] (2017-08-26 21:10:42.517) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.517) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.536) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.536) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.537) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035966,0.015652,0.040996 rpy=0.247379,-1.509386,-0.478365 [DEBUG] (2017-08-26 21:10:42.556) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.556) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.575) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.575) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.576) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035930,0.015642,0.040970 rpy=0.247253,-1.509355,-0.478279 [DEBUG] (2017-08-26 21:10:42.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.597) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.617) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.617) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.618) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035893,0.015617,0.040912 rpy=0.247115,-1.509347,-0.478200 [DEBUG] (2017-08-26 21:10:42.641) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.641) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.662) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.662) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.663) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035897,0.015619,0.040891 rpy=0.247435,-1.509326,-0.478497 [DEBUG] (2017-08-26 21:10:42.682) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.682) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.704) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035903,0.015661,0.040923 rpy=0.247049,-1.509355,-0.478128 [DEBUG] (2017-08-26 21:10:42.726) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.726) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.746) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.746) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.748) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035888,0.015642,0.040863 rpy=0.246856,-1.509322,-0.477961 [DEBUG] (2017-08-26 21:10:42.767) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.767) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.787) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.787) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.788) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035888,0.015643,0.040847 rpy=0.246704,-1.509364,-0.477790 [DEBUG] (2017-08-26 21:10:42.807) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.807) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.808) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:42.808) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:42.839) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.839) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.840) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035925,0.015633,0.040834 rpy=0.247074,-1.509389,-0.478102 [DEBUG] (2017-08-26 21:10:42.859) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.859) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.881) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.881) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.882) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035947,0.015583,0.040766 rpy=0.247287,-1.509414,-0.478295 [DEBUG] (2017-08-26 21:10:42.883) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:42.883) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:42.913) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.913) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.933) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.933) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.934) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035959,0.015604,0.040798 rpy=0.246531,-1.509374,-0.477540 [DEBUG] (2017-08-26 21:10:42.954) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.954) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.955) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:42.955) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:42.985) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:42.985) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:42.986) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035988,0.015599,0.040807 rpy=0.246002,-1.509350,-0.476941 [DEBUG] (2017-08-26 21:10:43.005) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.005) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.025) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.025) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.026) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035985,0.015494,0.040644 rpy=0.246241,-1.509361,-0.477143 [DEBUG] (2017-08-26 21:10:43.046) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.046) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.047) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:43.047) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:43.077) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.077) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.078) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035973,0.015457,0.040583 rpy=0.246206,-1.509359,-0.477095 [DEBUG] (2017-08-26 21:10:43.097) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.097) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.098) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035995,0.015458,0.040589 rpy=0.246582,-1.509406,-0.477409 [DEBUG] (2017-08-26 21:10:43.118) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.118) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.137) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.137) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.138) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036022,0.015421,0.040547 rpy=0.246277,-1.509375,-0.477096 [DEBUG] (2017-08-26 21:10:43.158) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.158) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.177) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.177) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.194) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:43.194) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:43.194) SensorData.cpp:557::uncompressData() 35 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:43.194) MainWindow.cpp:1553::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:43.214) MainWindow.cpp:1632::processStats() time= 20 ms [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:1676::processStats() time= 4 ms [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:3838::drawKeypoints() source time = 0.000024 s [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000022 s [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:43.218) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:43.226) MainWindow.cpp:1715::processStats() time= 8 ms [DEBUG] (2017-08-26 21:10:43.226) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:43.226) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:43.226) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:43.227) SensorData.cpp:557::uncompressData() 35 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:43.227) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:43.227) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:43.227) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:43.228) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:43.247) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.001021s [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:43.249) MainWindow.cpp:1796::processStats() time= 23 ms [DEBUG] (2017-08-26 21:10:43.254) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:43.254) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:43.254) MainWindow.cpp:1874::processStats() Updating GUI time = 0.060000s [DEBUG] (2017-08-26 21:10:43.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.263) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036037,0.015399,0.040519 rpy=0.246204,-1.509367,-0.477035 [DEBUG] (2017-08-26 21:10:43.284) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.284) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.285) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036071,0.015449,0.040612 rpy=0.245555,-1.509381,-0.476403 [DEBUG] (2017-08-26 21:10:43.306) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.306) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.325) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.325) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.326) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036080,0.015398,0.040575 rpy=0.245169,-1.509411,-0.475992 [DEBUG] (2017-08-26 21:10:43.345) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.345) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.364) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.364) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.365) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036051,0.015325,0.040501 rpy=0.245589,-1.509452,-0.476382 [DEBUG] (2017-08-26 21:10:43.384) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.384) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.402) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.402) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.403) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036048,0.015334,0.040542 rpy=0.245867,-1.509502,-0.476643 [DEBUG] (2017-08-26 21:10:43.422) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.422) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.441) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.441) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.442) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036032,0.015324,0.040557 rpy=0.245941,-1.509547,-0.476731 [DEBUG] (2017-08-26 21:10:43.461) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.461) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.480) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.480) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.481) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036032,0.015344,0.040617 rpy=0.246236,-1.509591,-0.477000 [DEBUG] (2017-08-26 21:10:43.500) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.500) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.519) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.519) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.520) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036034,0.015274,0.040552 rpy=0.245985,-1.509535,-0.476772 [DEBUG] (2017-08-26 21:10:43.539) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.539) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.558) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.558) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.559) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036038,0.015224,0.040502 rpy=0.245603,-1.509490,-0.476389 [DEBUG] (2017-08-26 21:10:43.578) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.578) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.597) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.597) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.598) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036028,0.015192,0.040457 rpy=0.245859,-1.509488,-0.476642 [DEBUG] (2017-08-26 21:10:43.617) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.617) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.637) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.637) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.638) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036013,0.015196,0.040468 rpy=0.245945,-1.509524,-0.476710 [DEBUG] (2017-08-26 21:10:43.657) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.658) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.676) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.677) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.677) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035978,0.015168,0.040435 rpy=0.245752,-1.509529,-0.476530 [DEBUG] (2017-08-26 21:10:43.696) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.696) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.715) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.715) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.716) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035967,0.015188,0.040451 rpy=0.245685,-1.509524,-0.476444 [DEBUG] (2017-08-26 21:10:43.736) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.736) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.756) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.756) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.775) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.775) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.776) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035974,0.015209,0.040474 rpy=0.245961,-1.509466,-0.476714 [DEBUG] (2017-08-26 21:10:43.795) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.795) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.796) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035969,0.015250,0.040503 rpy=0.245384,-1.509473,-0.476147 [DEBUG] (2017-08-26 21:10:43.816) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.816) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.836) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.836) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.837) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035962,0.015318,0.040550 rpy=0.244928,-1.509457,-0.475700 [DEBUG] (2017-08-26 21:10:43.855) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.855) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.874) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.874) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.875) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035962,0.015363,0.040575 rpy=0.244391,-1.509454,-0.475170 [DEBUG] (2017-08-26 21:10:43.895) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.895) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.913) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.914) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.914) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035941,0.015371,0.040533 rpy=0.245177,-1.509474,-0.475990 [DEBUG] (2017-08-26 21:10:43.933) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.933) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.952) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.952) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.953) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035931,0.015386,0.040511 rpy=0.245366,-1.509486,-0.476157 [DEBUG] (2017-08-26 21:10:43.972) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.972) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.991) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:43.991) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:43.992) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035947,0.015438,0.040560 rpy=0.244947,-1.509506,-0.475749 [DEBUG] (2017-08-26 21:10:44.011) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.011) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.030) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.030) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.031) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.035962,0.015431,0.040528 rpy=0.244760,-1.509507,-0.475529 [DEBUG] (2017-08-26 21:10:44.050) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.050) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.069) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.069) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.070) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036003,0.015412,0.040501 rpy=0.244896,-1.509535,-0.475629 [DEBUG] (2017-08-26 21:10:44.089) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.089) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.108) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.108) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.109) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036051,0.015450,0.040565 rpy=0.244499,-1.509483,-0.475247 [DEBUG] (2017-08-26 21:10:44.129) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.129) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.147) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.147) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.148) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036060,0.015452,0.040551 rpy=0.244595,-1.509529,-0.475311 [DEBUG] (2017-08-26 21:10:44.167) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.167) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.186) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.186) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.187) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036067,0.015436,0.040509 rpy=0.244911,-1.509581,-0.475634 [DEBUG] (2017-08-26 21:10:44.206) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.206) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.225) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.225) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.226) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036102,0.015423,0.040482 rpy=0.245588,-1.509606,-0.476270 [DEBUG] (2017-08-26 21:10:44.245) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.245) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.264) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.264) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.265) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036116,0.015407,0.040463 rpy=0.245438,-1.509598,-0.476120 [DEBUG] (2017-08-26 21:10:44.284) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.284) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.303) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.303) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.321) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.321) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.322) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036186,0.015437,0.040517 rpy=0.244791,-1.509498,-0.475446 [DEBUG] (2017-08-26 21:10:44.341) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.341) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.360) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.361) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.361) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036189,0.015436,0.040501 rpy=0.245083,-1.509502,-0.475736 [DEBUG] (2017-08-26 21:10:44.380) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.380) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.399) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.399) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.400) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036195,0.015467,0.040542 rpy=0.244569,-1.509469,-0.475226 [DEBUG] (2017-08-26 21:10:44.418) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.418) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.438) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.439) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.439) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036191,0.015469,0.040546 rpy=0.244714,-1.509416,-0.475421 [DEBUG] (2017-08-26 21:10:44.455) MainWindow.cpp:1423::processStats() [DEBUG] (2017-08-26 21:10:44.456) MainWindow.cpp:1456::processStats() [DEBUG] (2017-08-26 21:10:44.456) SensorData.cpp:557::uncompressData() 36 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:44.456) MainWindow.cpp:1553::processStats() time= 1 ms [DEBUG] (2017-08-26 21:10:44.469) MainWindow.cpp:1632::processStats() time= 13 ms [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:1676::processStats() time= 3 ms [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:3797::drawKeypoints() refWords.size() = 10 [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:3838::drawKeypoints() source time = 0.000095 s [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:3841::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:3886::drawKeypoints() loop closure time = 0.000020 s [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:3900::drawKeypoints() scale source=0.375000 loop=0.375000 [DEBUG] (2017-08-26 21:10:44.472) MainWindow.cpp:1681::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:44.479) MainWindow.cpp:1715::processStats() time= 7 ms [DEBUG] (2017-08-26 21:10:44.479) MainWindow.cpp:1742::processStats() time= 0 ms [DEBUG] (2017-08-26 21:10:44.479) MainWindow.cpp:1912::updateMapCloud() posesIn=20 constraints=18 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-08-26 21:10:44.479) MainWindow.cpp:1991::updateMapCloud() Update map with 20 locations [DEBUG] (2017-08-26 21:10:44.480) SensorData.cpp:557::uncompressData() 36 data(1,1,0,0,0) [DEBUG] (2017-08-26 21:10:44.480) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-08-26 21:10:44.480) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:44.480) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=614.640442 fy=616.567200 cx=328.539459 cy=237.153503 (depth factors=2.000000 2.000000) decimation=4 [DEBUG] (2017-08-26 21:10:44.481) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-08-26 21:10:44.495) MainWindow.cpp:2204::updateMapCloud() [DEBUG] (2017-08-26 21:10:44.496) MainWindow.cpp:2318::updateMapCloud() timerGraph=0.000848s [DEBUG] (2017-08-26 21:10:44.496) MainWindow.cpp:2321::updateMapCloud() labels.size()=1 [DEBUG] (2017-08-26 21:10:44.497) MainWindow.cpp:2347::updateMapCloud() [DEBUG] (2017-08-26 21:10:44.497) MainWindow.cpp:2443::updateMapCloud() [DEBUG] (2017-08-26 21:10:44.497) MainWindow.cpp:2451::updateMapCloud() [DEBUG] (2017-08-26 21:10:44.497) MainWindow.cpp:2528::updateMapCloud() [DEBUG] (2017-08-26 21:10:44.497) MainWindow.cpp:2530::updateMapCloud() [DEBUG] (2017-08-26 21:10:44.497) MainWindow.cpp:1796::processStats() time= 18 ms [DEBUG] (2017-08-26 21:10:44.500) MainWindow.cpp:1845::processStats() [DEBUG] (2017-08-26 21:10:44.500) MainWindow.cpp:1862::processStats() [ INFO] (2017-08-26 21:10:44.500) MainWindow.cpp:1874::processStats() Updating GUI time = 0.045000s [DEBUG] (2017-08-26 21:10:44.507) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.507) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.526) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.526) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.527) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036201,0.015542,0.040629 rpy=0.244802,-1.509448,-0.475505 [DEBUG] (2017-08-26 21:10:44.550) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.550) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.570) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.570) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.571) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.571) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.602) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.602) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.603) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036233,0.015614,0.040733 rpy=0.244465,-1.509430,-0.475151 [DEBUG] (2017-08-26 21:10:44.622) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.622) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.623) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.623) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.652) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.653) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.653) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036253,0.015704,0.040861 rpy=0.244619,-1.509500,-0.475306 [DEBUG] (2017-08-26 21:10:44.673) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.673) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.674) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.674) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.703) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.703) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.705) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036276,0.015710,0.040873 rpy=0.243703,-1.509447,-0.474395 [DEBUG] (2017-08-26 21:10:44.723) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.723) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.742) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.742) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.743) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036281,0.015725,0.040893 rpy=0.243772,-1.509439,-0.474474 [DEBUG] (2017-08-26 21:10:44.744) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.744) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.774) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.774) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.775) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.775) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.805) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.805) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.806) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036286,0.015733,0.040904 rpy=0.244166,-1.509440,-0.474853 [DEBUG] (2017-08-26 21:10:44.807) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.807) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.838) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.838) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.859) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.859) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.860) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036300,0.015788,0.040980 rpy=0.243979,-1.509422,-0.474677 [DEBUG] (2017-08-26 21:10:44.881) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.881) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.900) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.900) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.901) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036313,0.015852,0.041069 rpy=0.243154,-1.509398,-0.473851 [DEBUG] (2017-08-26 21:10:44.919) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.919) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.920) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:44.920) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:44.950) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.950) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.951) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036344,0.015904,0.041152 rpy=0.243118,-1.509400,-0.473792 [DEBUG] (2017-08-26 21:10:44.970) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.970) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.989) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:44.989) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:44.990) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036323,0.015952,0.041219 rpy=0.243119,-1.509334,-0.473813 [DEBUG] (2017-08-26 21:10:45.009) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.009) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.031) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.032) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.033) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036282,0.015955,0.041215 rpy=0.244199,-1.509319,-0.474870 [DEBUG] (2017-08-26 21:10:45.034) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:45.034) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:45.063) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.063) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.064) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:45.064) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:45.094) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.094) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.095) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036279,0.016004,0.041269 rpy=0.243911,-1.509405,-0.474615 [DEBUG] (2017-08-26 21:10:45.114) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.114) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.133) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.133) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.134) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036289,0.016016,0.041266 rpy=0.244180,-1.509389,-0.474882 [DEBUG] (2017-08-26 21:10:45.153) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.153) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.172) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.172) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.173) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036337,0.016017,0.041259 rpy=0.243635,-1.509285,-0.474305 [DEBUG] (2017-08-26 21:10:45.192) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.192) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.193) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:45.193) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:45.222) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.222) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.223) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036376,0.016041,0.041298 rpy=0.243518,-1.509257,-0.474151 [DEBUG] (2017-08-26 21:10:45.243) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.243) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.262) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.262) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.263) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036390,0.016119,0.041418 rpy=0.243060,-1.509255,-0.473710 [DEBUG] (2017-08-26 21:10:45.282) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.282) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.300) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.300) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.301) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036386,0.016164,0.041477 rpy=0.243286,-1.509287,-0.473981 [DEBUG] (2017-08-26 21:10:45.302) ImageView.cpp:660::setFeatures() depth=320x240 sceneRect=640.000000x480.000000 [DEBUG] (2017-08-26 21:10:45.302) ImageView.cpp:663::setFeatures() xRatio=0.500000 yRatio=0.500000 [DEBUG] (2017-08-26 21:10:45.332) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.332) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.351) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.351) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.352) CloudViewer.cpp:1128::updateCoordinatePose() Updating pose reference to xyz=0.036403,0.016227,0.041571 rpy=0.243963,-1.509313,-0.474675 [DEBUG] (2017-08-26 21:10:45.371) MainWindow.cpp:897::processOdometry() [DEBUG] (2017-08-26 21:10:45.371) MainWindow.cpp:940::processOdometry() odom ok [DEBUG] (2017-08-26 21:10:45.454) MainWindow.cpp:656::closeEvent() [DEBUG] (2017-08-26 21:10:47.411) RtabmapThread.cpp:409::handleEvent() CMD_CLOSE [DEBUG] (2017-08-26 21:10:47.411) MainWindow.cpp:732::closeEvent() [DEBUG] (2017-08-26 21:10:47.411) RtabmapThread.cpp:71::pushNewState() to 3 [ INFO] (2017-08-26 21:10:47.411) RtabmapThread.cpp:656::getData() wake-up [ INFO] (2017-08-26 21:10:47.411) Rtabmap.cpp:329::close() databaseSaved=0 [ INFO] (2017-08-26 21:10:47.411) Rtabmap.cpp:3756::clearPath() status=0 [DEBUG] (2017-08-26 21:10:47.411) Memory.cpp:2628::removeAllVirtualLinks() [ INFO] (2017-08-26 21:10:47.411) Memory.cpp:332::close() databaseSaved=0, postInitClosingEvents=1 [ INFO] (2017-08-26 21:10:47.412) Memory.cpp:345::close() No changes added to database. [DEBUG] (2017-08-26 21:10:47.412) DBDriver.cpp:66::closeConnection() isRunning=0 [DEBUG] (2017-08-26 21:10:47.412) DBDriver.cpp:68::closeConnection() [DEBUG] (2017-08-26 21:10:47.412) DBDriverSqlite3.cpp:405::disconnectDatabaseQuery() [ INFO] (2017-08-26 21:10:47.412) DBDriverSqlite3.cpp:445::disconnectDatabaseQuery() Disconnecting database /home/vlad/Documents/RTAB-Map/rtabmap.tmp.db... [DEBUG] (2017-08-26 21:10:47.413) DBDriver.cpp:83::closeConnection() [DEBUG] (2017-08-26 21:10:47.413) DBDriver.cpp:66::closeConnection() isRunning=0 [DEBUG] (2017-08-26 21:10:47.414) DBDriver.cpp:68::closeConnection() [DEBUG] (2017-08-26 21:10:47.414) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:47.414) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000025s... [DEBUG] (2017-08-26 21:10:47.414) DBDriverSqlite3.cpp:405::disconnectDatabaseQuery() [DEBUG] (2017-08-26 21:10:47.414) DBDriver.cpp:83::closeConnection() [DEBUG] (2017-08-26 21:10:47.414) DBDriver.cpp:309::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-08-26 21:10:47.414) DBDriver.cpp:359::emptyTrashes() Total time emptying trashes = 0.000021s... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:1308::clear() [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 12 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 13 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 16 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 17 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 18 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 19 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 20 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 21 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:801::moveSignatureToWMFromSTM() Inserting node 22 from STM in WM... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:1363::clear() [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 1 [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:1894::moveToTrash() id=1 [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.414) Memory.cpp:3929::disableWordsRef() id=1 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3945::disableWordsRef() 5 words total ref removed from signature 1... (total active ref = 333) [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 3 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:1894::moveToTrash() id=3 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3929::disableWordsRef() id=3 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3945::disableWordsRef() 22 words total ref removed from signature 3... (total active ref = 311) [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 4 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:1894::moveToTrash() id=4 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3929::disableWordsRef() id=4 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3945::disableWordsRef() 29 words total ref removed from signature 4... (total active ref = 282) [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 5 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:1894::moveToTrash() id=5 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3929::disableWordsRef() id=5 [DEBUG] (2017-08-26 21:10:47.421) Memory.cpp:3945::disableWordsRef() 16 words total ref removed from signature 5... (total active ref = 266) [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 6 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=6 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=6 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 7 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=7 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=7 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3945::disableWordsRef() 24 words total ref removed from signature 7... (total active ref = 242) [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 8 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=8 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=8 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3945::disableWordsRef() 89 words total ref removed from signature 8... (total active ref = 153) [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 9 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=9 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=9 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3945::disableWordsRef() 41 words total ref removed from signature 9... (total active ref = 112) [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 10 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=10 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=10 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3945::disableWordsRef() 13 words total ref removed from signature 10... (total active ref = 99) [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 11 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=11 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=11 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 12 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=12 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=12 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 13 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1894::moveToTrash() id=13 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:3929::disableWordsRef() id=13 [DEBUG] (2017-08-26 21:10:47.422) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 16 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=16 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=16 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 17 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=17 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=17 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3945::disableWordsRef() 14 words total ref removed from signature 17... (total active ref = 85) [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 18 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=18 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=18 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3945::disableWordsRef() 44 words total ref removed from signature 18... (total active ref = 41) [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 19 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=19 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=19 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 20 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=20 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=20 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 21 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=21 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=21 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3945::disableWordsRef() 25 words total ref removed from signature 21... (total active ref = 16) [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1371::clear() deleting from the working and the short-term memory: 22 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1894::moveToTrash() id=22 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:2637::removeVirtualLinks() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3929::disableWordsRef() id=22 [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3945::disableWordsRef() 16 words total ref removed from signature 22... (total active ref = 0) [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1387::clear() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:1393::clear() [DEBUG] (2017-08-26 21:10:47.423) Memory.cpp:3954::cleanUnusedWords() Removing 86 words (dictionary size=86)... [DEBUG] (2017-08-26 21:10:47.423) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:1415::clear() [ INFO] (2017-08-26 21:10:47.424) Memory.cpp:332::close() databaseSaved=1, postInitClosingEvents=0 [ INFO] (2017-08-26 21:10:47.424) Memory.cpp:345::close() No changes added to database. [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:1308::clear() [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:1363::clear() [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:1387::clear() [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:1393::clear() [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:3954::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2017-08-26 21:10:47.424) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:47.424) Memory.cpp:1415::clear() [DEBUG] (2017-08-26 21:10:47.424) VWDictionary.cpp:520::clear() [DEBUG] (2017-08-26 21:10:47.425) Rtabmap.cpp:390::parseParameters() [DEBUG] (2017-08-26 21:10:47.425) Rtabmap.cpp:248::setupLogFiles() Log disabled! [DEBUG] (2017-08-26 21:10:47.425) Rtabmap.cpp:451::parseParameters() new detector strategy 1 [DEBUG] (2017-08-26 21:10:47.425) RtabmapThread.cpp:652::getData() [ INFO] (2017-08-26 21:10:47.425) RtabmapThread.cpp:654::getData() waiting for data [ INFO] (2017-08-26 21:10:47.451) MainWindow.cpp:3434::processRtabmapEventInit() Deleted temporary database "/home/vlad/Documents/RTAB-Map/rtabmap.tmp.db". [DEBUG] (2017-08-26 21:10:47.451) MainWindow.cpp:656::closeEvent() [DEBUG] (2017-08-26 21:10:48.562) MainWindow.cpp:732::closeEvent() [ INFO] (2017-08-26 21:10:48.571) main.cpp:104::main() Killing threads... [ INFO] (2017-08-26 21:10:48.571) RtabmapThread.cpp:656::getData() wake-up [ INFO] (2017-08-26 21:10:48.571) main.cpp:107::main() Closing RTAB-Map... [ INFO] (2017-08-26 21:10:48.571) Rtabmap.cpp:329::close() databaseSaved=1 [ INFO] (2017-08-26 21:10:48.571) Rtabmap.cpp:3756::clearPath() status=0 [DEBUG] (2017-08-26 21:10:48.572) Rtabmap.cpp:390::parseParameters() [DEBUG] (2017-08-26 21:10:48.572) Rtabmap.cpp:248::setupLogFiles() Log disabled! [DEBUG] (2017-08-26 21:10:48.572) Rtabmap.cpp:451::parseParameters() new detector strategy 1 [DEBUG] (2017-08-26 21:10:48.572) Rtabmap.cpp:142::~Rtabmap() [ INFO] (2017-08-26 21:10:48.572) Rtabmap.cpp:329::close() databaseSaved=1 [ INFO] (2017-08-26 21:10:48.572) Rtabmap.cpp:3756::clearPath() status=0 [DEBUG] (2017-08-26 21:10:48.573) Rtabmap.cpp:390::parseParameters() [DEBUG] (2017-08-26 21:10:48.573) Rtabmap.cpp:248::setupLogFiles() Log disabled! [DEBUG] (2017-08-26 21:10:48.573) Rtabmap.cpp:451::parseParameters() new detector strategy 1 [DEBUG] (2017-08-26 21:10:48.573) MainWindow.cpp:623::~MainWindow() [DEBUG] (2017-08-26 21:10:48.574) MainWindow.cpp:631::~MainWindow() [DEBUG] (2017-08-26 21:10:48.647) CloudViewer.cpp:258::~CloudViewer() [DEBUG] (2017-08-26 21:10:48.678) CloudViewer.cpp:846::removeOctomap() [DEBUG] (2017-08-26 21:10:48.687) CloudViewer.cpp:261::~CloudViewer() [DEBUG] (2017-08-26 21:10:48.697) CloudViewer.cpp:258::~CloudViewer() [DEBUG] (2017-08-26 21:10:48.698) CloudViewer.cpp:846::removeOctomap() [DEBUG] (2017-08-26 21:10:48.745) CloudViewer.cpp:261::~CloudViewer() [ INFO] (2017-08-26 21:10:48.876) main.cpp:111::main() All done!