[DEBUG] (2017-11-20 10:28:48.895) RtabmapThread.cpp:71::pushNewState() to 0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=BRIEF/Bytes Value=32 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=BRISK/Octaves Value=3 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=BRISK/PatternScale Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=BRISK/Thresh Value=30 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Bayes/FullPredictionUpdate Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Bayes/PredictionLC Value=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] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Bayes/VirtualPlacePriorThr Value=0.9 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=DbSqlite3/CacheSize Value=10000 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=DbSqlite3/InMemory Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=DbSqlite3/JournalMode Value=3 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=DbSqlite3/Synchronous Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=DbSqlite3/TempStore Value=2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/Gpu Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/GpuKeypointsRatio Value=0.05 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/GridCols Value=4 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/GridRows Value=4 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/MaxThreshold Value=200 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/MinThreshold Value=7 [ INFO] (2017-11-20 10:28:48.895) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/NonmaxSuppression Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FAST/Threshold Value=20 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FREAK/NOctaves Value=4 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FREAK/OrientationNormalized Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FREAK/PatternScale Value=22 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=FREAK/ScaleNormalized Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GFTT/BlockSize Value=3 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GFTT/K Value=0.04 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GFTT/MinDistance Value=5 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GFTT/QualityLevel Value=0.01 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GFTT/UseHarrisDetector Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GTSAM/Optimizer Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/3D Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/CellSize Value=0.05 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/ClusterRadius Value=0.1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/DepthDecimation Value=4 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/DepthMax Value=4.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/DepthMin Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/DepthRoiRatios Value=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/FlatObstacleDetected Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/FootprintHeight Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/FootprintLength Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/FootprintWidth Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/FromDepth Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/GroundIsObstacle Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/MapFrameProjection Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/MaxGroundAngle Value=45 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/MaxGroundHeight Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/MaxObstacleHeight Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/MinClusterSize Value=10 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/MinGroundHeight Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/NoiseFilteringMinNeighbors Value=5 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/NoiseFilteringRadius Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/NormalK Value=20 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/NormalsSegmentation Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/ProjRayTracing Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/Scan2dMaxFilledRange Value=4.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/Scan2dUnknownSpaceFilled Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Grid/ScanDecimation Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GridGlobal/Eroded Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GridGlobal/FootprintRadius Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GridGlobal/FullUpdate Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=GridGlobal/MinSize Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/CorrespondenceRatio Value=0.2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/DownsamplingStep Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/Epsilon Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/Iterations Value=30 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/MaxCorrespondenceDistance Value=0.05 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/MaxRotation Value=0.78 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/MaxTranslation Value=0.2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PM Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PMConfig Value= [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PMOutlierRatio Value=0.85 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PointToPlane Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneK Value=20 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneMinComplexity Value=0.02 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneRadius Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Icp/VoxelSize Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=KAZE/Diffusivity Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=KAZE/Extended Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=KAZE/NOctaveLayers Value=4 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=KAZE/NOctaves Value=4 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=KAZE/Threshold Value=0.001 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=KAZE/Upright Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/BadSignRatio Value=0.5 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/DetectorStrategy Value=2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/DictionaryPath Value= [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/IncrementalDictionary Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/IncrementalFlann Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/MaxDepth Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/MaxFeatures Value=1000 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/MinDepth Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/NNStrategy Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/NewWordsComparedTogether Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/NndrRatio Value=0.8 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/Parallelized Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/RoiRatios Value=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/SubPixEps Value=0.02 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/SubPixIterations Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/SubPixWinSize Value=3 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Kp/TfIdfLikelihoodUsed Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/BadSignaturesIgnored Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/BinDataKept Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/CompressionParallelized Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/GenerateIds Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/ImageKept Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/ImagePostDecimation Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/ImagePreDecimation Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/IncrementalMemory Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/InitWMWithAllNodes Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/IntermediateNodeDataKept Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/LaserScanDownsampleStepSize Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/LaserScanNormalK Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/LaserScanNormalRadius Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/LaserScanVoxelSize Value=0.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/MapLabelsAdded Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/NotLinkedNodesKept Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/RawDescriptorsKept Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/RecentWmRatio Value=0.2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/ReduceGraph Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/RehearsalIdUpdatedToNewOne Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/RehearsalSimilarity Value=0.6 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/RehearsalWeightIgnoredWhileMoving Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/STMSize Value=10 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/SaveDepth16Format Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/TransferSortingByWeightId Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Mem/UseOdomFeatures Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/EdgeThreshold Value=31 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/FirstLevel Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/Gpu Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/NLevels Value=8 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/PatchSize Value=31 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/ScaleFactor Value=1.2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/ScoreType Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=ORB/WTA_K Value=2 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/AlignWithGround Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/FillInfoData Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/FilteringStrategy Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/GuessMotion Value=false [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/Holonomic Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ImageBufferSize Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ImageDecimation Value=1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/KalmanMeasurementNoise Value=0.01 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/KalmanProcessNoise Value=0.001 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/KeyFrameThr Value=0.3 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ParticleLambdaR Value=100 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ParticleLambdaT Value=100 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ParticleNoiseR Value=0.002 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ParticleNoiseT Value=0.002 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ParticleSize Value=400 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ResetCountdown Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/ScanKeyFrameThr Value=0.9 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/Strategy Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Odom/VisKeyFrameThr Value=100 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/BundleAdjustment Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/BundleAdjustmentMaxFrames Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/MaxNewFeatures Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/MaxSize Value=5000 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanMaxSize Value=2000 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanSubtractAngle Value=45 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanSubtractRadius Value=0.05 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/BucketHeight Value=80 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/BucketWidth Value=80 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/CliqueInlierThreshold Value=0.1 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/FastThreshold Value=20 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/FastThresholdAdaptiveGain Value=0.005 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/FeatureSearchWindow Value=25 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/FeatureWindowSize Value=9 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/InlierMaxReprojectionError Value=1.5 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/MaxKeypointsPerBucket Value=25 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/MaxMeanReprojectionError Value=10.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/MaxPyramidLevel Value=3 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/MinFeaturesForEstimate Value=10 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/MinPyramidLevel Value=0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoMaxDisparity Value=128 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoMaxDistEpipolarLine Value=1.5 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoMaxRefinementDisplacement Value=1.0 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoRequireMutualMatch Value=true [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/TargetPixelsPerFeature Value=250 [DEBUG] (2017-11-20 10:28:48.895) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/UpdateTargetFeaturesWithRefined Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/UseAdaptiveThreshold Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/UseBucketing Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/UseHomographyInitialization Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/UseImageNormalization Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomFovis/UseSubpixelRefinement Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomMono/InitMinFlow Value=100 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomMono/InitMinTranslation Value=0.1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomMono/MaxVariance Value=0.01 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomMono/MinTranslation Value=0.02 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomORBSLAM2/Bf Value=0.076 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomORBSLAM2/ThDepth Value=40.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomORBSLAM2/VocPath Value= [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/BucketHeight Value=50 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/BucketMaxFeatures Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/BucketWidth Value=50 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/InlierThreshold Value=2.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchBinsize Value=50 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchDispTolerance Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchHalfResolution Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchMultiStage Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchNmsN Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchNmsTau Value=50 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchOutlierDispTolerance Value=5 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchOutlierFlowTolerance Value=5 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchRadius Value=200 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchRefinement Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/RansacIters Value=200 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=OdomViso2/Reweighting Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Optimizer/Epsilon Value=0.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Optimizer/Iterations Value=20 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Optimizer/PriorsIgnored Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Optimizer/Robust Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Optimizer/Strategy Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Optimizer/VarianceIgnored Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/AngularSpeedUpdate Value=0.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/AngularUpdate Value=0.1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/CreateOccupancyGrid Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/Enabled Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/GoalReachedRadius Value=0.5 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/GoalsSavedInUserData Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/LinearSpeedUpdate Value=0.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/LinearUpdate Value=0.1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/LocalImmunizationRatio Value=0.25 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/LocalRadius Value=10 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/LoopClosureReextractFeatures Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/MaxLocalRetrieved Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/NeighborLinkRefining Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/NewMapOdomChangeDistance Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/OptimizeFromGraphEnd Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/OptimizeMaxError Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/PlanAngularVelocity Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/PlanLinearVelocity Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/PlanStuckIterations Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityAngle Value=45 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityBySpace Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityByTime Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityMaxGraphDepth Value=50 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityMaxPaths Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityPathFilteringRadius Value=0.5 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityPathMaxNeighbors Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ProximityPathRawPosesUsed Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=RGBD/ScanMatchingIdsSavedInLinks Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Reg/Force3DoF Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Reg/Strategy Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Reg/VarianceFromInliersCount Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Reg/VarianceNormalized Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/ComputeRMSE Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/CreateIntermediateNodes Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/DetectionRate Value=10 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/ImageBufferSize Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/LoopRatio Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/LoopThr Value=0.11 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/MaxRetrieved Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/MemoryThr Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishLastSignature Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishLikelihood Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishPdf Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishStats Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/StartNewMapOnLoopClosure Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/StatisticLogged Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/StatisticLoggedHeaders Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/StatisticLogsBufferedInRAM Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/TimeThr Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Rtabmap/WorkingDirectory Value=/home/mikhail/Documents/RTAB-Map [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SIFT/ContrastThreshold Value=0.04 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SIFT/EdgeThreshold Value=10 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SIFT/NFeatures Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SIFT/NOctaveLayers Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SIFT/Sigma Value=1.6 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/Extended Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/GpuKeypointsRatio Value=0.01 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/GpuVersion Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/HessianThreshold Value=500 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/OctaveLayers Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/Octaves Value=4 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=SURF/Upright Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/Eps Value=0.01 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/Iterations Value=30 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/MaxDisparity Value=128.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/MaxLevel Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/MinDisparity Value=1.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/OpticalFlow Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/SSD Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/WinHeight Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Stereo/WinWidth Value=15 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/BlockSize Value=15 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/MinDisparity Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/NumDisparities Value=128 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/PreFilterCap Value=31 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/PreFilterSize Value=9 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/SpeckleRange Value=4 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/SpeckleWindowSize Value=100 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/TextureThreshold Value=10 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=StereoBM/UniquenessRatio Value=15 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=VhEp/Enabled Value=false [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=VhEp/MatchCountMin Value=8 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=VhEp/RansacParam1 Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=VhEp/RansacParam2 Value=0.99 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/BundleAdjustment Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorFlowEps Value=0.01 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorFlowIterations Value=30 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorFlowMaxLevel Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorFlowWinSize Value=16 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorGuessWinSize Value=20 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorNNDR Value=0.6 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorNNType Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/CorType Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/EpipolarGeometryVar Value=0.02 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/EstimationType Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/FeatureType Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/ForwardEstOnly Value=true [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/InlierDistance Value=0.1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/Iterations Value=100 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/MaxDepth Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/MaxFeatures Value=1000 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/MinDepth Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/MinInliers Value=20 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/PnPFlags Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/PnPRefineIterations Value=1 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/PnPReprojError Value=2 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/RefineIterations Value=5 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/RoiRatios Value=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/SubPixEps Value=0.02 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/SubPixIterations Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=Vis/SubPixWinSize Value=3 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=g2o/Baseline Value=0.075 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=g2o/Optimizer Value=0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=g2o/PixelVariance Value=1.0 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=g2o/RobustKernelDelta Value=8 [DEBUG] (2017-11-20 10:28:48.896) MainWindow.cpp:3757::applyPrefSettings() Parameter changed: Key=g2o/Solver Value=0 [DEBUG] (2017-11-20 10:28:48.896) Rtabmap.cpp:279::init() path=/home/mikhail/Documents/RTAB-Map/rtabmap.tmp.db [DEBUG] (2017-11-20 10:28:48.897) Rtabmap.cpp:2876::setWorkingDirectory() Comparing new working directory path "/home/mikhail/Documents/RTAB-Map" with "" [DEBUG] (2017-11-20 10:28:48.897) Rtabmap.cpp:251::setupLogFiles() Log disabled! [ INFO] (2017-11-20 10:28:48.897) Rtabmap.cpp:290::init() Using database "/home/mikhail/Documents/RTAB-Map/rtabmap.tmp.db". [DEBUG] (2017-11-20 10:28:48.897) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:28:48.897) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-11-20 10:28:48.897) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:28:48.897) Registration.cpp:45::create() type=0 [DEBUG] (2017-11-20 10:28:48.898) Memory.cpp:432::parseParameters() [DEBUG] (2017-11-20 10:28:48.898) Memory.cpp:530::parseParameters() new registration strategy 0 [DEBUG] (2017-11-20 10:28:48.898) Registration.cpp:45::create() type=0 [DEBUG] (2017-11-20 10:28:48.898) Memory.cpp:125::init() [DEBUG] (2017-11-20 10:28:48.898) Memory.cpp:432::parseParameters() [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:530::parseParameters() new registration strategy 0 [DEBUG] (2017-11-20 10:28:48.899) Registration.cpp:45::create() type=0 [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:1320::clear() [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:1375::clear() [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:1399::clear() [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:1405::clear() [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2017-11-20 10:28:48.899) VWDictionary.cpp:520::clear() [DEBUG] (2017-11-20 10:28:48.899) Memory.cpp:1428::clear() [DEBUG] (2017-11-20 10:28:48.899) DBDriverSqlite3.cpp:53::DBDriverSqlite3() treadSafe=1 [DEBUG] (2017-11-20 10:28:48.899) DBDriverSqlite3.cpp:191::setDbInMemory() dbInMemory=1 [DEBUG] (2017-11-20 10:28:48.899) DBDriver.cpp:88::openConnection() [DEBUG] (2017-11-20 10:28:48.899) DBDriverSqlite3.cpp:412::disconnectDatabaseQuery() [ INFO] (2017-11-20 10:28:48.899) DBDriverSqlite3.cpp:340::connectDatabaseQuery() Using database "/home/mikhail/Documents/RTAB-Map/rtabmap.tmp.db" in the memory. [ INFO] (2017-11-20 10:28:48.899) DBDriverSqlite3.cpp:381::connectDatabaseQuery() Database "/home/mikhail/Documents/RTAB-Map/rtabmap.tmp.db" doesn't exist, creating a new one... [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000648s [ INFO] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:389::connectDatabaseQuery() Database version = 0.15.0 [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000003s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000004s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000003s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000003s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2759::loadLastNodesQuery() [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2802::loadLastNodesQuery() Loading 0 signatures... [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2336::loadSignaturesQuery() count=0 [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2804::loadLastNodesQuery() loaded=0, Time=0,000032s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2145::getLastIdQuery() get last id from table "Node" [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2176::getLastIdQuery() Time=0,000012s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2145::getLastIdQuery() get last id from table "Statistics" [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2176::getLastIdQuery() Time=0,000009s [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:245::loadDataFromDb() Loading dictionary... [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:282::loadDataFromDb() load words [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2810::loadQuery() [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2145::getLastIdQuery() get last id from table "Word" [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2176::getLastIdQuery() Time=0,000009s [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:2892::loadQuery() Time=0,000037s [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:286::loadDataFromDb() 0 words loaded! [DEBUG] (2017-11-20 10:28:48.900) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:28:48.900) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-11-20 10:28:48.900) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:318::loadDataFromDb() Total word references added = 0 [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:325::loadDataFromDb() [DEBUG] (2017-11-20 10:28:48.900) DBDriver.cpp:989::addInfoAfterRun() [DEBUG] (2017-11-20 10:28:48.900) Parameters.cpp:97::serialize() output=BRIEF/Bytes:32;BRISK/Octaves:3;BRISK/PatternScale:1;BRISK/Thresh:30;Bayes/FullPredictionUpdate:false;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;Bayes/VirtualPlacePriorThr:0.9;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:true;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:4;FAST/GridRows:4;FAST/MaxThreshold:200;FAST/MinThreshold:7;FAST/NonmaxSuppression:true;FAST/Threshold:20;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:5;GFTT/QualityLevel:0.01;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:false;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthMax:4.0;Grid/DepthMin:0.0;Grid/DepthRoiRatios:0.0 0.0 0.0 0.0;Grid/FlatObstacleDetected:true;Grid/FootprintHeight:0.0;Grid/FootprintLength:0.0;Grid/FootprintWidth:0.0;Grid/FromDepth:true;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:20;Grid/NormalsSegmentation:true;Grid/ProjRayTracing:true;Grid/Scan2dMaxFilledRange:4.0;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;GridGlobal/Eroded:false;GridGlobal/FootprintRadius:0.0;GridGlobal/FullUpdate:true;GridGlobal/MinSize:0.0;Icp/CorrespondenceRatio:0.2;Icp/DownsamplingStep:1;Icp/Epsilon:0;Icp/Iterations:30;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.78;Icp/MaxTranslation:0.2;Icp/PM:false;Icp/PMConfig:;Icp/PMOutlierRatio:0.85;Icp/PointToPlane:false;Icp/PointToPlaneK:20;Icp/PointToPlaneMinComplexity:0.02;Icp/PointToPlaneRadius:0.0;Icp/VoxelSize:0.0;KAZE/Diffusivity:1;KAZE/Extended:false;KAZE/NOctaveLayers:4;KAZE/NOctaves:4;KAZE/Threshold:0.001;KAZE/Upright:false;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:2;Kp/DictionaryPath:;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:0;Kp/MaxFeatures:1000;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:true;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:true;Mem/GenerateIds:true;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/IntermediateNodeDataKept:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/LaserScanNormalRadius:0;Mem/LaserScanVoxelSize:0.0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.6;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:true;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:false;Odom/Holonomic:true;Odom/ImageBufferSize:1;Odom/ImageDecimation:1;Odom/KalmanMeasurementNoise:0.01;Odom/KalmanProcessNoise:0.001;Odom/KeyFrameThr:0.3;Odom/ParticleLambdaR:100;Odom/ParticleLambdaT:100;Odom/ParticleNoiseR:0.002;Odom/ParticleNoiseT:0.002;Odom/ParticleSize:400;Odom/ResetCountdown:0;Odom/ScanKeyFrameThr:0.9;Odom/Strategy:0;Odom/VisKeyFrameThr:100;OdomF2M/BundleAdjustment:0;OdomF2M/BundleAdjustmentMaxFrames:0;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:5000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractAngle:45;OdomF2M/ScanSubtractRadius:0.05;OdomFovis/BucketHeight:80;OdomFovis/BucketWidth:80;OdomFovis/CliqueInlierThreshold:0.1;OdomFovis/FastThreshold:20;OdomFovis/FastThresholdAdaptiveGain:0.005;OdomFovis/FeatureSearchWindow:25;OdomFovis/FeatureWindowSize:9;OdomFovis/InlierMaxReprojectionError:1.5;OdomFovis/MaxKeypointsPerBucket:25;OdomFovis/MaxMeanReprojectionError:10.0;OdomFovis/MaxPyramidLevel:3;OdomFovis/MinFeaturesForEstimate:10;OdomFovis/MinPyramidLevel:0;OdomFovis/StereoMaxDisparity:128;OdomFovis/StereoMaxDistEpipolarLine:1.5;OdomFovis/StereoMaxRefinementDisplacement:1.0;OdomFovis/StereoRequireMutualMatch:true;OdomFovis/TargetPixelsPerFeature:250;OdomFovis/UpdateTargetFeaturesWithRefined:false;OdomFovis/UseAdaptiveThreshold:true;OdomFovis/UseBucketing:true;OdomFovis/UseHomographyInitialization:true;OdomFovis/UseImageNormalization:false;OdomFovis/UseSubpixelRefinement:true;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;OdomORBSLAM2/Bf:0.076;OdomORBSLAM2/ThDepth:40.0;OdomORBSLAM2/VocPath:;OdomViso2/BucketHeight:50;OdomViso2/BucketMaxFeatures:2;OdomViso2/BucketWidth:50;OdomViso2/InlierThreshold:2.0;OdomViso2/MatchBinsize:50;OdomViso2/MatchDispTolerance:2;OdomViso2/MatchHalfResolution:true;OdomViso2/MatchMultiStage:true;OdomViso2/MatchNmsN:3;OdomViso2/MatchNmsTau:50;OdomViso2/MatchOutlierDispTolerance:5;OdomViso2/MatchOutlierFlowTolerance:5;OdomViso2/MatchRadius:200;OdomViso2/MatchRefinement:1;OdomViso2/RansacIters:200;OdomViso2/Reweighting:true;Optimizer/Epsilon:0.0;Optimizer/Iterations:20;Optimizer/PriorsIgnored:true;Optimizer/Robust:false;Optimizer/Strategy:1;Optimizer/VarianceIgnored:false;RGBD/AngularSpeedUpdate:0.0;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearSpeedUpdate:0.0;RGBD/LinearUpdate:0.1;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/MaxLocalRetrieved:2;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:false;RGBD/OptimizeMaxError:1;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:true;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:0.5;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:false;Reg/Strategy:0;Reg/VarianceFromInliersCount:false;Reg/VarianceNormalized:false;Rtabmap/ComputeRMSE:true;Rtabmap/CreateIntermediateNodes:true;Rtabmap/DetectionRate:10;Rtabmap/ImageBufferSize:1;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:2;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:true;Rtabmap/PublishPdf:true;Rtabmap/PublishStats:true;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:0;Rtabmap/WorkingDirectory:/home/mikhail/Documents/RTAB-Map;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;SIFT/Sigma:1.6;SURF/Extended:false;SURF/GpuKeypointsRatio:0.01;SURF/GpuVersion:false;SURF/HessianThreshold:500;SURF/OctaveLayers:2;SURF/Octaves:4;SURF/Upright:false;Stereo/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128.0;Stereo/MaxLevel:3;Stereo/MinDisparity:1.0;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;VhEp/Enabled:false;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:0;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:1;Vis/FeatureType:2;Vis/ForwardEstOnly:true;Vis/InlierDistance:0.1;Vis/Iterations:100;Vis/MaxDepth:0;Vis/MaxFeatures:1000;Vis/MinDepth:0;Vis/MinInliers:20;Vis/PnPFlags:0;Vis/PnPRefineIterations:1;Vis/PnPReprojError:2;Vis/RefineIterations:5;Vis/RoiRatios:0.0 0.0 0.0 0.0;Vis/SubPixEps:0.02;Vis/SubPixIterations:0;Vis/SubPixWinSize:3;g2o/Baseline:0.075;g2o/Optimizer:0;g2o/PixelVariance:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0 [DEBUG] (2017-11-20 10:28:48.900) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000063s [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:337::loadDataFromDb() ids start with 1 [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:338::loadDataFromDb() map ids start with 0 [DEBUG] (2017-11-20 10:28:48.900) Rtabmap.cpp:393::parseParameters() [DEBUG] (2017-11-20 10:28:48.900) Rtabmap.cpp:2876::setWorkingDirectory() Comparing new working directory path "/home/mikhail/Documents/RTAB-Map" with "/home/mikhail/Documents/RTAB-Map" [DEBUG] (2017-11-20 10:28:48.900) Rtabmap.cpp:459::parseParameters() new detector strategy 1 [DEBUG] (2017-11-20 10:28:48.900) Memory.cpp:432::parseParameters() [DEBUG] (2017-11-20 10:28:48.901) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000006s [DEBUG] (2017-11-20 10:28:48.901) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000005s [DEBUG] (2017-11-20 10:28:48.901) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000004s [DEBUG] (2017-11-20 10:28:48.901) DBDriverSqlite3.cpp:484::executeNoResultQuery() Time=0,000003s [DEBUG] (2017-11-20 10:28:48.901) DBDriverSqlite3.cpp:191::setDbInMemory() dbInMemory=1 [DEBUG] (2017-11-20 10:28:48.901) Memory.cpp:530::parseParameters() new registration strategy 0 [DEBUG] (2017-11-20 10:28:48.901) Registration.cpp:45::create() type=0 [DEBUG] (2017-11-20 10:28:48.901) Rtabmap.cpp:251::setupLogFiles() Log disabled! [DEBUG] (2017-11-20 10:28:48.901) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:28:48.901) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:28:48.980) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:28:53.772) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:28:54.632) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:28:54.680) PreferencesDialog.cpp:1714::readSettings() /home/mikhail/.rtabmap/rtabmap.ini.tmp [DEBUG] (2017-11-20 10:28:54.681) PreferencesDialog.cpp:2018::readCoreSettings() /home/mikhail/.rtabmap/rtabmap.ini.tmp [DEBUG] (2017-11-20 10:28:54.682) PreferencesDialog.cpp:3492::setParameter() BRIEF/Bytes=32 [DEBUG] (2017-11-20 10:28:54.682) PreferencesDialog.cpp:3492::setParameter() BRISK/Octaves=3 [DEBUG] (2017-11-20 10:28:54.682) PreferencesDialog.cpp:3492::setParameter() BRISK/PatternScale=1 [DEBUG] (2017-11-20 10:28:54.682) PreferencesDialog.cpp:3492::setParameter() BRISK/Thresh=30 [DEBUG] (2017-11-20 10:28:54.682) PreferencesDialog.cpp:3492::setParameter() Bayes/FullPredictionUpdate=false [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::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] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() Bayes/VirtualPlacePriorThr=0.9 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/CacheSize=10000 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/InMemory=true [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/JournalMode=3 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/Synchronous=0 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/TempStore=2 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/Gpu=false [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/GpuKeypointsRatio=0.05 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/GridCols=4 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/GridRows=4 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/MaxThreshold=200 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/MinThreshold=7 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/NonmaxSuppression=true [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FAST/Threshold=20 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FREAK/NOctaves=4 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FREAK/OrientationNormalized=true [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FREAK/PatternScale=22 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() FREAK/ScaleNormalized=true [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() GFTT/BlockSize=3 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() GFTT/K=0.04 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() GFTT/MinDistance=5 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() GFTT/QualityLevel=0.01 [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() GFTT/UseHarrisDetector=false [DEBUG] (2017-11-20 10:28:54.683) PreferencesDialog.cpp:3492::setParameter() GTSAM/Optimizer=1 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/3D=false [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/CellSize=0.05 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/ClusterRadius=0.1 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/DepthDecimation=4 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/DepthMax=4.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/DepthMin=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/DepthRoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/FlatObstacleDetected=true [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/FootprintHeight=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/FootprintLength=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/FootprintWidth=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/FromDepth=true [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/GroundIsObstacle=false [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/MapFrameProjection=false [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/MaxGroundAngle=45 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/MaxGroundHeight=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/MaxObstacleHeight=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/MinClusterSize=10 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/MinGroundHeight=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/NoiseFilteringMinNeighbors=5 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/NoiseFilteringRadius=0.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/NormalK=20 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/NormalsSegmentation=true [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/ProjRayTracing=true [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/Scan2dMaxFilledRange=4.0 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/Scan2dUnknownSpaceFilled=false [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() Grid/ScanDecimation=1 [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() GridGlobal/Eroded=false [DEBUG] (2017-11-20 10:28:54.684) PreferencesDialog.cpp:3492::setParameter() GridGlobal/FootprintRadius=0.0 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() GridGlobal/FullUpdate=true [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() GridGlobal/MinSize=0.0 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/CorrespondenceRatio=0.2 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/DownsamplingStep=1 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/Epsilon=0 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/Iterations=30 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/MaxCorrespondenceDistance=0.05 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/MaxRotation=0.78 [DEBUG] (2017-11-20 10:28:54.685) PreferencesDialog.cpp:3492::setParameter() Icp/MaxTranslation=0.2 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PM=false [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PMConfig= [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PMOutlierRatio=0.85 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlane=false [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlaneK=20 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlaneMinComplexity=0.02 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlaneRadius=0.0 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Icp/VoxelSize=0.0 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() KAZE/Diffusivity=1 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() KAZE/Extended=false [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() KAZE/NOctaveLayers=4 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() KAZE/NOctaves=4 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() KAZE/Threshold=0.001 [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() KAZE/Upright=false [DEBUG] (2017-11-20 10:28:54.686) PreferencesDialog.cpp:3492::setParameter() Kp/BadSignRatio=0.5 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/DetectorStrategy=2 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/DictionaryPath= [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/IncrementalDictionary=true [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/IncrementalFlann=true [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/MaxDepth=0 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/MaxFeatures=1000 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/MinDepth=0 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/NNStrategy=1 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/NewWordsComparedTogether=true [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/NndrRatio=0.8 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/Parallelized=true [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/RoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/SubPixEps=0.02 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/SubPixIterations=0 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/SubPixWinSize=3 [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Kp/TfIdfLikelihoodUsed=true [DEBUG] (2017-11-20 10:28:54.687) PreferencesDialog.cpp:3492::setParameter() Mem/BadSignaturesIgnored=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/BinDataKept=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/CompressionParallelized=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/GenerateIds=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/ImageKept=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/ImagePostDecimation=1 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/ImagePreDecimation=1 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/IncrementalMemory=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/InitWMWithAllNodes=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/IntermediateNodeDataKept=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanDownsampleStepSize=1 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanNormalK=0 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanNormalRadius=0 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanVoxelSize=0.0 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/MapLabelsAdded=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/NotLinkedNodesKept=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/RawDescriptorsKept=true [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/RecentWmRatio=0.2 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/ReduceGraph=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/RehearsalIdUpdatedToNewOne=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/RehearsalSimilarity=0.6 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/RehearsalWeightIgnoredWhileMoving=false [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/STMSize=10 [DEBUG] (2017-11-20 10:28:54.688) PreferencesDialog.cpp:3492::setParameter() Mem/SaveDepth16Format=false [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Mem/TransferSortingByWeightId=false [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Mem/UseOdomFeatures=true [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/EdgeThreshold=31 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/FirstLevel=0 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/Gpu=false [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/NLevels=8 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/PatchSize=31 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/ScaleFactor=1.2 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/ScoreType=0 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() ORB/WTA_K=2 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/AlignWithGround=false [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/FillInfoData=true [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/FilteringStrategy=0 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/GuessMotion=false [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/Holonomic=true [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/ImageBufferSize=1 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/ImageDecimation=1 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/KalmanMeasurementNoise=0.01 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/KalmanProcessNoise=0.001 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/KeyFrameThr=0.3 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleLambdaR=100 [DEBUG] (2017-11-20 10:28:54.689) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleLambdaT=100 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleNoiseR=0.002 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleNoiseT=0.002 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleSize=400 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/ResetCountdown=0 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/ScanKeyFrameThr=0.9 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/Strategy=0 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() Odom/VisKeyFrameThr=100 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() OdomF2M/BundleAdjustment=0 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() OdomF2M/BundleAdjustmentMaxFrames=0 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() OdomF2M/MaxNewFeatures=0 [DEBUG] (2017-11-20 10:28:54.690) PreferencesDialog.cpp:3492::setParameter() OdomF2M/MaxSize=5000 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomF2M/ScanMaxSize=2000 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomF2M/ScanSubtractAngle=45 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomF2M/ScanSubtractRadius=0.05 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/BucketHeight=80 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/BucketWidth=80 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/CliqueInlierThreshold=0.1 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FastThreshold=20 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FastThresholdAdaptiveGain=0.005 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FeatureSearchWindow=25 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FeatureWindowSize=9 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/InlierMaxReprojectionError=1.5 [DEBUG] (2017-11-20 10:28:54.691) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MaxKeypointsPerBucket=25 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MaxMeanReprojectionError=10.0 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MaxPyramidLevel=3 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MinFeaturesForEstimate=10 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MinPyramidLevel=0 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoMaxDisparity=128 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoMaxDistEpipolarLine=1.5 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoMaxRefinementDisplacement=1.0 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoRequireMutualMatch=true [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/TargetPixelsPerFeature=250 [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UpdateTargetFeaturesWithRefined=false [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseAdaptiveThreshold=true [DEBUG] (2017-11-20 10:28:54.692) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseBucketing=true [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseHomographyInitialization=true [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseImageNormalization=false [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseSubpixelRefinement=true [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomMono/InitMinFlow=100 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomMono/InitMinTranslation=0.1 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomMono/MaxVariance=0.01 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomMono/MinTranslation=0.02 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomORBSLAM2/Bf=0.076 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomORBSLAM2/ThDepth=40.0 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomORBSLAM2/VocPath= [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomViso2/BucketHeight=50 [DEBUG] (2017-11-20 10:28:54.693) PreferencesDialog.cpp:3492::setParameter() OdomViso2/BucketMaxFeatures=2 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/BucketWidth=50 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/InlierThreshold=2.0 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchBinsize=50 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchDispTolerance=2 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchHalfResolution=true [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchMultiStage=true [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchNmsN=3 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchNmsTau=50 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchOutlierDispTolerance=5 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchOutlierFlowTolerance=5 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchRadius=200 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchRefinement=1 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/RansacIters=200 [DEBUG] (2017-11-20 10:28:54.694) PreferencesDialog.cpp:3492::setParameter() OdomViso2/Reweighting=true [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() Optimizer/Epsilon=0.0 [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() Optimizer/Iterations=20 [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() Optimizer/PriorsIgnored=true [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() Optimizer/Robust=false [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() Optimizer/Strategy=1 [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() Optimizer/VarianceIgnored=false [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() RGBD/AngularSpeedUpdate=0.0 [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() RGBD/AngularUpdate=0.1 [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() RGBD/CreateOccupancyGrid=false [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() RGBD/Enabled=true [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() RGBD/GoalReachedRadius=0.5 [DEBUG] (2017-11-20 10:28:54.695) PreferencesDialog.cpp:3492::setParameter() RGBD/GoalsSavedInUserData=false [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/LinearSpeedUpdate=0.0 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/LinearUpdate=0.1 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/LocalImmunizationRatio=0.25 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/LocalRadius=10 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/LoopClosureReextractFeatures=false [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/MaxLocalRetrieved=2 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/NeighborLinkRefining=false [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/NewMapOdomChangeDistance=0 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/OptimizeFromGraphEnd=false [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/OptimizeMaxError=1 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/PlanAngularVelocity=0 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/PlanLinearVelocity=0 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/PlanStuckIterations=0 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityAngle=45 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityBySpace=true [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityByTime=false [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityMaxGraphDepth=50 [DEBUG] (2017-11-20 10:28:54.696) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityMaxPaths=3 [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityPathFilteringRadius=0.5 [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityPathMaxNeighbors=0 [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityPathRawPosesUsed=true [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() RGBD/ScanMatchingIdsSavedInLinks=true [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() Reg/Force3DoF=false [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() Reg/Strategy=0 [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() Reg/VarianceFromInliersCount=false [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() Reg/VarianceNormalized=false [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() Rtabmap/ComputeRMSE=true [DEBUG] (2017-11-20 10:28:54.697) PreferencesDialog.cpp:3492::setParameter() Rtabmap/CreateIntermediateNodes=true [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/DetectionRate=10 [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/ImageBufferSize=1 [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/LoopRatio=0 [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/LoopThr=0.11 [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/MaxRetrieved=2 [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/MemoryThr=0 [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishLastSignature=true [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishLikelihood=true [DEBUG] (2017-11-20 10:28:54.698) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishPdf=true [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishStats=true [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StartNewMapOnLoopClosure=false [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StatisticLogged=false [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StatisticLoggedHeaders=true [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StatisticLogsBufferedInRAM=true [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/TimeThr=0 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() Rtabmap/WorkingDirectory=/home/mikhail/Documents/RTAB-Map [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SIFT/ContrastThreshold=0.04 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SIFT/EdgeThreshold=10 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SIFT/NFeatures=0 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SIFT/NOctaveLayers=3 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SIFT/Sigma=1.6 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SURF/Extended=false [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SURF/GpuKeypointsRatio=0.01 [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SURF/GpuVersion=false [DEBUG] (2017-11-20 10:28:54.699) PreferencesDialog.cpp:3492::setParameter() SURF/HessianThreshold=500 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() SURF/OctaveLayers=2 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() SURF/Octaves=4 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() SURF/Upright=false [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/Eps=0.01 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/Iterations=30 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/MaxDisparity=128.0 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/MaxLevel=3 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/MinDisparity=1.0 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/OpticalFlow=true [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/SSD=true [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/WinHeight=3 [DEBUG] (2017-11-20 10:28:54.700) PreferencesDialog.cpp:3492::setParameter() Stereo/WinWidth=15 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/BlockSize=15 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/MinDisparity=0 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/NumDisparities=128 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/PreFilterCap=31 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/PreFilterSize=9 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/SpeckleRange=4 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/SpeckleWindowSize=100 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/TextureThreshold=10 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() StereoBM/UniquenessRatio=15 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() VhEp/Enabled=false [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() VhEp/MatchCountMin=8 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() VhEp/RansacParam1=3 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() VhEp/RansacParam2=0.99 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() Vis/BundleAdjustment=0 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowEps=0.01 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowIterations=30 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowWinSize=16 [DEBUG] (2017-11-20 10:28:54.701) PreferencesDialog.cpp:3492::setParameter() Vis/CorGuessWinSize=20 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/CorNNDR=0.6 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/CorNNType=1 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/CorType=0 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/EpipolarGeometryVar=0.02 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/EstimationType=1 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/FeatureType=2 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/ForwardEstOnly=true [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/InlierDistance=0.1 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/Iterations=100 [DEBUG] (2017-11-20 10:28:54.702) PreferencesDialog.cpp:3492::setParameter() Vis/MaxDepth=0 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/MaxFeatures=1000 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/MinDepth=0 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/MinInliers=20 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/PnPFlags=0 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/PnPRefineIterations=1 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/PnPReprojError=2 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/RefineIterations=5 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/RoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/SubPixEps=0.02 [DEBUG] (2017-11-20 10:28:54.703) PreferencesDialog.cpp:3492::setParameter() Vis/SubPixIterations=0 [DEBUG] (2017-11-20 10:28:54.704) PreferencesDialog.cpp:3492::setParameter() Vis/SubPixWinSize=3 [DEBUG] (2017-11-20 10:28:54.704) PreferencesDialog.cpp:3492::setParameter() g2o/Baseline=0.075 [DEBUG] (2017-11-20 10:28:54.704) PreferencesDialog.cpp:3492::setParameter() g2o/Optimizer=0 [DEBUG] (2017-11-20 10:28:54.704) PreferencesDialog.cpp:3492::setParameter() g2o/PixelVariance=1.0 [DEBUG] (2017-11-20 10:28:54.704) PreferencesDialog.cpp:3492::setParameter() g2o/RobustKernelDelta=8 [DEBUG] (2017-11-20 10:28:54.704) PreferencesDialog.cpp:3492::setParameter() g2o/Solver=0 [DEBUG] (2017-11-20 10:28:58.930) PreferencesDialog.cpp:1293::closeEvent() [DEBUG] (2017-11-20 10:29:00.371) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:29:01.972) PreferencesDialog.cpp:1714::readSettings() /home/mikhail/.rtabmap/rtabmap.ini.tmp [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:2018::readCoreSettings() /home/mikhail/.rtabmap/rtabmap.ini.tmp [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:3492::setParameter() BRIEF/Bytes=32 [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:3492::setParameter() BRISK/Octaves=3 [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:3492::setParameter() BRISK/PatternScale=1 [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:3492::setParameter() BRISK/Thresh=30 [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:3492::setParameter() Bayes/FullPredictionUpdate=false [DEBUG] (2017-11-20 10:29:01.973) PreferencesDialog.cpp:3492::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] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Bayes/VirtualPlacePriorThr=0.9 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/CacheSize=10000 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/InMemory=true [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/JournalMode=3 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/Synchronous=0 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() DbSqlite3/TempStore=2 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/Gpu=false [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/GpuKeypointsRatio=0.05 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/GridCols=4 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/GridRows=4 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/MaxThreshold=200 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/MinThreshold=7 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/NonmaxSuppression=true [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FAST/Threshold=20 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FREAK/NOctaves=4 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FREAK/OrientationNormalized=true [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FREAK/PatternScale=22 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() FREAK/ScaleNormalized=true [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() GFTT/BlockSize=3 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() GFTT/K=0.04 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() GFTT/MinDistance=5 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() GFTT/QualityLevel=0.01 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() GFTT/UseHarrisDetector=false [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() GTSAM/Optimizer=1 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Grid/3D=false [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Grid/CellSize=0.05 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Grid/ClusterRadius=0.1 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Grid/DepthDecimation=4 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Grid/DepthMax=4.0 [DEBUG] (2017-11-20 10:29:01.974) PreferencesDialog.cpp:3492::setParameter() Grid/DepthMin=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/DepthRoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/FlatObstacleDetected=true [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/FootprintHeight=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/FootprintLength=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/FootprintWidth=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/FromDepth=true [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/GroundIsObstacle=false [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/MapFrameProjection=false [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/MaxGroundAngle=45 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/MaxGroundHeight=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/MaxObstacleHeight=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/MinClusterSize=10 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/MinGroundHeight=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/NoiseFilteringMinNeighbors=5 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/NoiseFilteringRadius=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/NormalK=20 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/NormalsSegmentation=true [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/ProjRayTracing=true [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/Scan2dMaxFilledRange=4.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/Scan2dUnknownSpaceFilled=false [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Grid/ScanDecimation=1 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() GridGlobal/Eroded=false [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() GridGlobal/FootprintRadius=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() GridGlobal/FullUpdate=true [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() GridGlobal/MinSize=0.0 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Icp/CorrespondenceRatio=0.2 [DEBUG] (2017-11-20 10:29:01.975) PreferencesDialog.cpp:3492::setParameter() Icp/DownsamplingStep=1 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/Epsilon=0 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/Iterations=30 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/MaxCorrespondenceDistance=0.05 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/MaxRotation=0.78 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/MaxTranslation=0.2 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/PM=false [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/PMConfig= [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/PMOutlierRatio=0.85 [DEBUG] (2017-11-20 10:29:01.976) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlane=false [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlaneK=20 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlaneMinComplexity=0.02 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Icp/PointToPlaneRadius=0.0 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Icp/VoxelSize=0.0 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() KAZE/Diffusivity=1 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() KAZE/Extended=false [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() KAZE/NOctaveLayers=4 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() KAZE/NOctaves=4 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() KAZE/Threshold=0.001 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() KAZE/Upright=false [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/BadSignRatio=0.5 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/DetectorStrategy=2 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/DictionaryPath= [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/IncrementalDictionary=true [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/IncrementalFlann=true [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/MaxDepth=0 [DEBUG] (2017-11-20 10:29:01.977) PreferencesDialog.cpp:3492::setParameter() Kp/MaxFeatures=1000 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/MinDepth=0 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/NNStrategy=1 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/NewWordsComparedTogether=true [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/NndrRatio=0.8 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/Parallelized=true [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/RoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/SubPixEps=0.02 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/SubPixIterations=0 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/SubPixWinSize=3 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Kp/TfIdfLikelihoodUsed=true [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/BadSignaturesIgnored=false [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/BinDataKept=true [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/CompressionParallelized=true [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/GenerateIds=true [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/ImageKept=false [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/ImagePostDecimation=1 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/ImagePreDecimation=1 [DEBUG] (2017-11-20 10:29:01.978) PreferencesDialog.cpp:3492::setParameter() Mem/IncrementalMemory=true [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/InitWMWithAllNodes=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/IntermediateNodeDataKept=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanDownsampleStepSize=1 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanNormalK=0 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanNormalRadius=0 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/LaserScanVoxelSize=0.0 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/MapLabelsAdded=true [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/NotLinkedNodesKept=true [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/RawDescriptorsKept=true [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/RecentWmRatio=0.2 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/ReduceGraph=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/RehearsalIdUpdatedToNewOne=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/RehearsalSimilarity=0.6 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/RehearsalWeightIgnoredWhileMoving=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/STMSize=10 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/SaveDepth16Format=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/TransferSortingByWeightId=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Mem/UseOdomFeatures=true [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/EdgeThreshold=31 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/FirstLevel=0 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/Gpu=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/NLevels=8 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/PatchSize=31 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/ScaleFactor=1.2 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/ScoreType=0 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() ORB/WTA_K=2 [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Odom/AlignWithGround=false [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Odom/FillInfoData=true [DEBUG] (2017-11-20 10:29:01.979) PreferencesDialog.cpp:3492::setParameter() Odom/FilteringStrategy=0 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/GuessMotion=false [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/Holonomic=true [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ImageBufferSize=1 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ImageDecimation=1 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/KalmanMeasurementNoise=0.01 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/KalmanProcessNoise=0.001 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/KeyFrameThr=0.3 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleLambdaR=100 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleLambdaT=100 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleNoiseR=0.002 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleNoiseT=0.002 [DEBUG] (2017-11-20 10:29:01.980) PreferencesDialog.cpp:3492::setParameter() Odom/ParticleSize=400 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() Odom/ResetCountdown=0 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() Odom/ScanKeyFrameThr=0.9 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() Odom/Strategy=0 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() Odom/VisKeyFrameThr=100 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/BundleAdjustment=0 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/BundleAdjustmentMaxFrames=0 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/MaxNewFeatures=0 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/MaxSize=5000 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/ScanMaxSize=2000 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/ScanSubtractAngle=45 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomF2M/ScanSubtractRadius=0.05 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomFovis/BucketHeight=80 [DEBUG] (2017-11-20 10:29:01.981) PreferencesDialog.cpp:3492::setParameter() OdomFovis/BucketWidth=80 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/CliqueInlierThreshold=0.1 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FastThreshold=20 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FastThresholdAdaptiveGain=0.005 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FeatureSearchWindow=25 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/FeatureWindowSize=9 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/InlierMaxReprojectionError=1.5 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MaxKeypointsPerBucket=25 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MaxMeanReprojectionError=10.0 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MaxPyramidLevel=3 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MinFeaturesForEstimate=10 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/MinPyramidLevel=0 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoMaxDisparity=128 [DEBUG] (2017-11-20 10:29:01.982) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoMaxDistEpipolarLine=1.5 [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoMaxRefinementDisplacement=1.0 [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/StereoRequireMutualMatch=true [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/TargetPixelsPerFeature=250 [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UpdateTargetFeaturesWithRefined=false [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseAdaptiveThreshold=true [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseBucketing=true [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseHomographyInitialization=true [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseImageNormalization=false [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomFovis/UseSubpixelRefinement=true [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomMono/InitMinFlow=100 [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomMono/InitMinTranslation=0.1 [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomMono/MaxVariance=0.01 [DEBUG] (2017-11-20 10:29:01.983) PreferencesDialog.cpp:3492::setParameter() OdomMono/MinTranslation=0.02 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomORBSLAM2/Bf=0.076 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomORBSLAM2/ThDepth=40.0 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomORBSLAM2/VocPath= [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/BucketHeight=50 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/BucketMaxFeatures=2 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/BucketWidth=50 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/InlierThreshold=2.0 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchBinsize=50 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchDispTolerance=2 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchHalfResolution=true [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchMultiStage=true [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchNmsN=3 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchNmsTau=50 [DEBUG] (2017-11-20 10:29:01.984) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchOutlierDispTolerance=5 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchOutlierFlowTolerance=5 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchRadius=200 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() OdomViso2/MatchRefinement=1 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() OdomViso2/RansacIters=200 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() OdomViso2/Reweighting=true [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() Optimizer/Epsilon=0.0 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() Optimizer/Iterations=20 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() Optimizer/PriorsIgnored=true [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() Optimizer/Robust=false [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() Optimizer/Strategy=1 [DEBUG] (2017-11-20 10:29:01.985) PreferencesDialog.cpp:3492::setParameter() Optimizer/VarianceIgnored=false [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/AngularSpeedUpdate=0.0 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/AngularUpdate=0.1 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/CreateOccupancyGrid=false [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/Enabled=true [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/GoalReachedRadius=0.5 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/GoalsSavedInUserData=false [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/LinearSpeedUpdate=0.0 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/LinearUpdate=0.1 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/LocalImmunizationRatio=0.25 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/LocalRadius=10 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/LoopClosureReextractFeatures=false [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/MaxLocalRetrieved=2 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/NeighborLinkRefining=false [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/NewMapOdomChangeDistance=0 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/OptimizeFromGraphEnd=false [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/OptimizeMaxError=1 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/PlanAngularVelocity=0 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/PlanLinearVelocity=0 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/PlanStuckIterations=0 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityAngle=45 [DEBUG] (2017-11-20 10:29:01.986) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityBySpace=true [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityByTime=false [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityMaxGraphDepth=50 [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityMaxPaths=3 [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityPathFilteringRadius=0.5 [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityPathMaxNeighbors=0 [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ProximityPathRawPosesUsed=true [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() RGBD/ScanMatchingIdsSavedInLinks=true [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() Reg/Force3DoF=false [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() Reg/Strategy=0 [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() Reg/VarianceFromInliersCount=false [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() Reg/VarianceNormalized=false [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() Rtabmap/ComputeRMSE=true [DEBUG] (2017-11-20 10:29:01.987) PreferencesDialog.cpp:3492::setParameter() Rtabmap/CreateIntermediateNodes=true [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/DetectionRate=10 [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/ImageBufferSize=1 [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/LoopRatio=0 [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/LoopThr=0.11 [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/MaxRetrieved=2 [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/MemoryThr=0 [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishLastSignature=true [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishLikelihood=true [DEBUG] (2017-11-20 10:29:01.988) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishPdf=true [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/PublishStats=true [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StartNewMapOnLoopClosure=false [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StatisticLogged=false [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StatisticLoggedHeaders=true [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/StatisticLogsBufferedInRAM=true [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/TimeThr=0 [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() Rtabmap/WorkingDirectory=/home/mikhail/Documents/RTAB-Map [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SIFT/ContrastThreshold=0.04 [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SIFT/EdgeThreshold=10 [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SIFT/NFeatures=0 [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SIFT/NOctaveLayers=3 [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SIFT/Sigma=1.6 [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SURF/Extended=false [DEBUG] (2017-11-20 10:29:01.989) PreferencesDialog.cpp:3492::setParameter() SURF/GpuKeypointsRatio=0.01 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() SURF/GpuVersion=false [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() SURF/HessianThreshold=500 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() SURF/OctaveLayers=2 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() SURF/Octaves=4 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() SURF/Upright=false [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/Eps=0.01 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/Iterations=30 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/MaxDisparity=128.0 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/MaxLevel=3 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/MinDisparity=1.0 [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/OpticalFlow=true [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/SSD=true [DEBUG] (2017-11-20 10:29:01.990) PreferencesDialog.cpp:3492::setParameter() Stereo/WinHeight=3 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() Stereo/WinWidth=15 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/BlockSize=15 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/MinDisparity=0 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/NumDisparities=128 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/PreFilterCap=31 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/PreFilterSize=9 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/SpeckleRange=4 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/SpeckleWindowSize=100 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/TextureThreshold=10 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() StereoBM/UniquenessRatio=15 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() VhEp/Enabled=false [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() VhEp/MatchCountMin=8 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() VhEp/RansacParam1=3 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() VhEp/RansacParam2=0.99 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() Vis/BundleAdjustment=0 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowEps=0.01 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowIterations=30 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowMaxLevel=3 [DEBUG] (2017-11-20 10:29:01.991) PreferencesDialog.cpp:3492::setParameter() Vis/CorFlowWinSize=16 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/CorGuessWinSize=20 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/CorNNDR=0.6 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/CorNNType=1 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/CorType=0 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/EpipolarGeometryVar=0.02 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/EstimationType=1 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/FeatureType=2 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/ForwardEstOnly=true [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/InlierDistance=0.1 [DEBUG] (2017-11-20 10:29:01.992) PreferencesDialog.cpp:3492::setParameter() Vis/Iterations=100 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/MaxDepth=0 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/MaxFeatures=1000 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/MinDepth=0 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/MinInliers=20 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/PnPFlags=0 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/PnPRefineIterations=1 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/PnPReprojError=2 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/RefineIterations=5 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/RoiRatios=0.0 0.0 0.0 0.0 [DEBUG] (2017-11-20 10:29:01.993) PreferencesDialog.cpp:3492::setParameter() Vis/SubPixEps=0.02 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() Vis/SubPixIterations=0 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() Vis/SubPixWinSize=3 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() g2o/Baseline=0.075 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() g2o/Optimizer=0 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() g2o/PixelVariance=1.0 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() g2o/RobustKernelDelta=8 [DEBUG] (2017-11-20 10:29:01.994) PreferencesDialog.cpp:3492::setParameter() g2o/Solver=0 [DEBUG] (2017-11-20 10:29:01.996) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:29:14.245) PreferencesDialog.cpp:1293::closeEvent() [DEBUG] (2017-11-20 10:29:15.223) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:29:20.857) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:29:39.474) PreferencesDialog.cpp:5158::setDetectionRate() detectionRate=10,00 [DEBUG] (2017-11-20 10:30:09.526) MainWindow.cpp:4430::startDetection() [DEBUG] (2017-11-20 10:30:09.526) MainWindow.cpp:4500::startDetection() [DEBUG] (2017-11-20 10:30:09.526) PreferencesDialog.cpp:4718::createCamera() [DEBUG] (2017-11-20 10:30:09.526) CameraRGBD.cpp:2624::CameraRealSense() [DEBUG] (2017-11-20 10:30:09.526) PreferencesDialog.cpp:5024::createCamera() Init [DEBUG] (2017-11-20 10:30:09.526) CameraRGBD.cpp:2690::init() [DEBUG] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2717::init() [DEBUG] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2724::init() [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2732::init() Using device 0, an Intel RealSense ZR300 [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2733::init() Serial number: 4031803804 [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2734::init() Firmware version: 2.0.71.28 [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2735::init() Preset RGB: 0 [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2736::init() Preset Depth: 2 [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2749::init() Enabling streams... [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2759::init() RGB: 640x480 [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2760::init() Depth: 320x240 [DEBUG] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2763::init() Setup frame callback [ INFO] (2017-11-20 10:30:09.992) CameraRGBD.cpp:2883::init() Fish: 640x480 [DEBUG] (2017-11-20 10:30:09.993) CameraRGBD.cpp:2891::init() Setup motion callback [ INFO] (2017-11-20 10:30:09.993) CameraRGBD.cpp:2935::init() enabled accel and gyro stream [DEBUG] (2017-11-20 10:30:09.993) CameraRGBD.cpp:2951::init() Setup SLAM [DEBUG] (2017-11-20 10:30:09.993) CameraRGBD.cpp:2990::init() Set SLAM config [ INFO] (2017-11-20 10:30:11.421) CameraRGBD.cpp:3016::init() Enabling streams...done! [DEBUG] (2017-11-20 10:30:11.421) PreferencesDialog.cpp:5071::createCamera() [DEBUG] (2017-11-20 10:30:11.421) RtabmapThread.cpp:459::handleEvent() CMD_CLEAN_DATA_BUFFER [DEBUG] (2017-11-20 10:30:11.421) RtabmapThread.cpp:71::pushNewState() to 9 [DEBUG] (2017-11-20 10:30:11.421) RtabmapThread.cpp:476::handleEvent() CMD_TRIGGER_NEW_MAP [DEBUG] (2017-11-20 10:30:11.421) RtabmapThread.cpp:71::pushNewState() to 11 [ INFO] (2017-11-20 10:30:11.421) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.421) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.421) Rtabmap.cpp:649::triggerNewMap() New map triggered, new map = 0 [DEBUG] (2017-11-20 10:30:11.421) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.421) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:11.421) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.421) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.421) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.421) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.421) Camera.cpp:90::takeImage() slept=1,895394s vs target=0,033333s [ WARN] (2017-11-20 10:30:11.425) Camera.cpp:99::takeImage() Camera: Cannot reach target image rate 30,000000 Hz, current rate is 0,527595 Hz and capture time = 0,003722 s. [DEBUG] (2017-11-20 10:30:11.425) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.426) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.426) RtabmapThread.cpp:628::addData() Added data 1 [ INFO] (2017-11-20 10:30:11.426) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.426) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.427) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.427) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=0)... [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:621::update() time preUpdate=0,033855 ms [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.427) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.427) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.427) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=0 removed=0) [DEBUG] (2017-11-20 10:30:11.427) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:11.427) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:11.429) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.429) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.430) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,039101,-0,411308,-0,002103 [DEBUG] (2017-11-20 10:30:11.435) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:11.438) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:11.438) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.438) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.446) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,008512 s, keypoints extracted = 749 (mask empty=0) [DEBUG] (2017-11-20 10:30:11.446) Memory.cpp:3482::createSignature() time keypoints (749) = 0,019391s [DEBUG] (2017-11-20 10:30:11.455) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.456) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 749, remaining kpts=749 [DEBUG] (2017-11-20 10:30:11.456) Memory.cpp:3487::createSignature() time descriptors (749) = 0,009651s [DEBUG] (2017-11-20 10:30:11.456) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=0 [DEBUG] (2017-11-20 10:30:11.456) Memory.cpp:3500::createSignature() time keypoints 3D (749) = 0,000182s [DEBUG] (2017-11-20 10:30:11.456) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.456) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.456) Memory.cpp:3612::createSignature() time descriptor and memory update (749 of size=32) = 0,000132s [DEBUG] (2017-11-20 10:30:11.456) VWDictionary.cpp:593::addNewWords() id=1 descriptors=749 [DEBUG] (2017-11-20 10:30:11.457) Camera.cpp:103::takeImage() Time capturing image = 0,002538s [DEBUG] (2017-11-20 10:30:11.457) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.457) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.458) RtabmapThread.cpp:628::addData() Added data 2 [DEBUG] (2017-11-20 10:30:11.459) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.459) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.460) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,040087,-0,412116,-0,001776 [DEBUG] (2017-11-20 10:30:11.460) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.460) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.465) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,008498 s [DEBUG] (2017-11-20 10:30:11.465) VWDictionary.cpp:874::addNewWords() 570 new words added... [DEBUG] (2017-11-20 10:30:11.465) VWDictionary.cpp:876::addNewWords() 179 duplicated words added (from current image = 179)... [DEBUG] (2017-11-20 10:30:11.465) VWDictionary.cpp:877::addNewWords() total time 0,008555s [DEBUG] (2017-11-20 10:30:11.465) Memory.cpp:3672::createSignature() time addNewWords 0,008590s indexed=0 not=570 [DEBUG] (2017-11-20 10:30:11.465) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.468) Memory.cpp:3999::createSignature() time compressing data (id=1) 0,003385s [DEBUG] (2017-11-20 10:30:11.468) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.468) Memory.cpp:639::update() time creating signature=41,615009 ms [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:724::addSignatureToStm() adding 1 [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:2032::getSignatureIdByLabel() label=map0 [ INFO] (2017-11-20 10:30:11.469) Memory.cpp:775::addSignatureToStm() Tagging node 1 with label "map0" [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:786::addSignatureToStm() 749 words ref for the signature 1 [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:794::addSignatureToStm() time = 0,000102s [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:660::update() time rehearsal=0,138998 ms [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:713::update() totalTimer = 0,041796s [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1016::process() Processing signature 1 w=0 [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,041900s [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,039101,-0,411308,-0,002103 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,039101,-0,411308,-0,002103) [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000121 s [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000007s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000179s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:228::generatePrediction() [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:251::generatePrediction() _predictionLC.size()=18 [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:337::generatePrediction() time = 0,000009s [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000022s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000028s [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000006s [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000007s [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:11.469) BayesFilter.cpp:216::computePosterior() normalize time=0,000013s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000103s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000013s [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000000s, joining (actual overhead) = 0,000020s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1750::process() near nodes=0, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1836::process() timeReactivations=0,000015s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:1929::process() nearestIds=1/1 [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:11.469) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000041s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,039101,-0,411308,-0,002103 [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,039101,-0,411308,-0,002103 [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2463::process() Time creating stats = 0,000139... [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:2219::removeRawData() id=1 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.469) Memory.cpp:2137::saveLocationData() Saving location data 1 [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000161s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2537::process() Total time processing = 0,042624s... [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000014... [ INFO] (2017-11-20 10:30:11.469) Rtabmap.cpp:2661::process() Adding data 1 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.470) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.470) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.470) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.470) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 1 [DEBUG] (2017-11-20 10:30:11.470) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000265s [DEBUG] (2017-11-20 10:30:11.470) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.470) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.470) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.470) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000018s... [DEBUG] (2017-11-20 10:30:11.470) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.471) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.471) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.471) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:11.471) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.471) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.471) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.471) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=570)... [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:621::update() time preUpdate=0,015974 ms [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.471) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.471) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:11.471) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:11.471) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 570 words... [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.471) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.471) VWDictionary.cpp:362::update() Building FLANN index... [DEBUG] (2017-11-20 10:30:11.471) VWDictionary.cpp:380::update() Building FLANN index... done! [DEBUG] (2017-11-20 10:30:11.471) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 1 -> 3 [DEBUG] (2017-11-20 10:30:11.471) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 3 -> 7 [DEBUG] (2017-11-20 10:30:11.471) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 7 -> 15 [DEBUG] (2017-11-20 10:30:11.471) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 15 -> 31 [DEBUG] (2017-11-20 10:30:11.471) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 31 -> 63 [DEBUG] (2017-11-20 10:30:11.472) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 63 -> 127 [DEBUG] (2017-11-20 10:30:11.472) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 127 -> 255 [DEBUG] (2017-11-20 10:30:11.473) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 255 -> 511 [DEBUG] (2017-11-20 10:30:11.474) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 570 words... done! [DEBUG] (2017-11-20 10:30:11.474) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=570 removed=0) [DEBUG] (2017-11-20 10:30:11.474) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:3676::createSignature() id 2 is a bad signature [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:3999::createSignature() time compressing data (id=2) 0,003368s [DEBUG] (2017-11-20 10:30:11.474) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:639::update() time creating signature=3,407955 ms [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:724::addSignatureToStm() adding 2 [DEBUG] (2017-11-20 10:30:11.474) Signature.cpp:121::addLink() Add link 2 to 1 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.474) Signature.cpp:121::addLink() Add link 1 to 2 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 2 [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:794::addSignatureToStm() time = 0,000048s [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:660::update() time rehearsal=0,061989 ms [DEBUG] (2017-11-20 10:30:11.474) Memory.cpp:713::update() totalTimer = 0,003494s [DEBUG] (2017-11-20 10:30:11.475) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1016::process() Processing signature 2 w=-1 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,003542s [DEBUG] (2017-11-20 10:30:11.475) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,040087,-0,412116,-0,001776 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,040087,-0,412116,-0,001776) [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000027s [DEBUG] (2017-11-20 10:30:11.475) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.475) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000018s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:11.475) Graph.cpp:1898::getNodesInRadius() found nodes=1 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1750::process() near nodes=1, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1836::process() timeReactivations=0,000067s [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,040087,-0,412116,-0,001776 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,040087,-0,412116,-0,001776 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:11.475) Memory.cpp:2219::removeRawData() id=2 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.475) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.475) Memory.cpp:2137::saveLocationData() Saving location data 2 [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000044s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2537::process() Total time processing = 0,003788s... [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:11.475) Rtabmap.cpp:2661::process() Adding data 2 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.475) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.475) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.475) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.475) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 2 [DEBUG] (2017-11-20 10:30:11.475) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.475) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.475) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000335s [DEBUG] (2017-11-20 10:30:11.475) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.475) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.475) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.475) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:11.475) SensorData.cpp:557::uncompressData() 1 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.475) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.475) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.475) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.475) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.476) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.477) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.478) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.478) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 749 [DEBUG] (2017-11-20 10:30:11.479) MainWindow.cpp:3844::drawKeypoints() source time = 0,000630 s [DEBUG] (2017-11-20 10:30:11.479) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.479) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:11.479) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.479) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.484) MainWindow.cpp:1772::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:11.484) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.484) MainWindow.cpp:1971::updateMapCloud() posesIn=1 constraints=0 mapIdsIn=1 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.484) MainWindow.cpp:2065::updateMapCloud() Update map with 1 locations [DEBUG] (2017-11-20 10:30:11.484) SensorData.cpp:557::uncompressData() 1 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.484) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:11.484) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.484) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:11.485) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000145s [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.487) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:11.488) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.488) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.488) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.488) MainWindow.cpp:1931::processStats() Updating GUI time = 0,013000s [DEBUG] (2017-11-20 10:30:11.489) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.489) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.489) SensorData.cpp:557::uncompressData() 2 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.489) Camera.cpp:103::takeImage() Time capturing image = 0,001097s [DEBUG] (2017-11-20 10:30:11.489) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.489) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.489) RtabmapThread.cpp:628::addData() Added data 3 [ INFO] (2017-11-20 10:30:11.489) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.489) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.489) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.489) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=570)... [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.489) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.490) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.490) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.490) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:3676::createSignature() id 3 is a bad signature [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.490) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:3999::createSignature() time compressing data (id=3) 0,000122s [DEBUG] (2017-11-20 10:30:11.490) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:639::update() time creating signature=0,156879 ms [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:724::addSignatureToStm() adding 3 [DEBUG] (2017-11-20 10:30:11.490) Signature.cpp:121::addLink() Add link 3 to 2 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.490) Signature.cpp:121::addLink() Add link 2 to 3 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 3 [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:794::addSignatureToStm() time = 0,000048s [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:660::update() time rehearsal=0,061989 ms [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:713::update() totalTimer = 0,000240s [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1016::process() Processing signature 3 w=-1 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000283s [DEBUG] (2017-11-20 10:30:11.490) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,039800,-0,412715,0,000681 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,039800,-0,412715,0,000681) [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000044s [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:11.490) Graph.cpp:1898::getNodesInRadius() found nodes=1 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1750::process() near nodes=1, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1836::process() timeReactivations=0,000060s [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,039800,-0,412715,0,000681 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,039800,-0,412715,0,000681 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2463::process() Time creating stats = 0,000067... [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:2219::removeRawData() id=3 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.490) Memory.cpp:2137::saveLocationData() Saving location data 3 [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000039s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2537::process() Total time processing = 0,000537s... [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:11.490) Rtabmap.cpp:2661::process() Adding data 3 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.490) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.490) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.490) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.490) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 3 [DEBUG] (2017-11-20 10:30:11.490) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000243s [DEBUG] (2017-11-20 10:30:11.490) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.490) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.490) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.490) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000008s... [DEBUG] (2017-11-20 10:30:11.490) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.490) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.490) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.490) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.491) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.492) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.493) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.493) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.493) MainWindow.cpp:1971::updateMapCloud() posesIn=2 constraints=1 mapIdsIn=2 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.493) MainWindow.cpp:2065::updateMapCloud() Update map with 2 locations [DEBUG] (2017-11-20 10:30:11.493) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000142s [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.494) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.494) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:11.499) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.499) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.499) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,039800,-0,412715,0,000681 [DEBUG] (2017-11-20 10:30:11.501) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.501) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.501) SensorData.cpp:557::uncompressData() 3 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.501) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.503) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.504) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.504) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.504) MainWindow.cpp:1971::updateMapCloud() posesIn=2 constraints=1 mapIdsIn=2 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.504) MainWindow.cpp:2065::updateMapCloud() Update map with 2 locations [DEBUG] (2017-11-20 10:30:11.504) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000177s [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.505) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.505) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:11.521) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.523) Camera.cpp:103::takeImage() Time capturing image = 0,001027s [DEBUG] (2017-11-20 10:30:11.523) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.523) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.523) RtabmapThread.cpp:628::addData() Added data 4 [ INFO] (2017-11-20 10:30:11.523) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=570)... [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.523) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.523) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.523) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3676::createSignature() id 4 is a bad signature [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:3999::createSignature() time compressing data (id=4) 0,000122s [DEBUG] (2017-11-20 10:30:11.523) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:639::update() time creating signature=0,149965 ms [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:724::addSignatureToStm() adding 4 [DEBUG] (2017-11-20 10:30:11.523) Signature.cpp:121::addLink() Add link 4 to 3 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.523) Signature.cpp:121::addLink() Add link 3 to 4 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 4 [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:794::addSignatureToStm() time = 0,000038s [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:660::update() time rehearsal=0,050068 ms [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:713::update() totalTimer = 0,000216s [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1016::process() Processing signature 4 w=-1 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000247s [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,041316,-0,411439,0,000066 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,041316,-0,411439,0,000066) [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000008s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:11.523) Graph.cpp:1898::getNodesInRadius() found nodes=1 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1750::process() near nodes=1, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1836::process() timeReactivations=0,000056s [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,041316,-0,411439,0,000066 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,041316,-0,411439,0,000066 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2463::process() Time creating stats = 0,000065... [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:2219::removeRawData() id=4 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.523) Memory.cpp:2137::saveLocationData() Saving location data 4 [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2537::process() Total time processing = 0,000480s... [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:11.523) Rtabmap.cpp:2661::process() Adding data 4 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.523) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 4 [DEBUG] (2017-11-20 10:30:11.523) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000224s [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.523) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.523) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.523) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.524) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.524) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.524) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000041s... [DEBUG] (2017-11-20 10:30:11.524) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.524) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.524) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.524) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,041316,-0,411439,0,000066 [DEBUG] (2017-11-20 10:30:11.524) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.524) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.531) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.531) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.531) SensorData.cpp:557::uncompressData() 4 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.531) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.534) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.535) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.537) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.537) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.537) MainWindow.cpp:1971::updateMapCloud() posesIn=2 constraints=1 mapIdsIn=2 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.537) MainWindow.cpp:2065::updateMapCloud() Update map with 2 locations [DEBUG] (2017-11-20 10:30:11.537) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000272s [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.538) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.539) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.539) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.539) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:11.555) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.556) Camera.cpp:103::takeImage() Time capturing image = 0,001073s [DEBUG] (2017-11-20 10:30:11.556) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.556) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.556) RtabmapThread.cpp:628::addData() Added data 5 [ INFO] (2017-11-20 10:30:11.556) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.556) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.556) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.556) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=570)... [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.556) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.556) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.556) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.556) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:11.556) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:11.557) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.557) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.557) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043681,-0,406484,-0,002362 [DEBUG] (2017-11-20 10:30:11.558) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.558) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.558) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:11.559) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:11.559) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.559) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.563) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004285 s, keypoints extracted = 714 (mask empty=0) [DEBUG] (2017-11-20 10:30:11.563) Memory.cpp:3482::createSignature() time keypoints (714) = 0,007224s [DEBUG] (2017-11-20 10:30:11.567) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 714, remaining kpts=714 [DEBUG] (2017-11-20 10:30:11.567) Memory.cpp:3487::createSignature() time descriptors (714) = 0,003759s [DEBUG] (2017-11-20 10:30:11.567) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=149 [DEBUG] (2017-11-20 10:30:11.567) Memory.cpp:3500::createSignature() time keypoints 3D (714) = 0,000090s [DEBUG] (2017-11-20 10:30:11.567) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.567) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.567) Memory.cpp:3612::createSignature() time descriptor and memory update (714 of size=32) = 0,000022s [DEBUG] (2017-11-20 10:30:11.567) VWDictionary.cpp:593::addNewWords() id=5 descriptors=714 [DEBUG] (2017-11-20 10:30:11.567) VWDictionary.cpp:686::addNewWords() newPts.total()=714 [DEBUG] (2017-11-20 10:30:11.572) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,004458 s [DEBUG] (2017-11-20 10:30:11.575) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002992 s [DEBUG] (2017-11-20 10:30:11.575) VWDictionary.cpp:874::addNewWords() 361 new words added... [DEBUG] (2017-11-20 10:30:11.575) VWDictionary.cpp:876::addNewWords() 353 duplicated words added (from current image = 24)... [DEBUG] (2017-11-20 10:30:11.575) VWDictionary.cpp:877::addNewWords() total time 0,007482s [DEBUG] (2017-11-20 10:30:11.575) Memory.cpp:3672::createSignature() time addNewWords 0,007501s indexed=570 not=361 [DEBUG] (2017-11-20 10:30:11.575) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:3999::createSignature() time compressing data (id=5) 0,002261s [DEBUG] (2017-11-20 10:30:11.577) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:639::update() time creating signature=21,018028 ms [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:724::addSignatureToStm() adding 5 [DEBUG] (2017-11-20 10:30:11.577) Signature.cpp:121::addLink() Add link 5 to 4 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.577) Signature.cpp:121::addLink() Add link 4 to 5 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:786::addSignatureToStm() 714 words ref for the signature 5 [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:2882::rehearsal() Comparing with signature (1)... [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:2905::rehearsal() merged=0, sim=0,405874 t=0,000150s [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:660::update() time rehearsal=0,229120 ms [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:713::update() totalTimer = 0,021263s [DEBUG] (2017-11-20 10:30:11.577) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.577) Rtabmap.cpp:1016::process() Processing signature 5 w=0 [ INFO] (2017-11-20 10:30:11.577) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,021295s [DEBUG] (2017-11-20 10:30:11.577) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043681,-0,406484,-0,002362 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043681,-0,406484,-0,002362) [ INFO] (2017-11-20 10:30:11.577) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000093s [ INFO] (2017-11-20 10:30:11.577) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000156 s [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000005s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000204s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000006s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000005s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000005s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:575::updatePrediction() time copying = 0,000005s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000044s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000019s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:11.578) BayesFilter.cpp:216::computePosterior() normalize time=0,000010s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000103s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000010s [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000041s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:11.578) Graph.cpp:1898::getNodesInRadius() found nodes=1 [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1750::process() near nodes=1, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1836::process() timeReactivations=0,000067s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:1929::process() nearestIds=1/2 [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000031s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043681,-0,406484,-0,002362 [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043681,-0,406484,-0,002362 [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2463::process() Time creating stats = 0,000113... [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:2219::removeRawData() id=5 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.578) Memory.cpp:2137::saveLocationData() Saving location data 5 [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000157s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2537::process() Total time processing = 0,022103s... [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:11.578) Rtabmap.cpp:2661::process() Adding data 5 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.578) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.579) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.579) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 5 [DEBUG] (2017-11-20 10:30:11.579) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000186s [DEBUG] (2017-11-20 10:30:11.579) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.579) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.579) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.579) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:11.579) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.579) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.579) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.579) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.579) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.579) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.580) SensorData.cpp:557::uncompressData() 5 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.580) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.581) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 714 [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:3844::drawKeypoints() source time = 0,000408 s [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.582) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.584) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.584) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.584) MainWindow.cpp:1971::updateMapCloud() posesIn=2 constraints=1 mapIdsIn=2 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.584) MainWindow.cpp:2065::updateMapCloud() Update map with 2 locations [DEBUG] (2017-11-20 10:30:11.584) SensorData.cpp:557::uncompressData() 5 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.584) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:11.584) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.584) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:11.584) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.586) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000152s [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.587) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.588) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:11.588) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.589) Camera.cpp:103::takeImage() Time capturing image = 0,001084s [DEBUG] (2017-11-20 10:30:11.589) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.589) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.589) RtabmapThread.cpp:628::addData() Added data 6 [ INFO] (2017-11-20 10:30:11.589) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.589) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.589) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.589) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.589) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.589) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.589) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.589) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=931)... [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:621::update() time preUpdate=0,012159 ms [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 361 words... [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 361 words... done! [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=361 removed=0) [DEBUG] (2017-11-20 10:30:11.590) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3676::createSignature() id 6 is a bad signature [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:3999::createSignature() time compressing data (id=6) 0,000722s [DEBUG] (2017-11-20 10:30:11.590) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:639::update() time creating signature=0,756979 ms [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:724::addSignatureToStm() adding 6 [DEBUG] (2017-11-20 10:30:11.590) Signature.cpp:121::addLink() Add link 6 to 5 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.590) Signature.cpp:121::addLink() Add link 5 to 6 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 6 [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:794::addSignatureToStm() time = 0,000045s [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:660::update() time rehearsal=0,058889 ms [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:713::update() totalTimer = 0,000836s [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1016::process() Processing signature 6 w=-1 [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000876s [DEBUG] (2017-11-20 10:30:11.590) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,044490,-0,406751,-0,003754 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,044490,-0,406751,-0,003754) [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000026s [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.590) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:11.590) Graph.cpp:1898::getNodesInRadius() found nodes=2 [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1750::process() near nodes=2, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1836::process() timeReactivations=0,000055s [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000007s [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.590) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,044490,-0,406751,-0,003754 [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,044490,-0,406751,-0,003754 [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:11.591) Memory.cpp:2219::removeRawData() id=6 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.591) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.591) Memory.cpp:2137::saveLocationData() Saving location data 6 [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2537::process() Total time processing = 0,001100s... [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:11.591) Rtabmap.cpp:2661::process() Adding data 6 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.591) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.591) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.591) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.591) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 6 [DEBUG] (2017-11-20 10:30:11.591) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000229s [DEBUG] (2017-11-20 10:30:11.591) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.591) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.591) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.591) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:11.591) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.591) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.591) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.591) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.598) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.598) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.598) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,044490,-0,406751,-0,003754 [DEBUG] (2017-11-20 10:30:11.598) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.598) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.603) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.603) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.603) SensorData.cpp:557::uncompressData() 6 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.604) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.605) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.606) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.607) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.607) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.607) MainWindow.cpp:1971::updateMapCloud() posesIn=3 constraints=2 mapIdsIn=3 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.607) MainWindow.cpp:2065::updateMapCloud() Update map with 3 locations [DEBUG] (2017-11-20 10:30:11.607) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.607) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000186s [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.608) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.608) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:11.621) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.623) Camera.cpp:103::takeImage() Time capturing image = 0,001055s [DEBUG] (2017-11-20 10:30:11.623) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.623) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.623) RtabmapThread.cpp:628::addData() Added data 7 [ INFO] (2017-11-20 10:30:11.623) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.623) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=931)... [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.623) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.623) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.623) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3676::createSignature() id 7 is a bad signature [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:3999::createSignature() time compressing data (id=7) 0,000114s [DEBUG] (2017-11-20 10:30:11.623) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:639::update() time creating signature=0,138044 ms [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:724::addSignatureToStm() adding 7 [DEBUG] (2017-11-20 10:30:11.623) Signature.cpp:121::addLink() Add link 7 to 6 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.623) Signature.cpp:121::addLink() Add link 6 to 7 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 7 [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:660::update() time rehearsal=0,052929 ms [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:713::update() totalTimer = 0,000205s [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1016::process() Processing signature 7 w=-1 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000235s [DEBUG] (2017-11-20 10:30:11.623) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,044049,-0,404045,-0,003517 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,044049,-0,404045,-0,003517) [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000037s [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:11.623) Graph.cpp:1898::getNodesInRadius() found nodes=2 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1750::process() near nodes=2, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1836::process() timeReactivations=0,000052s [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,044049,-0,404045,-0,003517 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,044049,-0,404045,-0,003517 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2463::process() Time creating stats = 0,000057... [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:2219::removeRawData() id=7 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.623) Memory.cpp:2137::saveLocationData() Saving location data 7 [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000032s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2537::process() Total time processing = 0,000454s... [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:11.623) Rtabmap.cpp:2661::process() Adding data 7 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.623) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.623) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.623) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.623) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 7 [DEBUG] (2017-11-20 10:30:11.623) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.623) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.623) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000168s [DEBUG] (2017-11-20 10:30:11.623) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.623) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.623) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.623) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:11.624) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.624) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.624) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.624) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.624) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,044049,-0,404045,-0,003517 [DEBUG] (2017-11-20 10:30:11.624) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.624) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.628) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.628) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.628) SensorData.cpp:557::uncompressData() 7 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.628) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.630) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:1971::updateMapCloud() posesIn=3 constraints=2 mapIdsIn=3 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2065::updateMapCloud() Update map with 3 locations [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000177s [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.632) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.633) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.633) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.633) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:11.655) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.656) Camera.cpp:103::takeImage() Time capturing image = 0,001078s [DEBUG] (2017-11-20 10:30:11.656) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.656) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.656) RtabmapThread.cpp:628::addData() Added data 8 [ INFO] (2017-11-20 10:30:11.656) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.656) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.656) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.656) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=931)... [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.656) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.656) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.656) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.656) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:11.656) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:11.657) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.657) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.657) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,045334,-0,407030,-0,002951 [DEBUG] (2017-11-20 10:30:11.657) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.657) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.659) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:11.660) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:11.660) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.660) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.663) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003377 s, keypoints extracted = 696 (mask empty=0) [DEBUG] (2017-11-20 10:30:11.663) Memory.cpp:3482::createSignature() time keypoints (696) = 0,007265s [DEBUG] (2017-11-20 10:30:11.667) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 696, remaining kpts=696 [DEBUG] (2017-11-20 10:30:11.667) Memory.cpp:3487::createSignature() time descriptors (696) = 0,003895s [DEBUG] (2017-11-20 10:30:11.667) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=182 [DEBUG] (2017-11-20 10:30:11.667) Memory.cpp:3500::createSignature() time keypoints 3D (696) = 0,000166s [DEBUG] (2017-11-20 10:30:11.667) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.667) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.667) Memory.cpp:3612::createSignature() time descriptor and memory update (696 of size=32) = 0,000038s [DEBUG] (2017-11-20 10:30:11.667) VWDictionary.cpp:593::addNewWords() id=8 descriptors=696 [DEBUG] (2017-11-20 10:30:11.667) VWDictionary.cpp:686::addNewWords() newPts.total()=696 [DEBUG] (2017-11-20 10:30:11.673) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005501 s [DEBUG] (2017-11-20 10:30:11.676) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002809 s [DEBUG] (2017-11-20 10:30:11.676) VWDictionary.cpp:874::addNewWords() 290 new words added... [DEBUG] (2017-11-20 10:30:11.676) VWDictionary.cpp:876::addNewWords() 406 duplicated words added (from current image = 14)... [DEBUG] (2017-11-20 10:30:11.676) VWDictionary.cpp:877::addNewWords() total time 0,008356s [DEBUG] (2017-11-20 10:30:11.676) Memory.cpp:3672::createSignature() time addNewWords 0,008381s indexed=931 not=290 [DEBUG] (2017-11-20 10:30:11.676) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:3999::createSignature() time compressing data (id=8) 0,002883s [DEBUG] (2017-11-20 10:30:11.679) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:639::update() time creating signature=22,778034 ms [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:724::addSignatureToStm() adding 8 [DEBUG] (2017-11-20 10:30:11.679) Signature.cpp:121::addLink() Add link 8 to 7 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.679) Signature.cpp:121::addLink() Add link 7 to 8 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:786::addSignatureToStm() 696 words ref for the signature 8 [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:794::addSignatureToStm() time = 0,000048s [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:2882::rehearsal() Comparing with signature (5)... [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:2905::rehearsal() merged=0, sim=0,383754 t=0,000133s [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:660::update() time rehearsal=0,207901 ms [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:713::update() totalTimer = 0,023004s [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1016::process() Processing signature 8 w=0 [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023038s [DEBUG] (2017-11-20 10:30:11.679) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,045334,-0,407030,-0,002951 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,045334,-0,407030,-0,002951) [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000086s [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000149 s [DEBUG] (2017-11-20 10:30:11.679) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:11.679) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:11.679) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000003s [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000187s [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000003s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000004s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000003s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:575::updatePrediction() time copying = 0,000004s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000003s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000030s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000030s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000006s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:11.679) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000092s [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000007s [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.679) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.679) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:11.680) Graph.cpp:1898::getNodesInRadius() found nodes=2 [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:1750::process() near nodes=2, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:1836::process() timeReactivations=0,000057s [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:1929::process() nearestIds=1/3 [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000027s [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,045334,-0,407030,-0,002951 [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,045334,-0,407030,-0,002951 [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2463::process() Time creating stats = 0,000108... [DEBUG] (2017-11-20 10:30:11.680) Memory.cpp:2219::removeRawData() id=8 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.680) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.680) Memory.cpp:2137::saveLocationData() Saving location data 8 [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000140s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2537::process() Total time processing = 0,023766s... [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:11.680) Rtabmap.cpp:2661::process() Adding data 8 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.680) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 8 [DEBUG] (2017-11-20 10:30:11.680) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000184s [DEBUG] (2017-11-20 10:30:11.680) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.680) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.681) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.681) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000017s... [DEBUG] (2017-11-20 10:30:11.681) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.681) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.681) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.681) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.681) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.681) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.681) SensorData.cpp:557::uncompressData() 8 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.681) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.683) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.683) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.683) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 696 [DEBUG] (2017-11-20 10:30:11.684) MainWindow.cpp:3844::drawKeypoints() source time = 0,000412 s [DEBUG] (2017-11-20 10:30:11.684) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.684) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:11.684) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.684) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.685) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.685) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.685) MainWindow.cpp:1971::updateMapCloud() posesIn=3 constraints=2 mapIdsIn=3 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.685) MainWindow.cpp:2065::updateMapCloud() Update map with 3 locations [DEBUG] (2017-11-20 10:30:11.686) SensorData.cpp:557::uncompressData() 8 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.686) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:11.686) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.686) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:11.686) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.688) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.689) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000129s [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.690) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.690) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:11.694) Camera.cpp:103::takeImage() Time capturing image = 0,006206s [DEBUG] (2017-11-20 10:30:11.694) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.694) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.694) RtabmapThread.cpp:628::addData() Added data 9 [ INFO] (2017-11-20 10:30:11.694) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.694) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.695) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.695) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1221)... [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.695) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.695) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.695) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:11.695) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:11.695) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 290 words... [DEBUG] (2017-11-20 10:30:11.696) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 511 -> 1023 [DEBUG] (2017-11-20 10:30:11.698) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.698) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.700) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 290 words... done! [DEBUG] (2017-11-20 10:30:11.700) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=290 removed=0) [DEBUG] (2017-11-20 10:30:11.700) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.700) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.700) Memory.cpp:3676::createSignature() id 9 is a bad signature [DEBUG] (2017-11-20 10:30:11.700) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:3999::createSignature() time compressing data (id=9) 0,006410s [DEBUG] (2017-11-20 10:30:11.701) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:639::update() time creating signature=6,513119 ms [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:724::addSignatureToStm() adding 9 [DEBUG] (2017-11-20 10:30:11.701) Signature.cpp:121::addLink() Add link 9 to 8 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.701) Signature.cpp:121::addLink() Add link 8 to 9 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 9 [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:794::addSignatureToStm() time = 0,000088s [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:660::update() time rehearsal=0,109911 ms [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:713::update() totalTimer = 0,006648s [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.701) Rtabmap.cpp:1016::process() Processing signature 9 w=-1 [ INFO] (2017-11-20 10:30:11.701) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,006695s [DEBUG] (2017-11-20 10:30:11.701) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591) [ INFO] (2017-11-20 10:30:11.701) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000049s [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.701) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.701) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000017s, joining (actual overhead) = 0,000026s [DEBUG] (2017-11-20 10:30:11.702) Graph.cpp:1898::getNodesInRadius() found nodes=3 [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:1750::process() near nodes=3, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:1836::process() timeReactivations=0,000146s [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000012s [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000011s [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2336::process() timeMapOptimization=0,000010s [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2463::process() Time creating stats = 0,000116... [DEBUG] (2017-11-20 10:30:11.702) Memory.cpp:2219::removeRawData() id=9 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.702) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.702) Memory.cpp:2137::saveLocationData() Saving location data 9 [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000097s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2537::process() Total time processing = 0,007170s... [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000017... [ INFO] (2017-11-20 10:30:11.702) Rtabmap.cpp:2661::process() Adding data 9 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.702) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.702) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.702) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.702) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 9 [DEBUG] (2017-11-20 10:30:11.702) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000429s [DEBUG] (2017-11-20 10:30:11.702) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.702) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.703) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.703) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.703) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:11.703) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.703) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.703) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.705) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.705) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.705) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 [DEBUG] (2017-11-20 10:30:11.706) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.706) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.710) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.710) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.711) SensorData.cpp:557::uncompressData() 9 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.711) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.713) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.714) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.715) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.715) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.715) MainWindow.cpp:1971::updateMapCloud() posesIn=4 constraints=3 mapIdsIn=4 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.715) MainWindow.cpp:2065::updateMapCloud() Update map with 4 locations [DEBUG] (2017-11-20 10:30:11.715) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000247s [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.716) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.717) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.717) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.717) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:11.721) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.723) Camera.cpp:103::takeImage() Time capturing image = 0,001332s [DEBUG] (2017-11-20 10:30:11.723) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.723) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.723) RtabmapThread.cpp:628::addData() Added data 10 [ INFO] (2017-11-20 10:30:11.723) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.723) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1221)... [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.723) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.723) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.723) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3676::createSignature() id 10 is a bad signature [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:3999::createSignature() time compressing data (id=10) 0,000126s [DEBUG] (2017-11-20 10:30:11.723) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:639::update() time creating signature=0,163078 ms [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:724::addSignatureToStm() adding 10 [DEBUG] (2017-11-20 10:30:11.723) Signature.cpp:121::addLink() Add link 10 to 9 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.723) Signature.cpp:121::addLink() Add link 9 to 10 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 10 [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:794::addSignatureToStm() time = 0,000046s [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:660::update() time rehearsal=0,060797 ms [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:713::update() totalTimer = 0,000245s [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1016::process() Processing signature 10 w=-1 [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000288s [DEBUG] (2017-11-20 10:30:11.723) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591) [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000043s [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.723) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000020s [DEBUG] (2017-11-20 10:30:11.723) Graph.cpp:1898::getNodesInRadius() found nodes=3 [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1750::process() near nodes=3, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1836::process() timeReactivations=0,000063s [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 [ INFO] (2017-11-20 10:30:11.723) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,048308,-0,398677,-0,005591 [ INFO] (2017-11-20 10:30:11.724) Rtabmap.cpp:2463::process() Time creating stats = 0,000068... [DEBUG] (2017-11-20 10:30:11.724) Memory.cpp:2219::removeRawData() id=10 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.724) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.724) Memory.cpp:2137::saveLocationData() Saving location data 10 [ INFO] (2017-11-20 10:30:11.724) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000042s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.724) Rtabmap.cpp:2537::process() Total time processing = 0,000550s... [ INFO] (2017-11-20 10:30:11.724) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:11.724) Rtabmap.cpp:2661::process() Adding data 10 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.724) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.724) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.724) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.724) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 10 [DEBUG] (2017-11-20 10:30:11.724) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000234s [DEBUG] (2017-11-20 10:30:11.724) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.724) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.724) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.724) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:11.724) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.724) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.724) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.724) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.725) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.726) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.726) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.726) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.730) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.730) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.730) SensorData.cpp:557::uncompressData() 10 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.730) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.732) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.733) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.733) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.733) MainWindow.cpp:1971::updateMapCloud() posesIn=4 constraints=3 mapIdsIn=4 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.733) MainWindow.cpp:2065::updateMapCloud() Update map with 4 locations [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000267s [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.734) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.735) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.735) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.735) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:11.755) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.756) Camera.cpp:103::takeImage() Time capturing image = 0,001357s [DEBUG] (2017-11-20 10:30:11.756) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.756) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.756) RtabmapThread.cpp:628::addData() Added data 11 [ INFO] (2017-11-20 10:30:11.756) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.756) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.756) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.756) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1221)... [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.756) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.756) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.756) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.756) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:11.756) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:11.757) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.757) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.757) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043679,-0,390989,-0,002965 [DEBUG] (2017-11-20 10:30:11.758) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.758) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.759) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:11.760) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:11.760) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.760) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.764) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004037 s, keypoints extracted = 658 (mask empty=0) [DEBUG] (2017-11-20 10:30:11.764) Memory.cpp:3482::createSignature() time keypoints (658) = 0,007889s [DEBUG] (2017-11-20 10:30:11.768) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 658, remaining kpts=658 [DEBUG] (2017-11-20 10:30:11.768) Memory.cpp:3487::createSignature() time descriptors (658) = 0,004077s [DEBUG] (2017-11-20 10:30:11.768) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:11.768) Memory.cpp:3500::createSignature() time keypoints 3D (658) = 0,000075s [DEBUG] (2017-11-20 10:30:11.768) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.768) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.768) Memory.cpp:3612::createSignature() time descriptor and memory update (658 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:11.768) VWDictionary.cpp:593::addNewWords() id=11 descriptors=658 [DEBUG] (2017-11-20 10:30:11.769) VWDictionary.cpp:686::addNewWords() newPts.total()=658 [DEBUG] (2017-11-20 10:30:11.773) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,004620 s [DEBUG] (2017-11-20 10:30:11.776) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002431 s [DEBUG] (2017-11-20 10:30:11.776) VWDictionary.cpp:874::addNewWords() 241 new words added... [DEBUG] (2017-11-20 10:30:11.776) VWDictionary.cpp:876::addNewWords() 417 duplicated words added (from current image = 15)... [DEBUG] (2017-11-20 10:30:11.776) VWDictionary.cpp:877::addNewWords() total time 0,007081s [DEBUG] (2017-11-20 10:30:11.776) Memory.cpp:3672::createSignature() time addNewWords 0,007097s indexed=1221 not=241 [DEBUG] (2017-11-20 10:30:11.776) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:3999::createSignature() time compressing data (id=11) 0,002151s [DEBUG] (2017-11-20 10:30:11.778) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:639::update() time creating signature=21,435976 ms [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:724::addSignatureToStm() adding 11 [DEBUG] (2017-11-20 10:30:11.778) Signature.cpp:121::addLink() Add link 11 to 10 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.778) Signature.cpp:121::addLink() Add link 10 to 11 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:786::addSignatureToStm() 658 words ref for the signature 11 [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:2882::rehearsal() Comparing with signature (8)... [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:2905::rehearsal() merged=0, sim=0,343391 t=0,000124s [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:660::update() time rehearsal=0,185966 ms [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:713::update() totalTimer = 0,021640s [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.778) Rtabmap.cpp:1016::process() Processing signature 11 w=0 [ INFO] (2017-11-20 10:30:11.778) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,021676s [DEBUG] (2017-11-20 10:30:11.778) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043679,-0,390989,-0,002965 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043679,-0,390989,-0,002965) [ INFO] (2017-11-20 10:30:11.778) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000072s [ INFO] (2017-11-20 10:30:11.778) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:11.778) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000201 s [DEBUG] (2017-11-20 10:30:11.778) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:11.778) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:11.778) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000012s [ INFO] (2017-11-20 10:30:11.778) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000257s [ INFO] (2017-11-20 10:30:11.778) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000008s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000006s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000006s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000006s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000052s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:11.778) BayesFilter.cpp:216::computePosterior() normalize time=0,000011s [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000121s [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000012s [DEBUG] (2017-11-20 10:30:11.779) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.779) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:11.779) Graph.cpp:1898::getNodesInRadius() found nodes=3 [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1750::process() near nodes=3, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1836::process() timeReactivations=0,000075s [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:1929::process() nearestIds=1/4 [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000037s [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043679,-0,390989,-0,002965 [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043679,-0,390989,-0,002965 [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2463::process() Time creating stats = 0,000113... [DEBUG] (2017-11-20 10:30:11.779) Memory.cpp:2219::removeRawData() id=11 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.779) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.779) Memory.cpp:2137::saveLocationData() Saving location data 11 [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000156s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2537::process() Total time processing = 0,022554s... [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:11.779) Rtabmap.cpp:2661::process() Adding data 11 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.779) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.779) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 11 [DEBUG] (2017-11-20 10:30:11.779) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000203s [DEBUG] (2017-11-20 10:30:11.780) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.780) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.780) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.780) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:11.780) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.780) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.780) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.780) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.780) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.780) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.780) SensorData.cpp:557::uncompressData() 11 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.780) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.782) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.782) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.782) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 658 [DEBUG] (2017-11-20 10:30:11.783) MainWindow.cpp:3844::drawKeypoints() source time = 0,000373 s [DEBUG] (2017-11-20 10:30:11.783) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.783) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.783) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.783) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.784) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.784) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.784) MainWindow.cpp:1971::updateMapCloud() posesIn=4 constraints=3 mapIdsIn=4 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.784) MainWindow.cpp:2065::updateMapCloud() Update map with 4 locations [DEBUG] (2017-11-20 10:30:11.784) SensorData.cpp:557::uncompressData() 11 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.784) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:11.784) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.784) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:11.785) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.787) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000159s [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.788) MainWindow.cpp:1919::processStats() [DEBUG] (2017-11-20 10:30:11.788) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [ INFO] (2017-11-20 10:30:11.788) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:11.789) Camera.cpp:103::takeImage() Time capturing image = 0,001098s [DEBUG] (2017-11-20 10:30:11.789) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.789) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.789) RtabmapThread.cpp:628::addData() Added data 12 [ INFO] (2017-11-20 10:30:11.789) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.789) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.789) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1462)... [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:621::update() time preUpdate=0,012159 ms [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 241 words... [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 241 words... done! [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=241 removed=0) [DEBUG] (2017-11-20 10:30:11.790) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3676::createSignature() id 12 is a bad signature [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:3999::createSignature() time compressing data (id=12) 0,000649s [DEBUG] (2017-11-20 10:30:11.790) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:639::update() time creating signature=0,682831 ms [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:724::addSignatureToStm() adding 12 [DEBUG] (2017-11-20 10:30:11.790) Signature.cpp:121::addLink() Add link 12 to 11 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.790) Signature.cpp:121::addLink() Add link 11 to 12 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 12 [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:660::update() time rehearsal=0,058174 ms [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:713::update() totalTimer = 0,000762s [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1016::process() Processing signature 12 w=-1 [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000801s [DEBUG] (2017-11-20 10:30:11.790) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043109,-0,386565,-0,004234 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043109,-0,386565,-0,004234) [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000028s [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.790) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:11.790) Graph.cpp:1898::getNodesInRadius() found nodes=4 [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1750::process() near nodes=4, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1836::process() timeReactivations=0,000057s [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043109,-0,386565,-0,004234 [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043109,-0,386565,-0,004234 [ INFO] (2017-11-20 10:30:11.790) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:11.791) Memory.cpp:2219::removeRawData() id=12 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.791) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.791) Memory.cpp:2137::saveLocationData() Saving location data 12 [ INFO] (2017-11-20 10:30:11.791) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.791) Rtabmap.cpp:2537::process() Total time processing = 0,001029s... [ INFO] (2017-11-20 10:30:11.791) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:11.791) Rtabmap.cpp:2661::process() Adding data 12 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.791) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.791) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.791) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.791) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 12 [DEBUG] (2017-11-20 10:30:11.791) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000245s [DEBUG] (2017-11-20 10:30:11.791) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.791) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.791) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.791) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000007s... [DEBUG] (2017-11-20 10:30:11.791) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.791) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.791) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.791) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.799) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.799) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.799) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043109,-0,386565,-0,004234 [DEBUG] (2017-11-20 10:30:11.799) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.799) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.805) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.805) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.805) SensorData.cpp:557::uncompressData() 12 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.805) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.807) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.809) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.809) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.809) MainWindow.cpp:1971::updateMapCloud() posesIn=5 constraints=4 mapIdsIn=5 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.809) MainWindow.cpp:2065::updateMapCloud() Update map with 5 locations [DEBUG] (2017-11-20 10:30:11.809) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000249s [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.810) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.810) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:11.821) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.823) Camera.cpp:103::takeImage() Time capturing image = 0,001054s [DEBUG] (2017-11-20 10:30:11.823) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.823) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.823) RtabmapThread.cpp:628::addData() Added data 13 [ INFO] (2017-11-20 10:30:11.823) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1462)... [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.823) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.823) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.823) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3676::createSignature() id 13 is a bad signature [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:3999::createSignature() time compressing data (id=13) 0,000144s [DEBUG] (2017-11-20 10:30:11.823) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:639::update() time creating signature=0,166893 ms [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:724::addSignatureToStm() adding 13 [DEBUG] (2017-11-20 10:30:11.823) Signature.cpp:121::addLink() Add link 13 to 12 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.823) Signature.cpp:121::addLink() Add link 12 to 13 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 13 [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:660::update() time rehearsal=0,039101 ms [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:713::update() totalTimer = 0,000219s [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1016::process() Processing signature 13 w=-1 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000242s [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043640,-0,377030,-0,007887 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043640,-0,377030,-0,007887) [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000028s [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000007s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:11.823) Graph.cpp:1898::getNodesInRadius() found nodes=4 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1750::process() near nodes=4, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1836::process() timeReactivations=0,000047s [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043640,-0,377030,-0,007887 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043640,-0,377030,-0,007887 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:2219::removeRawData() id=13 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.823) Memory.cpp:2137::saveLocationData() Saving location data 13 [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2537::process() Total time processing = 0,000412s... [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:11.823) Rtabmap.cpp:2661::process() Adding data 13 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.823) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 13 [DEBUG] (2017-11-20 10:30:11.823) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000163s [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.823) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.823) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.823) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:11.823) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.823) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.823) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.823) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.824) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.824) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.824) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043640,-0,377030,-0,007887 [DEBUG] (2017-11-20 10:30:11.824) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.824) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.829) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.829) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.829) SensorData.cpp:557::uncompressData() 13 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.829) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.831) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.833) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:1799::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:1971::updateMapCloud() posesIn=5 constraints=4 mapIdsIn=5 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2065::updateMapCloud() Update map with 5 locations [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000266s [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.834) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.835) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.835) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.835) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:11.855) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.856) Camera.cpp:103::takeImage() Time capturing image = 0,001414s [DEBUG] (2017-11-20 10:30:11.856) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.856) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.856) RtabmapThread.cpp:628::addData() Added data 14 [ INFO] (2017-11-20 10:30:11.856) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.856) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.856) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.856) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.856) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.856) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.856) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.856) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.857) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1462)... [DEBUG] (2017-11-20 10:30:11.857) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:11.857) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.857) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.857) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.857) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.857) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:11.857) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:11.858) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.858) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.858) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,042358,-0,373914,-0,007064 [DEBUG] (2017-11-20 10:30:11.858) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.858) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.859) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:11.860) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:11.860) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.860) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.863) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003389 s, keypoints extracted = 706 (mask empty=0) [DEBUG] (2017-11-20 10:30:11.863) Memory.cpp:3482::createSignature() time keypoints (706) = 0,006437s [DEBUG] (2017-11-20 10:30:11.867) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 706, remaining kpts=706 [DEBUG] (2017-11-20 10:30:11.867) Memory.cpp:3487::createSignature() time descriptors (706) = 0,003890s [DEBUG] (2017-11-20 10:30:11.867) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=201 [DEBUG] (2017-11-20 10:30:11.867) Memory.cpp:3500::createSignature() time keypoints 3D (706) = 0,000115s [DEBUG] (2017-11-20 10:30:11.867) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.867) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.867) Memory.cpp:3612::createSignature() time descriptor and memory update (706 of size=32) = 0,000032s [DEBUG] (2017-11-20 10:30:11.867) VWDictionary.cpp:593::addNewWords() id=14 descriptors=706 [DEBUG] (2017-11-20 10:30:11.867) VWDictionary.cpp:686::addNewWords() newPts.total()=706 [DEBUG] (2017-11-20 10:30:11.873) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005996 s [DEBUG] (2017-11-20 10:30:11.876) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003076 s [DEBUG] (2017-11-20 10:30:11.876) VWDictionary.cpp:874::addNewWords() 260 new words added... [DEBUG] (2017-11-20 10:30:11.876) VWDictionary.cpp:876::addNewWords() 446 duplicated words added (from current image = 9)... [DEBUG] (2017-11-20 10:30:11.876) VWDictionary.cpp:877::addNewWords() total time 0,009136s [DEBUG] (2017-11-20 10:30:11.876) Memory.cpp:3672::createSignature() time addNewWords 0,009160s indexed=1462 not=260 [DEBUG] (2017-11-20 10:30:11.877) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.879) Memory.cpp:3999::createSignature() time compressing data (id=14) 0,003109s [DEBUG] (2017-11-20 10:30:11.879) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.879) Memory.cpp:639::update() time creating signature=22,942066 ms [DEBUG] (2017-11-20 10:30:11.879) Memory.cpp:724::addSignatureToStm() adding 14 [DEBUG] (2017-11-20 10:30:11.880) Signature.cpp:121::addLink() Add link 14 to 13 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.880) Signature.cpp:121::addLink() Add link 13 to 14 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:786::addSignatureToStm() 706 words ref for the signature 14 [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:794::addSignatureToStm() time = 0,000059s [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:2882::rehearsal() Comparing with signature (11)... [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:2905::rehearsal() merged=0, sim=0,354108 t=0,000138s [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:660::update() time rehearsal=0,231028 ms [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:713::update() totalTimer = 0,023194s [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1016::process() Processing signature 14 w=0 [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023233s [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,042358,-0,373914,-0,007064 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,042358,-0,373914,-0,007064) [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000095s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000311 s [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000007s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000361s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000007s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000006s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000005s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:575::updatePrediction() time copying = 0,000005s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000042s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000019s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:11.880) BayesFilter.cpp:216::computePosterior() normalize time=0,000009s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000098s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000010s [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.880) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:11.880) Graph.cpp:1898::getNodesInRadius() found nodes=4 [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1750::process() near nodes=4, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1836::process() timeReactivations=0,000090s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:1929::process() nearestIds=1/5 [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:11.880) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000030s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.880) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,042358,-0,373914,-0,007064 [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,042358,-0,373914,-0,007064 [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2463::process() Time creating stats = 0,000113... [DEBUG] (2017-11-20 10:30:11.881) Memory.cpp:2219::removeRawData() id=14 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.881) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.881) Memory.cpp:2137::saveLocationData() Saving location data 14 [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000256s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2537::process() Total time processing = 0,024313s... [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:11.881) Rtabmap.cpp:2661::process() Adding data 14 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.881) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.881) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.881) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.881) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 14 [DEBUG] (2017-11-20 10:30:11.881) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000202s [DEBUG] (2017-11-20 10:30:11.881) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.881) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.881) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.881) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:11.881) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.882) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.882) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.882) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.882) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.882) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.882) SensorData.cpp:557::uncompressData() 14 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.882) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.888) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.890) Camera.cpp:103::takeImage() Time capturing image = 0,001443s [DEBUG] (2017-11-20 10:30:11.890) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.890) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.890) RtabmapThread.cpp:628::addData() Added data 15 [ INFO] (2017-11-20 10:30:11.890) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.890) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.890) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.890) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1722)... [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.890) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.893) MainWindow.cpp:1689::processStats() time= 11 ms [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 260 words... [DEBUG] (2017-11-20 10:30:11.893) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.893) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 706 [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 260 words... done! [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=260 removed=0) [DEBUG] (2017-11-20 10:30:11.893) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.893) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.893) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.893) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.893) Memory.cpp:3676::createSignature() id 15 is a bad signature [DEBUG] (2017-11-20 10:30:11.893) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.894) MainWindow.cpp:3844::drawKeypoints() source time = 0,000439 s [DEBUG] (2017-11-20 10:30:11.894) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.894) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:3999::createSignature() time compressing data (id=15) 0,003650s [DEBUG] (2017-11-20 10:30:11.894) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:639::update() time creating signature=3,684044 ms [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:724::addSignatureToStm() adding 15 [DEBUG] (2017-11-20 10:30:11.894) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.894) Signature.cpp:121::addLink() Add link 15 to 14 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.894) Signature.cpp:121::addLink() Add link 14 to 15 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 15 [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:794::addSignatureToStm() time = 0,000077s [DEBUG] (2017-11-20 10:30:11.894) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:660::update() time rehearsal=0,092983 ms [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:713::update() totalTimer = 0,003811s [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1016::process() Processing signature 15 w=-1 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,003850s [DEBUG] (2017-11-20 10:30:11.894) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,042767,-0,377601,-0,007105 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,042767,-0,377601,-0,007105) [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000028s [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:11.894) Graph.cpp:1898::getNodesInRadius() found nodes=5 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1750::process() near nodes=5, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1836::process() timeReactivations=0,000065s [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,042767,-0,377601,-0,007105 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,042767,-0,377601,-0,007105 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2463::process() Time creating stats = 0,000065... [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:2219::removeRawData() id=15 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.894) Memory.cpp:2137::saveLocationData() Saving location data 15 [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000039s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2537::process() Total time processing = 0,004088s... [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:11.894) Rtabmap.cpp:2661::process() Adding data 15 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.894) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.894) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.894) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.894) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 15 [DEBUG] (2017-11-20 10:30:11.894) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000231s [DEBUG] (2017-11-20 10:30:11.894) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.894) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.896) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.896) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.896) MainWindow.cpp:1971::updateMapCloud() posesIn=5 constraints=4 mapIdsIn=5 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.896) MainWindow.cpp:2065::updateMapCloud() Update map with 5 locations [DEBUG] (2017-11-20 10:30:11.896) SensorData.cpp:557::uncompressData() 14 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.896) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:11.896) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.896) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:11.896) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.896) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.896) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.896) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:11.896) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.896) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.896) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.900) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000168s [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.901) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.902) MainWindow.cpp:1931::processStats() Updating GUI time = 0,020000s [DEBUG] (2017-11-20 10:30:11.902) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.902) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.903) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,042767,-0,377601,-0,007105 [DEBUG] (2017-11-20 10:30:11.905) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.905) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.905) SensorData.cpp:557::uncompressData() 15 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.905) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.906) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.907) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.908) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.908) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.908) MainWindow.cpp:1971::updateMapCloud() posesIn=6 constraints=5 mapIdsIn=6 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2065::updateMapCloud() Update map with 6 locations [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000173s [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.909) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.909) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:11.921) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.923) Camera.cpp:103::takeImage() Time capturing image = 0,001117s [DEBUG] (2017-11-20 10:30:11.923) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.923) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.923) RtabmapThread.cpp:628::addData() Added data 16 [ INFO] (2017-11-20 10:30:11.923) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.923) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1722)... [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.923) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.923) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.923) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3676::createSignature() id 16 is a bad signature [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:3999::createSignature() time compressing data (id=16) 0,000134s [DEBUG] (2017-11-20 10:30:11.923) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:639::update() time creating signature=0,167131 ms [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:724::addSignatureToStm() adding 16 [DEBUG] (2017-11-20 10:30:11.923) Signature.cpp:121::addLink() Add link 16 to 15 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.923) Signature.cpp:121::addLink() Add link 15 to 16 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 16 [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:794::addSignatureToStm() time = 0,000043s [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:660::update() time rehearsal=0,054836 ms [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:713::update() totalTimer = 0,000243s [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1016::process() Processing signature 16 w=-1 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000279s [DEBUG] (2017-11-20 10:30:11.923) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,042864,-0,378723,-0,007284 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,042864,-0,378723,-0,007284) [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000039s [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:11.923) Graph.cpp:1898::getNodesInRadius() found nodes=5 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1750::process() near nodes=5, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1836::process() timeReactivations=0,000062s [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,042864,-0,378723,-0,007284 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,042864,-0,378723,-0,007284 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2463::process() Time creating stats = 0,000067... [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:2219::removeRawData() id=16 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.923) Memory.cpp:2137::saveLocationData() Saving location data 16 [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2537::process() Total time processing = 0,000527s... [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:11.923) Rtabmap.cpp:2661::process() Adding data 16 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.923) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.923) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.923) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.923) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 16 [DEBUG] (2017-11-20 10:30:11.923) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.923) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.924) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000226s [DEBUG] (2017-11-20 10:30:11.924) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.924) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.924) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.924) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:11.924) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.924) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.924) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,042864,-0,378723,-0,007284 [DEBUG] (2017-11-20 10:30:11.924) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.924) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.924) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.924) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.929) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.929) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.929) SensorData.cpp:557::uncompressData() 16 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:11.929) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.931) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:1971::updateMapCloud() posesIn=6 constraints=5 mapIdsIn=6 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2065::updateMapCloud() Update map with 6 locations [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000182s [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.933) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.934) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.934) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.934) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:11.961) Camera.cpp:90::takeImage() slept=0,039170s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.962) Camera.cpp:103::takeImage() Time capturing image = 0,001591s [DEBUG] (2017-11-20 10:30:11.962) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.962) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.963) RtabmapThread.cpp:628::addData() Added data 17 [ INFO] (2017-11-20 10:30:11.963) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.963) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.963) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.963) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1722)... [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.963) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.963) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.963) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:11.963) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:11.963) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:11.964) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.964) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.964) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043351,-0,384846,-0,004381 [DEBUG] (2017-11-20 10:30:11.964) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:11.964) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:11.967) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:11.968) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:11.968) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.968) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:11.972) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004159 s, keypoints extracted = 692 (mask empty=0) [DEBUG] (2017-11-20 10:30:11.972) Memory.cpp:3482::createSignature() time keypoints (692) = 0,008554s [DEBUG] (2017-11-20 10:30:11.976) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 692, remaining kpts=692 [DEBUG] (2017-11-20 10:30:11.976) Memory.cpp:3487::createSignature() time descriptors (692) = 0,003742s [DEBUG] (2017-11-20 10:30:11.976) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=207 [DEBUG] (2017-11-20 10:30:11.976) Memory.cpp:3500::createSignature() time keypoints 3D (692) = 0,000078s [DEBUG] (2017-11-20 10:30:11.976) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.976) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.976) Memory.cpp:3612::createSignature() time descriptor and memory update (692 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:11.976) VWDictionary.cpp:593::addNewWords() id=17 descriptors=692 [DEBUG] (2017-11-20 10:30:11.976) VWDictionary.cpp:686::addNewWords() newPts.total()=692 [DEBUG] (2017-11-20 10:30:11.981) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005420 s [DEBUG] (2017-11-20 10:30:11.984) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002943 s [DEBUG] (2017-11-20 10:30:11.984) VWDictionary.cpp:874::addNewWords() 262 new words added... [DEBUG] (2017-11-20 10:30:11.984) VWDictionary.cpp:876::addNewWords() 430 duplicated words added (from current image = 9)... [DEBUG] (2017-11-20 10:30:11.984) VWDictionary.cpp:877::addNewWords() total time 0,008400s [DEBUG] (2017-11-20 10:30:11.984) Memory.cpp:3672::createSignature() time addNewWords 0,008415s indexed=1722 not=262 [DEBUG] (2017-11-20 10:30:11.984) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:3999::createSignature() time compressing data (id=17) 0,002063s [DEBUG] (2017-11-20 10:30:11.986) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:639::update() time creating signature=22,969007 ms [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:724::addSignatureToStm() adding 17 [DEBUG] (2017-11-20 10:30:11.986) Signature.cpp:121::addLink() Add link 17 to 16 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.986) Signature.cpp:121::addLink() Add link 16 to 17 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:786::addSignatureToStm() 692 words ref for the signature 17 [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:2882::rehearsal() Comparing with signature (14)... [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:2905::rehearsal() merged=0, sim=0,303116 t=0,000112s [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:660::update() time rehearsal=0,166893 ms [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:713::update() totalTimer = 0,023155s [DEBUG] (2017-11-20 10:30:11.986) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.986) Rtabmap.cpp:1016::process() Processing signature 17 w=0 [ INFO] (2017-11-20 10:30:11.986) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023188s [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043351,-0,384846,-0,004381 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043351,-0,384846,-0,004381) [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000068s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000148 s [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000003s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000182s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000004s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000004s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000004s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:575::updatePrediction() time copying = 0,000003s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000032s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000014s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000003s [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:11.987) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000074s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000007s [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:11.987) Graph.cpp:1898::getNodesInRadius() found nodes=5 [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1750::process() near nodes=5, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1836::process() timeReactivations=0,000058s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:1929::process() nearestIds=1/6 [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000021s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043351,-0,384846,-0,004381 [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043351,-0,384846,-0,004381 [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2463::process() Time creating stats = 0,000079... [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:2219::removeRawData() id=17 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.987) Memory.cpp:2137::saveLocationData() Saving location data 17 [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000093s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2537::process() Total time processing = 0,023792s... [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:11.987) Rtabmap.cpp:2661::process() Adding data 17 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.987) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.987) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 17 [DEBUG] (2017-11-20 10:30:11.988) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000176s [DEBUG] (2017-11-20 10:30:11.988) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.988) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.988) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.988) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:11.988) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.988) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.988) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.988) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.988) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:11.988) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:11.988) SensorData.cpp:557::uncompressData() 17 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.988) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.990) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:11.990) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.990) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 692 [DEBUG] (2017-11-20 10:30:11.990) MainWindow.cpp:3844::drawKeypoints() source time = 0,000368 s [DEBUG] (2017-11-20 10:30:11.991) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:11.991) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:11.991) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:11.991) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.992) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:11.992) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:11.992) MainWindow.cpp:1971::updateMapCloud() posesIn=6 constraints=5 mapIdsIn=6 labelsIn=1 [DEBUG] (2017-11-20 10:30:11.992) MainWindow.cpp:2065::updateMapCloud() Update map with 6 locations [DEBUG] (2017-11-20 10:30:11.993) SensorData.cpp:557::uncompressData() 17 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:11.993) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:11.993) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.993) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:11.993) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:11.994) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.996) Camera.cpp:103::takeImage() Time capturing image = 0,001927s [DEBUG] (2017-11-20 10:30:11.996) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:11.996) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:11.996) RtabmapThread.cpp:628::addData() Added data 18 [ INFO] (2017-11-20 10:30:11.996) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:11.996) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:11.996) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.996) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1984)... [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000214s [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:11.996) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:11.996) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:11.996) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:11.996) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:11.996) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 262 words... [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:11.996) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:11.997) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 262 words... done! [DEBUG] (2017-11-20 10:30:11.997) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=262 removed=0) [DEBUG] (2017-11-20 10:30:11.997) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:3676::createSignature() id 18 is a bad signature [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:3999::createSignature() time compressing data (id=18) 0,000892s [DEBUG] (2017-11-20 10:30:11.997) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:639::update() time creating signature=0,921011 ms [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:724::addSignatureToStm() adding 18 [DEBUG] (2017-11-20 10:30:11.997) Signature.cpp:121::addLink() Add link 18 to 17 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.997) Signature.cpp:121::addLink() Add link 17 to 18 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 18 [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:660::update() time rehearsal=0,042915 ms [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:713::update() totalTimer = 0,000982s [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1016::process() Processing signature 18 w=-1 [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001016s [DEBUG] (2017-11-20 10:30:11.997) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:11.997) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043624,-0,384063,-0,003120 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043624,-0,384063,-0,003120) [DEBUG] (2017-11-20 10:30:11.997) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000019s [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:11.997) Graph.cpp:1898::getNodesInRadius() found nodes=6 [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1750::process() near nodes=6, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1836::process() timeReactivations=0,000048s [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:11.997) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043624,-0,384063,-0,003120 [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043624,-0,384063,-0,003120 [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:2219::removeRawData() id=18 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:11.997) Memory.cpp:2137::saveLocationData() Saving location data 18 [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000027s... 0 signatures removed [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2537::process() Total time processing = 0,001203s... [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:11.997) Rtabmap.cpp:2661::process() Adding data 18 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:11.997) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:11.997) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:11.997) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:11.997) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 18 [DEBUG] (2017-11-20 10:30:11.998) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000159s [DEBUG] (2017-11-20 10:30:11.998) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:11.998) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:11.998) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:11.998) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:11.998) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:11.998) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:11.998) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:11.998) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:11.998) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:11.998) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:11.999) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043624,-0,384063,-0,003120 [DEBUG] (2017-11-20 10:30:12.015) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.015) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.015) SensorData.cpp:557::uncompressData() 18 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.015) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.017) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.018) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.018) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.018) MainWindow.cpp:1971::updateMapCloud() posesIn=7 constraints=6 mapIdsIn=7 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.018) MainWindow.cpp:2065::updateMapCloud() Update map with 7 locations [DEBUG] (2017-11-20 10:30:12.018) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000187s [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.019) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.020) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.020) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.020) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.027) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.028) Camera.cpp:103::takeImage() Time capturing image = 0,001149s [DEBUG] (2017-11-20 10:30:12.029) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.029) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.029) RtabmapThread.cpp:628::addData() Added data 19 [ INFO] (2017-11-20 10:30:12.029) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.029) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1984)... [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.029) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.029) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.029) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3676::createSignature() id 19 is a bad signature [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:3999::createSignature() time compressing data (id=19) 0,000131s [DEBUG] (2017-11-20 10:30:12.029) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:639::update() time creating signature=0,159979 ms [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:724::addSignatureToStm() adding 19 [DEBUG] (2017-11-20 10:30:12.029) Signature.cpp:121::addLink() Add link 19 to 18 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.029) Signature.cpp:121::addLink() Add link 18 to 19 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 19 [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:713::update() totalTimer = 0,000231s [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1016::process() Processing signature 19 w=-1 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000263s [DEBUG] (2017-11-20 10:30:12.029) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043305,-0,391120,-0,002520 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043305,-0,391120,-0,002520) [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000040s [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:12.029) Graph.cpp:1898::getNodesInRadius() found nodes=6 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1750::process() near nodes=6, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1836::process() timeReactivations=0,000060s [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043305,-0,391120,-0,002520 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043305,-0,391120,-0,002520 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2463::process() Time creating stats = 0,000062... [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:2219::removeRawData() id=19 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.029) Memory.cpp:2137::saveLocationData() Saving location data 19 [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2537::process() Total time processing = 0,000500s... [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.029) Rtabmap.cpp:2661::process() Adding data 19 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.029) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.029) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.029) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.029) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 19 [DEBUG] (2017-11-20 10:30:12.030) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000221s [DEBUG] (2017-11-20 10:30:12.030) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.030) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.030) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.030) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.030) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:12.030) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.030) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.030) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.030) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.030) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.030) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043305,-0,391120,-0,002520 [DEBUG] (2017-11-20 10:30:12.030) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.030) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.034) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.034) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.034) SensorData.cpp:557::uncompressData() 19 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.034) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.036) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.037) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.037) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.037) MainWindow.cpp:1971::updateMapCloud() posesIn=7 constraints=6 mapIdsIn=7 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.037) MainWindow.cpp:2065::updateMapCloud() Update map with 7 locations [DEBUG] (2017-11-20 10:30:12.037) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000182s [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.038) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.038) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.061) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.062) Camera.cpp:103::takeImage() Time capturing image = 0,001161s [DEBUG] (2017-11-20 10:30:12.062) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.062) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.062) RtabmapThread.cpp:628::addData() Added data 20 [ INFO] (2017-11-20 10:30:12.062) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.062) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1984)... [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.062) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.062) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.062) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3676::createSignature() id 20 is a bad signature [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:3999::createSignature() time compressing data (id=20) 0,000134s [DEBUG] (2017-11-20 10:30:12.062) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:639::update() time creating signature=0,165939 ms [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:724::addSignatureToStm() adding 20 [DEBUG] (2017-11-20 10:30:12.062) Signature.cpp:121::addLink() Add link 20 to 19 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.062) Signature.cpp:121::addLink() Add link 19 to 20 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 20 [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:660::update() time rehearsal=0,053167 ms [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:713::update() totalTimer = 0,000239s [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1016::process() Processing signature 20 w=-1 [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000271s [DEBUG] (2017-11-20 10:30:12.062) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,044087,-0,387934,-0,006187 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,044087,-0,387934,-0,006187) [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.062) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:12.062) Graph.cpp:1898::getNodesInRadius() found nodes=6 [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1750::process() near nodes=6, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1836::process() timeReactivations=0,000066s [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,044087,-0,387934,-0,006187 [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,044087,-0,387934,-0,006187 [ INFO] (2017-11-20 10:30:12.062) Rtabmap.cpp:2463::process() Time creating stats = 0,000058... [DEBUG] (2017-11-20 10:30:12.063) Memory.cpp:2219::removeRawData() id=20 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.063) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.063) Memory.cpp:2137::saveLocationData() Saving location data 20 [ INFO] (2017-11-20 10:30:12.063) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.063) Rtabmap.cpp:2537::process() Total time processing = 0,000505s... [ INFO] (2017-11-20 10:30:12.063) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:12.063) Rtabmap.cpp:2661::process() Adding data 20 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.063) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.063) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.063) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.063) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 20 [DEBUG] (2017-11-20 10:30:12.063) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.063) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.063) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000169s [DEBUG] (2017-11-20 10:30:12.063) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.063) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.063) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.063) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:12.063) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.063) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.063) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.063) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.063) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,044087,-0,387934,-0,006187 [DEBUG] (2017-11-20 10:30:12.063) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.063) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.068) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.068) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.068) SensorData.cpp:557::uncompressData() 20 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.068) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.069) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.070) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.071) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.071) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.071) MainWindow.cpp:1971::updateMapCloud() posesIn=7 constraints=6 mapIdsIn=7 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.071) MainWindow.cpp:2065::updateMapCloud() Update map with 7 locations [DEBUG] (2017-11-20 10:30:12.071) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000186s [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.072) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.073) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.073) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.073) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.094) Camera.cpp:90::takeImage() slept=0,033354s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.095) Camera.cpp:103::takeImage() Time capturing image = 0,001144s [DEBUG] (2017-11-20 10:30:12.095) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.095) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.095) RtabmapThread.cpp:628::addData() Added data 21 [ INFO] (2017-11-20 10:30:12.095) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.095) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.095) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.095) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=1984)... [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.095) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.095) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.095) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.095) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.095) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.096) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.096) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.096) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,044599,-0,385130,-0,008004 [DEBUG] (2017-11-20 10:30:12.097) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.097) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.098) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.099) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.099) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.099) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.103) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003986 s, keypoints extracted = 688 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.103) Memory.cpp:3482::createSignature() time keypoints (688) = 0,007814s [DEBUG] (2017-11-20 10:30:12.107) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 688, remaining kpts=688 [DEBUG] (2017-11-20 10:30:12.107) Memory.cpp:3487::createSignature() time descriptors (688) = 0,003998s [DEBUG] (2017-11-20 10:30:12.107) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=200 [DEBUG] (2017-11-20 10:30:12.107) Memory.cpp:3500::createSignature() time keypoints 3D (688) = 0,000089s [DEBUG] (2017-11-20 10:30:12.107) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.107) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.107) Memory.cpp:3612::createSignature() time descriptor and memory update (688 of size=32) = 0,000019s [DEBUG] (2017-11-20 10:30:12.107) VWDictionary.cpp:593::addNewWords() id=21 descriptors=688 [DEBUG] (2017-11-20 10:30:12.107) VWDictionary.cpp:686::addNewWords() newPts.total()=688 [DEBUG] (2017-11-20 10:30:12.113) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005404 s [DEBUG] (2017-11-20 10:30:12.115) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002603 s [DEBUG] (2017-11-20 10:30:12.115) VWDictionary.cpp:874::addNewWords() 223 new words added... [DEBUG] (2017-11-20 10:30:12.115) VWDictionary.cpp:876::addNewWords() 465 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:12.115) VWDictionary.cpp:877::addNewWords() total time 0,008038s [DEBUG] (2017-11-20 10:30:12.115) Memory.cpp:3672::createSignature() time addNewWords 0,008053s indexed=1984 not=223 [DEBUG] (2017-11-20 10:30:12.116) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.117) Memory.cpp:3999::createSignature() time compressing data (id=21) 0,002050s [DEBUG] (2017-11-20 10:30:12.117) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.117) Memory.cpp:639::update() time creating signature=22,121906 ms [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:724::addSignatureToStm() adding 21 [DEBUG] (2017-11-20 10:30:12.118) Signature.cpp:121::addLink() Add link 21 to 20 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.118) Signature.cpp:121::addLink() Add link 20 to 21 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:786::addSignatureToStm() 688 words ref for the signature 21 [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:2882::rehearsal() Comparing with signature (17)... [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:2905::rehearsal() merged=0, sim=0,341040 t=0,000121s [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:660::update() time rehearsal=0,193119 ms [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:713::update() totalTimer = 0,022335s [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1016::process() Processing signature 21 w=0 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022374s [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,044599,-0,385130,-0,008004 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,044599,-0,385130,-0,008004) [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000076s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000174 s [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000005s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000221s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000008s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000006s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000007s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000006s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000053s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000006s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:12.118) BayesFilter.cpp:216::computePosterior() normalize time=0,000012s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000123s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000012s [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:12.118) Graph.cpp:1898::getNodesInRadius() found nodes=6 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1750::process() near nodes=6, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1836::process() timeReactivations=0,000067s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:1929::process() nearestIds=1/7 [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.118) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000036s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,044599,-0,385130,-0,008004 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,044599,-0,385130,-0,008004 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2463::process() Time creating stats = 0,000098... [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:2219::removeRawData() id=21 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.118) Memory.cpp:2137::saveLocationData() Saving location data 21 [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000106s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2537::process() Total time processing = 0,023148s... [ INFO] (2017-11-20 10:30:12.118) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:12.119) Rtabmap.cpp:2661::process() Adding data 21 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.119) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.119) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.119) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.119) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 21 [DEBUG] (2017-11-20 10:30:12.119) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000179s [DEBUG] (2017-11-20 10:30:12.119) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.119) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.119) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.119) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:12.119) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.119) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.119) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.119) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.120) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.120) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.120) SensorData.cpp:557::uncompressData() 21 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.120) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.121) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 688 [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:3844::drawKeypoints() source time = 0,000381 s [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.122) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.124) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.124) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.124) MainWindow.cpp:1971::updateMapCloud() posesIn=7 constraints=6 mapIdsIn=7 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.124) MainWindow.cpp:2065::updateMapCloud() Update map with 7 locations [DEBUG] (2017-11-20 10:30:12.124) SensorData.cpp:557::uncompressData() 21 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.124) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.124) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.124) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.124) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.127) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.127) Camera.cpp:90::takeImage() slept=0,033387s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000177s [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.128) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:12.128) Camera.cpp:103::takeImage() Time capturing image = 0,001049s [DEBUG] (2017-11-20 10:30:12.128) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.129) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.129) RtabmapThread.cpp:628::addData() Added data 22 [ INFO] (2017-11-20 10:30:12.129) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.129) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:12.129) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.129) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.129) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.129) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2207)... [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:3404::createSignature() Start dictionary update thread [ INFO] (2017-11-20 10:30:12.129) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:12.129) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.129) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.129) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.129) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 223 words... [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.129) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.129) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 1023 -> 2047 [DEBUG] (2017-11-20 10:30:12.130) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.130) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.130) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043010,-0,386990,-0,008679 [DEBUG] (2017-11-20 10:30:12.133) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 223 words... done! [DEBUG] (2017-11-20 10:30:12.133) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=223 removed=0) [DEBUG] (2017-11-20 10:30:12.133) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.133) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.133) Memory.cpp:3676::createSignature() id 22 is a bad signature [DEBUG] (2017-11-20 10:30:12.133) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:3999::createSignature() time compressing data (id=22) 0,004839s [DEBUG] (2017-11-20 10:30:12.134) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:639::update() time creating signature=4,877090 ms [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:724::addSignatureToStm() adding 22 [DEBUG] (2017-11-20 10:30:12.134) Signature.cpp:121::addLink() Add link 22 to 21 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.134) Signature.cpp:121::addLink() Add link 21 to 22 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 22 [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:660::update() time rehearsal=0,046968 ms [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:713::update() totalTimer = 0,004944s [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1016::process() Processing signature 22 w=-1 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,004977s [DEBUG] (2017-11-20 10:30:12.134) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043010,-0,386990,-0,008679 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043010,-0,386990,-0,008679) [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000020s [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000010s [DEBUG] (2017-11-20 10:30:12.134) Graph.cpp:1898::getNodesInRadius() found nodes=7 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1750::process() near nodes=7, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1836::process() timeReactivations=0,000065s [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043010,-0,386990,-0,008679 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043010,-0,386990,-0,008679 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:2219::removeRawData() id=22 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.134) Memory.cpp:2137::saveLocationData() Saving location data 22 [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000032s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2537::process() Total time processing = 0,005162s... [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.134) Rtabmap.cpp:2661::process() Adding data 22 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.134) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.134) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.134) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.134) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 22 [DEBUG] (2017-11-20 10:30:12.134) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000198s [DEBUG] (2017-11-20 10:30:12.134) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.134) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.134) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.134) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000018s... [DEBUG] (2017-11-20 10:30:12.134) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.134) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.134) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.134) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.145) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.145) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.145) SensorData.cpp:557::uncompressData() 22 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.146) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.147) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.149) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.149) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.149) MainWindow.cpp:1971::updateMapCloud() posesIn=8 constraints=7 mapIdsIn=8 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.149) MainWindow.cpp:2065::updateMapCloud() Update map with 8 locations [DEBUG] (2017-11-20 10:30:12.149) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000181s [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.150) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.150) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.161) Camera.cpp:90::takeImage() slept=0,033343s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.162) Camera.cpp:103::takeImage() Time capturing image = 0,001220s [DEBUG] (2017-11-20 10:30:12.162) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.162) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.162) RtabmapThread.cpp:628::addData() Added data 23 [ INFO] (2017-11-20 10:30:12.162) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.162) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.162) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.162) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2207)... [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.162) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.162) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.162) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3676::createSignature() id 23 is a bad signature [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:3999::createSignature() time compressing data (id=23) 0,000151s [DEBUG] (2017-11-20 10:30:12.162) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:639::update() time creating signature=0,180006 ms [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:724::addSignatureToStm() adding 23 [DEBUG] (2017-11-20 10:30:12.162) Signature.cpp:121::addLink() Add link 23 to 22 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.162) Signature.cpp:121::addLink() Add link 22 to 23 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 23 [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:660::update() time rehearsal=0,052929 ms [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:713::update() totalTimer = 0,000253s [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.162) Rtabmap.cpp:1016::process() Processing signature 23 w=-1 [ INFO] (2017-11-20 10:30:12.162) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000285s [DEBUG] (2017-11-20 10:30:12.162) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043247,-0,389253,-0,009001 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043247,-0,389253,-0,009001) [ INFO] (2017-11-20 10:30:12.162) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.162) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.162) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000018s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:12.163) Graph.cpp:1898::getNodesInRadius() found nodes=7 [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:1750::process() near nodes=7, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:1836::process() timeReactivations=0,000061s [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043247,-0,389253,-0,009001 [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043247,-0,389253,-0,009001 [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2463::process() Time creating stats = 0,000062... [DEBUG] (2017-11-20 10:30:12.163) Memory.cpp:2219::removeRawData() id=23 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.163) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.163) Memory.cpp:2137::saveLocationData() Saving location data 23 [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2537::process() Total time processing = 0,000523s... [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.163) Rtabmap.cpp:2661::process() Adding data 23 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.163) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.163) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.163) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.163) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 23 [DEBUG] (2017-11-20 10:30:12.163) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.163) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.163) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000231s [DEBUG] (2017-11-20 10:30:12.163) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.163) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.163) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.163) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.163) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:12.163) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.163) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.163) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.163) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043247,-0,389253,-0,009001 [DEBUG] (2017-11-20 10:30:12.163) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.164) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.168) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.168) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.168) SensorData.cpp:557::uncompressData() 23 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.168) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.169) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.170) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:1971::updateMapCloud() posesIn=8 constraints=7 mapIdsIn=8 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2065::updateMapCloud() Update map with 8 locations [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000179s [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.171) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.172) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.172) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.172) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.194) Camera.cpp:90::takeImage() slept=0,033371s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.195) Camera.cpp:103::takeImage() Time capturing image = 0,001159s [DEBUG] (2017-11-20 10:30:12.195) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.195) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.195) RtabmapThread.cpp:628::addData() Added data 24 [ INFO] (2017-11-20 10:30:12.195) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.195) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.195) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.196) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2207)... [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.196) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.196) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.196) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.196) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.196) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.197) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.197) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.197) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043652,-0,389949,-0,011394 [DEBUG] (2017-11-20 10:30:12.197) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.197) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.198) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.198) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.198) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.198) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.203) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004472 s, keypoints extracted = 697 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.203) Memory.cpp:3482::createSignature() time keypoints (697) = 0,007122s [DEBUG] (2017-11-20 10:30:12.206) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 697, remaining kpts=697 [DEBUG] (2017-11-20 10:30:12.206) Memory.cpp:3487::createSignature() time descriptors (697) = 0,003814s [DEBUG] (2017-11-20 10:30:12.207) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=204 [DEBUG] (2017-11-20 10:30:12.207) Memory.cpp:3500::createSignature() time keypoints 3D (697) = 0,000130s [DEBUG] (2017-11-20 10:30:12.207) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.207) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.207) Memory.cpp:3612::createSignature() time descriptor and memory update (697 of size=32) = 0,000027s [DEBUG] (2017-11-20 10:30:12.207) VWDictionary.cpp:593::addNewWords() id=24 descriptors=697 [DEBUG] (2017-11-20 10:30:12.207) VWDictionary.cpp:686::addNewWords() newPts.total()=697 [DEBUG] (2017-11-20 10:30:12.213) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005927 s [DEBUG] (2017-11-20 10:30:12.216) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003088 s [DEBUG] (2017-11-20 10:30:12.216) VWDictionary.cpp:874::addNewWords() 261 new words added... [DEBUG] (2017-11-20 10:30:12.216) VWDictionary.cpp:876::addNewWords() 436 duplicated words added (from current image = 12)... [DEBUG] (2017-11-20 10:30:12.216) VWDictionary.cpp:877::addNewWords() total time 0,009060s [DEBUG] (2017-11-20 10:30:12.216) Memory.cpp:3672::createSignature() time addNewWords 0,009083s indexed=2207 not=261 [DEBUG] (2017-11-20 10:30:12.216) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:3999::createSignature() time compressing data (id=24) 0,002109s [DEBUG] (2017-11-20 10:30:12.218) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:639::update() time creating signature=22,405863 ms [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:724::addSignatureToStm() adding 24 [DEBUG] (2017-11-20 10:30:12.218) Signature.cpp:121::addLink() Add link 24 to 23 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.218) Signature.cpp:121::addLink() Add link 23 to 24 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:786::addSignatureToStm() 697 words ref for the signature 24 [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:2882::rehearsal() Comparing with signature (21)... [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:2905::rehearsal() merged=0, sim=0,276901 t=0,000122s [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:660::update() time rehearsal=0,182152 ms [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:713::update() totalTimer = 0,022608s [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.218) Rtabmap.cpp:1016::process() Processing signature 24 w=0 [ INFO] (2017-11-20 10:30:12.218) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022643s [DEBUG] (2017-11-20 10:30:12.218) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043652,-0,389949,-0,011394 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043652,-0,389949,-0,011394) [ INFO] (2017-11-20 10:30:12.218) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000075s [ INFO] (2017-11-20 10:30:12.218) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.218) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000228 s [DEBUG] (2017-11-20 10:30:12.218) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:12.218) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:12.218) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000004s [ INFO] (2017-11-20 10:30:12.218) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000264s [ INFO] (2017-11-20 10:30:12.218) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.218) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.218) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:575::updatePrediction() time copying = 0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000033s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000014s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:12.219) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000076s [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000008s [DEBUG] (2017-11-20 10:30:12.219) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.219) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:12.219) Graph.cpp:1898::getNodesInRadius() found nodes=7 [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1750::process() near nodes=7, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1836::process() timeReactivations=0,000064s [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:1929::process() nearestIds=1/8 [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000023s [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043652,-0,389949,-0,011394 [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043652,-0,389949,-0,011394 [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2463::process() Time creating stats = 0,000084... [DEBUG] (2017-11-20 10:30:12.219) Memory.cpp:2219::removeRawData() id=24 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.219) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.219) Memory.cpp:2137::saveLocationData() Saving location data 24 [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000104s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2537::process() Total time processing = 0,023363s... [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.219) Rtabmap.cpp:2661::process() Adding data 24 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.219) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 24 [DEBUG] (2017-11-20 10:30:12.219) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000180s [DEBUG] (2017-11-20 10:30:12.219) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.219) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.221) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.221) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:12.221) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.221) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.221) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.221) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.221) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.221) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.221) SensorData.cpp:557::uncompressData() 24 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.221) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.223) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.223) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.223) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 697 [DEBUG] (2017-11-20 10:30:12.224) MainWindow.cpp:3844::drawKeypoints() source time = 0,000377 s [DEBUG] (2017-11-20 10:30:12.224) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.224) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.224) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.224) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.226) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.226) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.226) MainWindow.cpp:1971::updateMapCloud() posesIn=8 constraints=7 mapIdsIn=8 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.226) MainWindow.cpp:2065::updateMapCloud() Update map with 8 locations [DEBUG] (2017-11-20 10:30:12.226) SensorData.cpp:557::uncompressData() 24 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.226) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.226) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.226) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.226) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.227) Camera.cpp:90::takeImage() slept=0,033365s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.230) Camera.cpp:103::takeImage() Time capturing image = 0,002456s [DEBUG] (2017-11-20 10:30:12.230) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.230) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.230) RtabmapThread.cpp:628::addData() Added data 25 [ INFO] (2017-11-20 10:30:12.230) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.230) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.230) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.230) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2468)... [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.230) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.230) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.230) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.230) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000161s [DEBUG] (2017-11-20 10:30:12.230) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 261 words... [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.230) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:12.231) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 261 words... done! [DEBUG] (2017-11-20 10:30:12.231) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=261 removed=0) [DEBUG] (2017-11-20 10:30:12.231) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:3676::createSignature() id 25 is a bad signature [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:3999::createSignature() time compressing data (id=25) 0,000824s [DEBUG] (2017-11-20 10:30:12.231) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:639::update() time creating signature=0,846148 ms [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:724::addSignatureToStm() adding 25 [DEBUG] (2017-11-20 10:30:12.231) Signature.cpp:121::addLink() Add link 25 to 24 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.231) Signature.cpp:121::addLink() Add link 24 to 25 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 25 [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:660::update() time rehearsal=0,038862 ms [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:713::update() totalTimer = 0,000903s [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1016::process() Processing signature 25 w=-1 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000931s [DEBUG] (2017-11-20 10:30:12.231) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.231) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043199,-0,385169,-0,014497 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043199,-0,385169,-0,014497) [DEBUG] (2017-11-20 10:30:12.231) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000023s [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000047s [DEBUG] (2017-11-20 10:30:12.231) Graph.cpp:1898::getNodesInRadius() found nodes=8 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1750::process() near nodes=8, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1836::process() timeReactivations=0,000047s [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000011s [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.231) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043199,-0,385169,-0,014497 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043199,-0,385169,-0,014497 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2463::process() Time creating stats = 0,000083... [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:2219::removeRawData() id=25 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.231) Memory.cpp:2137::saveLocationData() Saving location data 25 [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2537::process() Total time processing = 0,001180s... [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:12.231) Rtabmap.cpp:2661::process() Adding data 25 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.231) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.231) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.231) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.231) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 25 [DEBUG] (2017-11-20 10:30:12.232) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000163s [DEBUG] (2017-11-20 10:30:12.232) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.232) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.232) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.232) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000007s... [DEBUG] (2017-11-20 10:30:12.232) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.232) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.232) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.232) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.232) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.232) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.233) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043199,-0,385169,-0,014497 [DEBUG] (2017-11-20 10:30:12.247) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.247) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.247) SensorData.cpp:557::uncompressData() 25 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.247) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.249) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:1971::updateMapCloud() posesIn=9 constraints=8 mapIdsIn=9 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2065::updateMapCloud() Update map with 9 locations [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000160s [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.251) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.252) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.252) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.252) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.261) Camera.cpp:90::takeImage() slept=0,033342s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.262) Camera.cpp:103::takeImage() Time capturing image = 0,001384s [DEBUG] (2017-11-20 10:30:12.262) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.262) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.262) RtabmapThread.cpp:628::addData() Added data 26 [ INFO] (2017-11-20 10:30:12.262) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.262) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.262) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.262) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2468)... [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.262) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.262) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.262) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3676::createSignature() id 26 is a bad signature [DEBUG] (2017-11-20 10:30:12.262) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:3999::createSignature() time compressing data (id=26) 0,000115s [DEBUG] (2017-11-20 10:30:12.263) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:639::update() time creating signature=0,134945 ms [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:724::addSignatureToStm() adding 26 [DEBUG] (2017-11-20 10:30:12.263) Signature.cpp:121::addLink() Add link 26 to 25 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.263) Signature.cpp:121::addLink() Add link 25 to 26 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 26 [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:660::update() time rehearsal=0,039101 ms [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:713::update() totalTimer = 0,000190s [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1016::process() Processing signature 26 w=-1 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000218s [DEBUG] (2017-11-20 10:30:12.263) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,042256,-0,389359,-0,013275 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,042256,-0,389359,-0,013275) [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000007s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:12.263) Graph.cpp:1898::getNodesInRadius() found nodes=8 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1750::process() near nodes=8, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1836::process() timeReactivations=0,000055s [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,042256,-0,389359,-0,013275 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,042256,-0,389359,-0,013275 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:2219::removeRawData() id=26 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.263) Memory.cpp:2137::saveLocationData() Saving location data 26 [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2537::process() Total time processing = 0,000397s... [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.263) Rtabmap.cpp:2661::process() Adding data 26 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.263) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.263) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.263) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.263) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 26 [DEBUG] (2017-11-20 10:30:12.263) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000166s [DEBUG] (2017-11-20 10:30:12.263) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.263) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.263) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.263) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:12.263) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.263) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.263) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.263) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.263) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.263) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.263) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,042256,-0,389359,-0,013275 [DEBUG] (2017-11-20 10:30:12.264) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.264) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.268) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.268) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.268) SensorData.cpp:557::uncompressData() 26 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.268) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.270) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.272) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.272) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.272) MainWindow.cpp:1971::updateMapCloud() posesIn=9 constraints=8 mapIdsIn=9 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.272) MainWindow.cpp:2065::updateMapCloud() Update map with 9 locations [DEBUG] (2017-11-20 10:30:12.272) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000258s [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.273) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.274) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.274) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.274) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:12.294) Camera.cpp:90::takeImage() slept=0,033351s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.295) Camera.cpp:103::takeImage() Time capturing image = 0,001144s [DEBUG] (2017-11-20 10:30:12.295) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.295) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.295) RtabmapThread.cpp:628::addData() Added data 27 [ INFO] (2017-11-20 10:30:12.295) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.295) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.295) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.295) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.296) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2468)... [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.296) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.296) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.296) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.296) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.296) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.296) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.296) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.297) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,041470,-0,390787,-0,013495 [DEBUG] (2017-11-20 10:30:12.297) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.297) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.297) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.298) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.298) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.298) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.301) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003006 s, keypoints extracted = 689 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.301) Memory.cpp:3482::createSignature() time keypoints (689) = 0,005539s [DEBUG] (2017-11-20 10:30:12.305) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 689, remaining kpts=689 [DEBUG] (2017-11-20 10:30:12.305) Memory.cpp:3487::createSignature() time descriptors (689) = 0,003580s [DEBUG] (2017-11-20 10:30:12.305) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=207 [DEBUG] (2017-11-20 10:30:12.305) Memory.cpp:3500::createSignature() time keypoints 3D (689) = 0,000078s [DEBUG] (2017-11-20 10:30:12.305) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.305) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.305) Memory.cpp:3612::createSignature() time descriptor and memory update (689 of size=32) = 0,000018s [DEBUG] (2017-11-20 10:30:12.305) VWDictionary.cpp:593::addNewWords() id=27 descriptors=689 [DEBUG] (2017-11-20 10:30:12.305) VWDictionary.cpp:686::addNewWords() newPts.total()=689 [DEBUG] (2017-11-20 10:30:12.310) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005323 s [DEBUG] (2017-11-20 10:30:12.313) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002682 s [DEBUG] (2017-11-20 10:30:12.313) VWDictionary.cpp:874::addNewWords() 230 new words added... [DEBUG] (2017-11-20 10:30:12.313) VWDictionary.cpp:876::addNewWords() 459 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:12.313) VWDictionary.cpp:877::addNewWords() total time 0,008046s [DEBUG] (2017-11-20 10:30:12.313) Memory.cpp:3672::createSignature() time addNewWords 0,008063s indexed=2468 not=230 [DEBUG] (2017-11-20 10:30:12.313) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:3999::createSignature() time compressing data (id=27) 0,002096s [DEBUG] (2017-11-20 10:30:12.315) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:639::update() time creating signature=19,504070 ms [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:724::addSignatureToStm() adding 27 [DEBUG] (2017-11-20 10:30:12.315) Signature.cpp:121::addLink() Add link 27 to 26 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.315) Signature.cpp:121::addLink() Add link 26 to 27 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:786::addSignatureToStm() 689 words ref for the signature 27 [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:2882::rehearsal() Comparing with signature (24)... [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:2905::rehearsal() merged=0, sim=0,269727 t=0,000126s [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:660::update() time rehearsal=0,191927 ms [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:713::update() totalTimer = 0,019712s [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.315) Rtabmap.cpp:1016::process() Processing signature 27 w=0 [ INFO] (2017-11-20 10:30:12.315) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,019736s [DEBUG] (2017-11-20 10:30:12.315) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,041470,-0,390787,-0,013495 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,041470,-0,390787,-0,013495) [ INFO] (2017-11-20 10:30:12.315) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000044s [ INFO] (2017-11-20 10:30:12.315) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.315) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.316) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000216 s [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000003s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000251s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:575::updatePrediction() time copying = 0,000003s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000031s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000014s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:12.316) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000073s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000008s [DEBUG] (2017-11-20 10:30:12.316) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.316) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:12.316) Graph.cpp:1898::getNodesInRadius() found nodes=8 [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1750::process() near nodes=8, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1836::process() timeReactivations=0,000062s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:1929::process() nearestIds=1/9 [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,041470,-0,390787,-0,013495 [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,041470,-0,390787,-0,013495 [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2463::process() Time creating stats = 0,000082... [DEBUG] (2017-11-20 10:30:12.316) Memory.cpp:2219::removeRawData() id=27 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.316) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.316) Memory.cpp:2137::saveLocationData() Saving location data 27 [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000100s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2537::process() Total time processing = 0,020401s... [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.316) Rtabmap.cpp:2661::process() Adding data 27 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.316) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 27 [DEBUG] (2017-11-20 10:30:12.316) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000176s [DEBUG] (2017-11-20 10:30:12.316) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.316) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.316) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.316) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:12.317) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.317) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.317) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.317) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.317) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.317) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.317) SensorData.cpp:557::uncompressData() 27 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.317) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.319) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.319) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.319) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 689 [DEBUG] (2017-11-20 10:30:12.319) MainWindow.cpp:3844::drawKeypoints() source time = 0,000385 s [DEBUG] (2017-11-20 10:30:12.319) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.319) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.320) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.320) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.321) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.321) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.321) MainWindow.cpp:1971::updateMapCloud() posesIn=9 constraints=8 mapIdsIn=9 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.321) MainWindow.cpp:2065::updateMapCloud() Update map with 9 locations [DEBUG] (2017-11-20 10:30:12.321) SensorData.cpp:557::uncompressData() 27 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.321) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.321) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.321) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.321) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000159s [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.324) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:12.325) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.325) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.325) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:12.327) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.329) Camera.cpp:103::takeImage() Time capturing image = 0,001102s [DEBUG] (2017-11-20 10:30:12.329) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.329) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.329) RtabmapThread.cpp:628::addData() Added data 28 [ INFO] (2017-11-20 10:30:12.329) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.329) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.329) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.329) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2698)... [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 230 words... [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 230 words... done! [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=230 removed=0) [DEBUG] (2017-11-20 10:30:12.329) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3676::createSignature() id 28 is a bad signature [DEBUG] (2017-11-20 10:30:12.329) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:3999::createSignature() time compressing data (id=28) 0,000688s [DEBUG] (2017-11-20 10:30:12.330) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:639::update() time creating signature=0,712156 ms [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:724::addSignatureToStm() adding 28 [DEBUG] (2017-11-20 10:30:12.330) Signature.cpp:121::addLink() Add link 28 to 27 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.330) Signature.cpp:121::addLink() Add link 27 to 28 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 28 [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:660::update() time rehearsal=0,053883 ms [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:713::update() totalTimer = 0,000784s [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1016::process() Processing signature 28 w=-1 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000816s [DEBUG] (2017-11-20 10:30:12.330) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043728,-0,390893,-0,016561 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043728,-0,390893,-0,016561) [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000022s [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:12.330) Graph.cpp:1898::getNodesInRadius() found nodes=9 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1750::process() near nodes=9, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1836::process() timeReactivations=0,000054s [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043728,-0,390893,-0,016561 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043728,-0,390893,-0,016561 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2463::process() Time creating stats = 0,000055... [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:2219::removeRawData() id=28 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.330) Memory.cpp:2137::saveLocationData() Saving location data 28 [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2537::process() Total time processing = 0,001020s... [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:12.330) Rtabmap.cpp:2661::process() Adding data 28 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.330) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.330) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.330) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.330) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 28 [DEBUG] (2017-11-20 10:30:12.330) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000157s [DEBUG] (2017-11-20 10:30:12.330) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.330) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.330) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.330) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:12.330) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.330) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.330) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.330) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.336) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.336) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.337) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043728,-0,390893,-0,016561 [DEBUG] (2017-11-20 10:30:12.337) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.337) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.341) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.341) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.341) SensorData.cpp:557::uncompressData() 28 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.341) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.343) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.345) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.345) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.345) MainWindow.cpp:1971::updateMapCloud() posesIn=10 constraints=9 mapIdsIn=10 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.345) MainWindow.cpp:2065::updateMapCloud() Update map with 10 locations [DEBUG] (2017-11-20 10:30:12.345) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000184s [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.346) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.346) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.361) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.362) Camera.cpp:103::takeImage() Time capturing image = 0,001267s [DEBUG] (2017-11-20 10:30:12.362) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.362) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.362) RtabmapThread.cpp:628::addData() Added data 29 [ INFO] (2017-11-20 10:30:12.362) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.362) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.362) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.362) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2698)... [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:621::update() time preUpdate=0,011206 ms [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.362) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.362) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.362) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.362) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:3676::createSignature() id 29 is a bad signature [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:3999::createSignature() time compressing data (id=29) 0,000193s [DEBUG] (2017-11-20 10:30:12.363) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:639::update() time creating signature=0,221968 ms [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:724::addSignatureToStm() adding 29 [DEBUG] (2017-11-20 10:30:12.363) Signature.cpp:121::addLink() Add link 29 to 28 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.363) Signature.cpp:121::addLink() Add link 28 to 29 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 29 [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:660::update() time rehearsal=0,056028 ms [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:713::update() totalTimer = 0,000308s [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1016::process() Processing signature 29 w=-1 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000341s [DEBUG] (2017-11-20 10:30:12.363) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,046642,-0,391973,-0,020271 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,046642,-0,391973,-0,020271) [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000048s [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:12.363) Graph.cpp:1898::getNodesInRadius() found nodes=9 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1750::process() near nodes=9, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1836::process() timeReactivations=0,000084s [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,046642,-0,391973,-0,020271 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,046642,-0,391973,-0,020271 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:2219::removeRawData() id=29 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.363) Memory.cpp:2137::saveLocationData() Saving location data 29 [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000040s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2537::process() Total time processing = 0,000615s... [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:12.363) Rtabmap.cpp:2661::process() Adding data 29 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.363) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.363) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.363) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.363) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 29 [DEBUG] (2017-11-20 10:30:12.363) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000273s [DEBUG] (2017-11-20 10:30:12.363) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.363) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.363) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.363) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000021s... [DEBUG] (2017-11-20 10:30:12.364) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.364) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.364) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.364) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.364) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.364) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.364) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,046642,-0,391973,-0,020271 [DEBUG] (2017-11-20 10:30:12.364) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.364) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.369) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.369) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.369) SensorData.cpp:557::uncompressData() 29 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.369) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.370) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.371) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.372) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.372) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.372) MainWindow.cpp:1971::updateMapCloud() posesIn=10 constraints=9 mapIdsIn=10 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.372) MainWindow.cpp:2065::updateMapCloud() Update map with 10 locations [DEBUG] (2017-11-20 10:30:12.372) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000176s [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.373) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.373) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.394) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.396) Camera.cpp:103::takeImage() Time capturing image = 0,001348s [DEBUG] (2017-11-20 10:30:12.396) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.396) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.396) RtabmapThread.cpp:628::addData() Added data 30 [ INFO] (2017-11-20 10:30:12.396) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.396) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.396) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.396) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2698)... [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.396) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.396) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.396) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.396) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.396) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.397) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.397) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.397) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,047632,-0,393059,-0,021893 [DEBUG] (2017-11-20 10:30:12.397) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.397) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.399) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.400) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.400) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.400) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.403) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003812 s, keypoints extracted = 689 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.404) Memory.cpp:3482::createSignature() time keypoints (689) = 0,007763s [DEBUG] (2017-11-20 10:30:12.407) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 689, remaining kpts=689 [DEBUG] (2017-11-20 10:30:12.407) Memory.cpp:3487::createSignature() time descriptors (689) = 0,003611s [DEBUG] (2017-11-20 10:30:12.407) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=209 [DEBUG] (2017-11-20 10:30:12.407) Memory.cpp:3500::createSignature() time keypoints 3D (689) = 0,000091s [DEBUG] (2017-11-20 10:30:12.407) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.407) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.407) Memory.cpp:3612::createSignature() time descriptor and memory update (689 of size=32) = 0,000018s [DEBUG] (2017-11-20 10:30:12.407) VWDictionary.cpp:593::addNewWords() id=30 descriptors=689 [DEBUG] (2017-11-20 10:30:12.407) VWDictionary.cpp:686::addNewWords() newPts.total()=689 [DEBUG] (2017-11-20 10:30:12.413) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005862 s [DEBUG] (2017-11-20 10:30:12.416) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002775 s [DEBUG] (2017-11-20 10:30:12.416) VWDictionary.cpp:874::addNewWords() 239 new words added... [DEBUG] (2017-11-20 10:30:12.416) VWDictionary.cpp:876::addNewWords() 450 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:12.416) VWDictionary.cpp:877::addNewWords() total time 0,008673s [DEBUG] (2017-11-20 10:30:12.416) Memory.cpp:3672::createSignature() time addNewWords 0,008688s indexed=2698 not=239 [DEBUG] (2017-11-20 10:30:12.416) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:3999::createSignature() time compressing data (id=30) 0,002132s [DEBUG] (2017-11-20 10:30:12.418) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:639::update() time creating signature=22,452116 ms [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:724::addSignatureToStm() adding 30 [DEBUG] (2017-11-20 10:30:12.418) Signature.cpp:121::addLink() Add link 30 to 29 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.418) Signature.cpp:121::addLink() Add link 29 to 30 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:786::addSignatureToStm() 689 words ref for the signature 30 [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:2882::rehearsal() Comparing with signature (27)... [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:2905::rehearsal() merged=0, sim=0,259797 t=0,000131s [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:660::update() time rehearsal=0,196934 ms [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:713::update() totalTimer = 0,022667s [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.418) Rtabmap.cpp:1016::process() Processing signature 30 w=0 [ INFO] (2017-11-20 10:30:12.418) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022693s [DEBUG] (2017-11-20 10:30:12.418) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,047632,-0,393059,-0,021893 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,047632,-0,393059,-0,021893) [ INFO] (2017-11-20 10:30:12.418) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000048s [ INFO] (2017-11-20 10:30:12.418) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.418) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.419) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000245 s [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=1 [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:3272::adjustLikelihood() values.size=0 [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:3319::adjustLikelihood() mean=0,000000, stdDev=0,000000, max=0,000000, maxId=0, time=0,000004s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000281s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000004s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000004s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:575::updatePrediction() time copying = 0,000004s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000003s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=0, Copied=0 [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000032s, rows=1, cols=1 [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=1, _posterior size=1 [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000015s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000003s [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:208::computePosterior() sum=2,000000 [DEBUG] (2017-11-20 10:30:12.419) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000075s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1400::process() Highest hypothesis=0, value=0,000000, timeHypothesesCreation=0,000008s [DEBUG] (2017-11-20 10:30:12.419) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.419) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000021s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:12.419) Graph.cpp:1898::getNodesInRadius() found nodes=9 [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1750::process() near nodes=9, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1836::process() timeReactivations=0,000061s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:1929::process() nearestIds=1/10 [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000024s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,047632,-0,393059,-0,021893 [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,047632,-0,393059,-0,021893 [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2463::process() Time creating stats = 0,000085... [DEBUG] (2017-11-20 10:30:12.419) Memory.cpp:2219::removeRawData() id=30 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.419) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.419) Memory.cpp:2137::saveLocationData() Saving location data 30 [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000107s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2537::process() Total time processing = 0,023405s... [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.419) Rtabmap.cpp:2661::process() Adding data 30 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.419) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.419) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 30 [DEBUG] (2017-11-20 10:30:12.420) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000178s [DEBUG] (2017-11-20 10:30:12.420) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.420) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.420) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.420) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:12.420) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.420) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.420) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.420) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.420) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.420) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.420) SensorData.cpp:557::uncompressData() 30 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.420) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.422) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.422) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.422) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 689 [DEBUG] (2017-11-20 10:30:12.423) MainWindow.cpp:3844::drawKeypoints() source time = 0,000370 s [DEBUG] (2017-11-20 10:30:12.423) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.423) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.423) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.423) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.424) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.424) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.424) MainWindow.cpp:1971::updateMapCloud() posesIn=10 constraints=9 mapIdsIn=10 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.425) MainWindow.cpp:2065::updateMapCloud() Update map with 10 locations [DEBUG] (2017-11-20 10:30:12.425) SensorData.cpp:557::uncompressData() 30 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.425) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.425) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.425) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.425) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.427) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.428) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000169s [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.429) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:12.429) Camera.cpp:103::takeImage() Time capturing image = 0,001634s [DEBUG] (2017-11-20 10:30:12.429) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.429) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.429) RtabmapThread.cpp:628::addData() Added data 31 [ INFO] (2017-11-20 10:30:12.429) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.429) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.429) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.429) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2937)... [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.429) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 239 words... [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.430) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.430) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.430) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 239 words... done! [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=239 removed=0) [DEBUG] (2017-11-20 10:30:12.430) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:3676::createSignature() id 31 is a bad signature [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:3999::createSignature() time compressing data (id=31) 0,000615s [DEBUG] (2017-11-20 10:30:12.430) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:639::update() time creating signature=0,638008 ms [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:724::addSignatureToStm() adding 31 [DEBUG] (2017-11-20 10:30:12.430) Signature.cpp:121::addLink() Add link 31 to 30 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.430) Signature.cpp:121::addLink() Add link 30 to 31 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 31 [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:713::update() totalTimer = 0,000695s [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1016::process() Processing signature 31 w=-1 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000720s [DEBUG] (2017-11-20 10:30:12.430) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,047577,-0,392153,-0,022777 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,047577,-0,392153,-0,022777) [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000021s [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:12.430) Graph.cpp:1898::getNodesInRadius() found nodes=10 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1750::process() near nodes=10, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1836::process() timeReactivations=0,000052s [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,047577,-0,392153,-0,022777 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,047577,-0,392153,-0,022777 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:2219::removeRawData() id=31 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.430) Memory.cpp:2137::saveLocationData() Saving location data 31 [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2537::process() Total time processing = 0,000906s... [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:12.430) Rtabmap.cpp:2661::process() Adding data 31 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.430) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.430) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.430) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.430) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 31 [DEBUG] (2017-11-20 10:30:12.431) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000159s [DEBUG] (2017-11-20 10:30:12.431) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.431) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.431) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.431) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000008s... [DEBUG] (2017-11-20 10:30:12.431) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.431) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.431) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.431) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.431) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.431) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.431) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,047577,-0,392153,-0,022777 [DEBUG] (2017-11-20 10:30:12.445) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.445) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.445) SensorData.cpp:557::uncompressData() 31 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.446) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.447) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.448) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.449) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.449) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.449) MainWindow.cpp:1971::updateMapCloud() posesIn=11 constraints=10 mapIdsIn=11 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.449) MainWindow.cpp:2065::updateMapCloud() Update map with 11 locations [DEBUG] (2017-11-20 10:30:12.449) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000184s [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.450) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.450) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.461) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.462) Camera.cpp:103::takeImage() Time capturing image = 0,001113s [DEBUG] (2017-11-20 10:30:12.462) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.462) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.462) RtabmapThread.cpp:628::addData() Added data 32 [ INFO] (2017-11-20 10:30:12.462) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.462) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2937)... [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.462) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.462) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.462) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3676::createSignature() id 32 is a bad signature [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:3999::createSignature() time compressing data (id=32) 0,000144s [DEBUG] (2017-11-20 10:30:12.462) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:639::update() time creating signature=0,172138 ms [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:724::addSignatureToStm() adding 32 [DEBUG] (2017-11-20 10:30:12.462) Signature.cpp:121::addLink() Add link 32 to 31 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.462) Signature.cpp:121::addLink() Add link 31 to 32 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 32 [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:660::update() time rehearsal=0,047922 ms [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:713::update() totalTimer = 0,000241s [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1016::process() Processing signature 32 w=-1 [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000274s [DEBUG] (2017-11-20 10:30:12.462) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,052760,-0,390729,-0,028554 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,052760,-0,390729,-0,028554) [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.462) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000008s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:12.462) Graph.cpp:1898::getNodesInRadius() found nodes=10 [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1750::process() near nodes=10, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1836::process() timeReactivations=0,000062s [ INFO] (2017-11-20 10:30:12.462) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,052760,-0,390729,-0,028554 [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,052760,-0,390729,-0,028554 [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2463::process() Time creating stats = 0,000051... [DEBUG] (2017-11-20 10:30:12.463) Memory.cpp:2219::removeRawData() id=32 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.463) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.463) Memory.cpp:2137::saveLocationData() Saving location data 32 [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2537::process() Total time processing = 0,000483s... [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:12.463) Rtabmap.cpp:2661::process() Adding data 32 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.463) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.463) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.463) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.463) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 32 [DEBUG] (2017-11-20 10:30:12.463) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000161s [DEBUG] (2017-11-20 10:30:12.463) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.463) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.463) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.463) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.463) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000020s... [DEBUG] (2017-11-20 10:30:12.463) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.463) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.463) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.463) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.463) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.463) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,052760,-0,390729,-0,028554 [DEBUG] (2017-11-20 10:30:12.463) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.463) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.468) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.468) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.468) SensorData.cpp:557::uncompressData() 32 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.468) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.470) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.471) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.471) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.471) MainWindow.cpp:1971::updateMapCloud() posesIn=11 constraints=10 mapIdsIn=11 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.471) MainWindow.cpp:2065::updateMapCloud() Update map with 11 locations [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000188s [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.472) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.473) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.473) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.473) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.494) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.495) Camera.cpp:103::takeImage() Time capturing image = 0,001129s [DEBUG] (2017-11-20 10:30:12.495) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.495) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.495) RtabmapThread.cpp:628::addData() Added data 33 [ INFO] (2017-11-20 10:30:12.495) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.495) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.495) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2937)... [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.496) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.496) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.496) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3676::createSignature() id 33 is a bad signature [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:3999::createSignature() time compressing data (id=33) 0,000155s [DEBUG] (2017-11-20 10:30:12.496) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:639::update() time creating signature=0,185013 ms [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:724::addSignatureToStm() adding 33 [DEBUG] (2017-11-20 10:30:12.496) Signature.cpp:121::addLink() Add link 33 to 32 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.496) Signature.cpp:121::addLink() Add link 32 to 33 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 33 [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:794::addSignatureToStm() time = 0,000045s [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:660::update() time rehearsal=0,056982 ms [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:713::update() totalTimer = 0,000270s [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1016::process() Processing signature 33 w=-1 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000306s [DEBUG] (2017-11-20 10:30:12.496) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,055679,-0,388159,-0,028724 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,055679,-0,388159,-0,028724) [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000036s [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000020s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:12.496) Graph.cpp:1898::getNodesInRadius() found nodes=10 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1750::process() near nodes=10, max local immunized=0, ratio=0,250000 WM=1 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1836::process() timeReactivations=0,000060s [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,055679,-0,388159,-0,028724 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,055679,-0,388159,-0,028724 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:2219::removeRawData() id=33 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.496) Memory.cpp:2137::saveLocationData() Saving location data 33 [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2537::process() Total time processing = 0,000535s... [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.496) Rtabmap.cpp:2661::process() Adding data 33 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.496) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.496) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.496) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.496) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 33 [DEBUG] (2017-11-20 10:30:12.496) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.496) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.496) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000167s [DEBUG] (2017-11-20 10:30:12.496) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.496) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.496) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.496) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:12.496) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.496) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.496) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.496) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.497) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,055679,-0,388159,-0,028724 [DEBUG] (2017-11-20 10:30:12.497) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.497) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.501) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.501) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.501) SensorData.cpp:557::uncompressData() 33 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.501) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.503) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.504) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.504) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.504) MainWindow.cpp:1971::updateMapCloud() posesIn=11 constraints=10 mapIdsIn=11 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.504) MainWindow.cpp:2065::updateMapCloud() Update map with 11 locations [DEBUG] (2017-11-20 10:30:12.504) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000195s [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.505) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.505) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.527) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.532) Camera.cpp:103::takeImage() Time capturing image = 0,004886s [DEBUG] (2017-11-20 10:30:12.533) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.533) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.533) RtabmapThread.cpp:628::addData() Added data 34 [ INFO] (2017-11-20 10:30:12.533) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.533) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.533) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.533) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=2937)... [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.533) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.534) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.535) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.535) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.535) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.536) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.536) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.536) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,054557,-0,393445,-0,026656 [DEBUG] (2017-11-20 10:30:12.537) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.537) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.537) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.537) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.537) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.537) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.542) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004342 s, keypoints extracted = 701 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.542) Memory.cpp:3482::createSignature() time keypoints (701) = 0,008891s [DEBUG] (2017-11-20 10:30:12.546) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 701, remaining kpts=701 [DEBUG] (2017-11-20 10:30:12.546) Memory.cpp:3487::createSignature() time descriptors (701) = 0,004500s [DEBUG] (2017-11-20 10:30:12.546) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=205 [DEBUG] (2017-11-20 10:30:12.546) Memory.cpp:3500::createSignature() time keypoints 3D (701) = 0,000149s [DEBUG] (2017-11-20 10:30:12.546) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.546) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.546) Memory.cpp:3612::createSignature() time descriptor and memory update (701 of size=32) = 0,000034s [DEBUG] (2017-11-20 10:30:12.546) VWDictionary.cpp:593::addNewWords() id=34 descriptors=701 [DEBUG] (2017-11-20 10:30:12.546) VWDictionary.cpp:686::addNewWords() newPts.total()=701 [DEBUG] (2017-11-20 10:30:12.554) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007720 s [DEBUG] (2017-11-20 10:30:12.557) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003209 s [DEBUG] (2017-11-20 10:30:12.557) VWDictionary.cpp:874::addNewWords() 257 new words added... [DEBUG] (2017-11-20 10:30:12.557) VWDictionary.cpp:876::addNewWords() 444 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:12.557) VWDictionary.cpp:877::addNewWords() total time 0,010983s [DEBUG] (2017-11-20 10:30:12.557) Memory.cpp:3672::createSignature() time addNewWords 0,011005s indexed=2937 not=257 [DEBUG] (2017-11-20 10:30:12.558) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:3999::createSignature() time compressing data (id=34) 0,002282s [DEBUG] (2017-11-20 10:30:12.560) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:639::update() time creating signature=27,039051 ms [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:724::addSignatureToStm() adding 34 [DEBUG] (2017-11-20 10:30:12.560) Signature.cpp:121::addLink() Add link 34 to 33 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.560) Signature.cpp:121::addLink() Add link 33 to 34 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:752::addSignatureToStm() Min STM id = 1 [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:786::addSignatureToStm() 701 words ref for the signature 34 [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:2882::rehearsal() Comparing with signature (30)... [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:2905::rehearsal() merged=0, sim=0,248217 t=0,000143s [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:660::update() time rehearsal=0,214815 ms [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 1 from STM in WM... [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:713::update() totalTimer = 0,027282s [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1016::process() Processing signature 34 w=0 [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,027317s [DEBUG] (2017-11-20 10:30:12.560) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,054557,-0,393445,-0,026656 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,054557,-0,393445,-0,026656) [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000050s [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000268 s [DEBUG] (2017-11-20 10:30:12.560) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=2 [DEBUG] (2017-11-20 10:30:12.560) Rtabmap.cpp:3272::adjustLikelihood() values.size=1 [DEBUG] (2017-11-20 10:30:12.560) Rtabmap.cpp:3319::adjustLikelihood() mean=0,160742, stdDev=0,000000, max=0,000000, maxId=0, time=0,000003s [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000303s [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:495::updatePrediction() From added id 1, 0 neighbors to update. [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0,000023s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0,000004s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:575::updatePrediction() time copying = 0,000004s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000053s, rows=2, cols=2 [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=2, _posterior size=2 [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000019s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:208::computePosterior() sum=1,900000 [DEBUG] (2017-11-20 10:30:12.560) BayesFilter.cpp:216::computePosterior() normalize time=0,000010s [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000107s [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1400::process() Highest hypothesis=1, value=0,052632, timeHypothesesCreation=0,000009s [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.560) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000014s [ INFO] (2017-11-20 10:30:12.560) Rtabmap.cpp:1489::process() Retrieving locations... around id=1 [DEBUG] (2017-11-20 10:30:12.560) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1511::process() neighbors of 1 in time = 17 [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1566::process() neighbors of 1 in space = 17 [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=1, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000028s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:12.561) Graph.cpp:1898::getNodesInRadius() found nodes=10 [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:1750::process() near nodes=10, max local immunized=0, ratio=0,250000 WM=2 [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:12.561) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:12.561) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000005s [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000005s... [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:4252::reactivateSignatures() time = 0,000032s [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000013s) [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000013s [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:1836::process() timeReactivations=0,000290s [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1929::process() nearestIds=1/11 [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.561) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000029s [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [DEBUG] (2017-11-20 10:30:12.561) Camera.cpp:90::takeImage() slept=0,033337s vs target=0,033333s [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,054557,-0,393445,-0,026656 [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,054557,-0,393445,-0,026656 [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2463::process() Time creating stats = 0,000123... [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:2219::removeRawData() id=34 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.561) Memory.cpp:2137::saveLocationData() Saving location data 34 [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000403s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2537::process() Total time processing = 0,028661s... [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:12.561) Rtabmap.cpp:2661::process() Adding data 34 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.562) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.562) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.562) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.562) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 34 [DEBUG] (2017-11-20 10:30:12.562) Camera.cpp:103::takeImage() Time capturing image = 0,001070s [DEBUG] (2017-11-20 10:30:12.562) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.562) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.562) RtabmapThread.cpp:628::addData() Added data 35 [DEBUG] (2017-11-20 10:30:12.562) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000246s [DEBUG] (2017-11-20 10:30:12.562) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.562) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.563) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.563) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:12.563) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.563) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.563) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.563) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.563) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,056051,-0,393443,-0,027991 [DEBUG] (2017-11-20 10:30:12.563) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.563) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:12.563) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.563) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:12.563) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.563) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [ INFO] (2017-11-20 10:30:12.563) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.563) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.563) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.563) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.563) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.563) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.563) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3194)... [DEBUG] (2017-11-20 10:30:12.563) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 257 words... [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 257 words... done! [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=257 removed=0) [DEBUG] (2017-11-20 10:30:12.564) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3676::createSignature() id 35 is a bad signature [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:3999::createSignature() time compressing data (id=35) 0,000707s [DEBUG] (2017-11-20 10:30:12.564) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:639::update() time creating signature=0,743866 ms [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:724::addSignatureToStm() adding 35 [DEBUG] (2017-11-20 10:30:12.564) Signature.cpp:121::addLink() Add link 35 to 34 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.564) Signature.cpp:121::addLink() Add link 34 to 35 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:752::addSignatureToStm() Min STM id = 2 [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 35 [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:794::addSignatureToStm() time = 0,000050s [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:660::update() time rehearsal=0,074148 ms [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:713::update() totalTimer = 0,000848s [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1016::process() Processing signature 35 w=-1 [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000889s [DEBUG] (2017-11-20 10:30:12.564) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,056051,-0,393443,-0,027991 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,056051,-0,393443,-0,027991) [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.564) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:12.564) Graph.cpp:1898::getNodesInRadius() found nodes=11 [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1750::process() near nodes=11, max local immunized=0, ratio=0,250000 WM=2 [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1836::process() timeReactivations=0,000087s [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:12.564) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,056051,-0,393443,-0,027991 [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,056051,-0,393443,-0,027991 [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2463::process() Time creating stats = 0,000067... [DEBUG] (2017-11-20 10:30:12.565) Memory.cpp:2219::removeRawData() id=35 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.565) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.565) Memory.cpp:2137::saveLocationData() Saving location data 35 [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000044s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2537::process() Total time processing = 0,001163s... [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:12.565) Rtabmap.cpp:2661::process() Adding data 35 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.565) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.565) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.565) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.565) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 35 [DEBUG] (2017-11-20 10:30:12.565) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000243s [DEBUG] (2017-11-20 10:30:12.565) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.565) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.568) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.568) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.568) SensorData.cpp:557::uncompressData() 34 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.568) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.569) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.569) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:12.569) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.569) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.569) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.569) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.570) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.570) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.570) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 701 [DEBUG] (2017-11-20 10:30:12.571) MainWindow.cpp:3844::drawKeypoints() source time = 0,000383 s [DEBUG] (2017-11-20 10:30:12.571) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.571) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.571) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.571) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.573) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.573) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.573) MainWindow.cpp:1971::updateMapCloud() posesIn=11 constraints=10 mapIdsIn=11 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.573) MainWindow.cpp:2065::updateMapCloud() Update map with 11 locations [DEBUG] (2017-11-20 10:30:12.573) SensorData.cpp:557::uncompressData() 34 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.573) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.573) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.573) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.573) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000154s [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.576) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:12.577) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.577) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.577) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:12.591) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.591) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.591) SensorData.cpp:557::uncompressData() 35 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.591) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.592) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.593) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.594) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.594) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.594) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:1971::updateMapCloud() posesIn=12 constraints=11 mapIdsIn=12 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2065::updateMapCloud() Update map with 12 locations [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000151s [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.595) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.595) Camera.cpp:103::takeImage() Time capturing image = 0,001110s [DEBUG] (2017-11-20 10:30:12.595) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.595) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.595) RtabmapThread.cpp:628::addData() Added data 36 [ INFO] (2017-11-20 10:30:12.595) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.595) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.595) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.595) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3194)... [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.595) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.596) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.596) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.596) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:3676::createSignature() id 36 is a bad signature [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:3999::createSignature() time compressing data (id=36) 0,000155s [DEBUG] (2017-11-20 10:30:12.596) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:639::update() time creating signature=0,203133 ms [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:724::addSignatureToStm() adding 36 [DEBUG] (2017-11-20 10:30:12.596) Signature.cpp:121::addLink() Add link 36 to 35 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.596) Signature.cpp:121::addLink() Add link 35 to 36 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:752::addSignatureToStm() Min STM id = 2 [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 36 [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:794::addSignatureToStm() time = 0,000048s [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:660::update() time rehearsal=0,062943 ms [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:713::update() totalTimer = 0,000294s [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1016::process() Processing signature 36 w=-1 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000336s [DEBUG] (2017-11-20 10:30:12.596) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,058915,-0,392818,-0,030372 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,058915,-0,392818,-0,030372) [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000046s [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000021s [DEBUG] (2017-11-20 10:30:12.596) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.596) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.596) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.596) Graph.cpp:1898::getNodesInRadius() found nodes=11 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1750::process() near nodes=11, max local immunized=0, ratio=0,250000 WM=2 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1836::process() timeReactivations=0,000073s [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,058915,-0,392818,-0,030372 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,058915,-0,392818,-0,030372 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2463::process() Time creating stats = 0,000069... [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:2219::removeRawData() id=36 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.596) Memory.cpp:2137::saveLocationData() Saving location data 36 [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000044s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2537::process() Total time processing = 0,000615s... [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:12.596) Rtabmap.cpp:2661::process() Adding data 36 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.596) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.596) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.596) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.596) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 36 [DEBUG] (2017-11-20 10:30:12.596) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000248s [DEBUG] (2017-11-20 10:30:12.596) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.597) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.597) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.597) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:12.597) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.597) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.597) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.597) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.597) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.597) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.597) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,058915,-0,392818,-0,030372 [DEBUG] (2017-11-20 10:30:12.607) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.607) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.607) SensorData.cpp:557::uncompressData() 36 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.607) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.609) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:1971::updateMapCloud() posesIn=12 constraints=11 mapIdsIn=12 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2065::updateMapCloud() Update map with 12 locations [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000191s [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.611) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.612) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.612) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.612) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.627) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.629) Camera.cpp:103::takeImage() Time capturing image = 0,001111s [DEBUG] (2017-11-20 10:30:12.629) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.629) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.629) RtabmapThread.cpp:628::addData() Added data 37 [ INFO] (2017-11-20 10:30:12.629) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.629) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3194)... [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.629) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.629) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.629) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3676::createSignature() id 37 is a bad signature [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:3999::createSignature() time compressing data (id=37) 0,000107s [DEBUG] (2017-11-20 10:30:12.629) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:639::update() time creating signature=0,133991 ms [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:724::addSignatureToStm() adding 37 [DEBUG] (2017-11-20 10:30:12.629) Signature.cpp:121::addLink() Add link 37 to 36 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.629) Signature.cpp:121::addLink() Add link 36 to 37 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:752::addSignatureToStm() Min STM id = 2 [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 37 [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:660::update() time rehearsal=0,046015 ms [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:713::update() totalTimer = 0,000203s [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1016::process() Processing signature 37 w=-1 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000235s [DEBUG] (2017-11-20 10:30:12.629) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,056972,-0,387897,-0,032226 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,056972,-0,387897,-0,032226) [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000034s [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:12.629) Graph.cpp:1898::getNodesInRadius() found nodes=11 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1750::process() near nodes=11, max local immunized=0, ratio=0,250000 WM=2 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1836::process() timeReactivations=0,000059s [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,056972,-0,387897,-0,032226 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,056972,-0,387897,-0,032226 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:2219::removeRawData() id=37 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.629) Memory.cpp:2137::saveLocationData() Saving location data 37 [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2537::process() Total time processing = 0,000439s... [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:12.629) Rtabmap.cpp:2661::process() Adding data 37 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.629) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.629) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.629) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.629) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 37 [DEBUG] (2017-11-20 10:30:12.630) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:12.630) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.630) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.630) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.630) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:12.630) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.630) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.630) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.630) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.630) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.630) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.630) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,056972,-0,387897,-0,032226 [DEBUG] (2017-11-20 10:30:12.630) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.630) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.635) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.635) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.635) SensorData.cpp:557::uncompressData() 37 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.635) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.636) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.637) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.638) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.638) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.638) MainWindow.cpp:1971::updateMapCloud() posesIn=12 constraints=11 mapIdsIn=12 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.638) MainWindow.cpp:2065::updateMapCloud() Update map with 12 locations [DEBUG] (2017-11-20 10:30:12.638) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000175s [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.639) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.639) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.661) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.662) Camera.cpp:103::takeImage() Time capturing image = 0,001117s [DEBUG] (2017-11-20 10:30:12.662) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.662) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.662) RtabmapThread.cpp:628::addData() Added data 38 [ INFO] (2017-11-20 10:30:12.662) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.662) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.662) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.662) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3194)... [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.662) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.662) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.662) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.662) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.662) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.663) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.663) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.663) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,051718,-0,388781,-0,029900 [DEBUG] (2017-11-20 10:30:12.664) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.664) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.664) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.665) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.665) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.665) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.668) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,002919 s, keypoints extracted = 708 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.668) Memory.cpp:3482::createSignature() time keypoints (708) = 0,005500s [DEBUG] (2017-11-20 10:30:12.673) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 708, remaining kpts=708 [DEBUG] (2017-11-20 10:30:12.673) Memory.cpp:3487::createSignature() time descriptors (708) = 0,005611s [DEBUG] (2017-11-20 10:30:12.673) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=202 [DEBUG] (2017-11-20 10:30:12.673) Memory.cpp:3500::createSignature() time keypoints 3D (708) = 0,000124s [DEBUG] (2017-11-20 10:30:12.673) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.673) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.673) Memory.cpp:3612::createSignature() time descriptor and memory update (708 of size=32) = 0,000037s [DEBUG] (2017-11-20 10:30:12.673) VWDictionary.cpp:593::addNewWords() id=38 descriptors=708 [DEBUG] (2017-11-20 10:30:12.673) VWDictionary.cpp:686::addNewWords() newPts.total()=708 [DEBUG] (2017-11-20 10:30:12.683) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,009044 s [DEBUG] (2017-11-20 10:30:12.689) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,006519 s [DEBUG] (2017-11-20 10:30:12.689) VWDictionary.cpp:874::addNewWords() 255 new words added... [DEBUG] (2017-11-20 10:30:12.689) VWDictionary.cpp:876::addNewWords() 453 duplicated words added (from current image = 5)... [DEBUG] (2017-11-20 10:30:12.689) VWDictionary.cpp:877::addNewWords() total time 0,015662s [DEBUG] (2017-11-20 10:30:12.689) Memory.cpp:3672::createSignature() time addNewWords 0,015691s indexed=3194 not=255 [DEBUG] (2017-11-20 10:30:12.690) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.694) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.694) Memory.cpp:3999::createSignature() time compressing data (id=38) 0,005302s [DEBUG] (2017-11-20 10:30:12.694) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:639::update() time creating signature=32,636166 ms [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:724::addSignatureToStm() adding 38 [DEBUG] (2017-11-20 10:30:12.695) Signature.cpp:121::addLink() Add link 38 to 37 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.695) Signature.cpp:121::addLink() Add link 37 to 38 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:752::addSignatureToStm() Min STM id = 2 [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:786::addSignatureToStm() 708 words ref for the signature 38 [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:794::addSignatureToStm() time = 0,000059s [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:2882::rehearsal() Comparing with signature (34)... [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:2905::rehearsal() merged=0, sim=0,213277 t=0,000306s [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:660::update() time rehearsal=0,436783 ms [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 2 from STM in WM... [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 3 from STM in WM... [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 4 from STM in WM... [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 5 from STM in WM... [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:713::update() totalTimer = 0,033129s [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.695) Rtabmap.cpp:1016::process() Processing signature 38 w=0 [ INFO] (2017-11-20 10:30:12.695) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,033161s [DEBUG] (2017-11-20 10:30:12.695) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,051718,-0,388781,-0,029900 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,051718,-0,388781,-0,029900) [ INFO] (2017-11-20 10:30:12.695) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000088s [ INFO] (2017-11-20 10:30:12.695) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.695) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.696) Camera.cpp:103::takeImage() Time capturing image = 0,001530s [DEBUG] (2017-11-20 10:30:12.696) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.696) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.696) RtabmapThread.cpp:628::addData() Added data 39 [DEBUG] (2017-11-20 10:30:12.696) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000613 s [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=3 [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:3272::adjustLikelihood() values.size=2 [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:3319::adjustLikelihood() mean=0,155147, stdDev=0,013707, max=0,000000, maxId=0, time=0,000007s [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000686s [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000009s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000007s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:495::updatePrediction() From added id 5, 1 neighbors to update. [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:498::updatePrediction() time getting 1 ids to update = 0,000048s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:544::updatePrediction() time updating modified/added 1 ids = 0,000026s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:575::updatePrediction() time copying = 0,000008s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000006s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:597::updatePrediction() Modified=1, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000120s, rows=3, cols=3 [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=3, _posterior size=3 [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000025s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000008s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:208::computePosterior() sum=1,857895 [DEBUG] (2017-11-20 10:30:12.696) BayesFilter.cpp:216::computePosterior() normalize time=0,000013s [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000196s [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1400::process() Highest hypothesis=1, value=0,076487, timeHypothesesCreation=0,000014s [DEBUG] (2017-11-20 10:30:12.696) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.696) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000019s [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1489::process() Retrieving locations... around id=1 [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:1511::process() neighbors of 1 in time = 17 [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:12.696) Rtabmap.cpp:1566::process() neighbors of 1 in space = 17 [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=5, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000042s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:12.696) Graph.cpp:1898::getNodesInRadius() found nodes=11 [ INFO] (2017-11-20 10:30:12.696) Rtabmap.cpp:1750::process() near nodes=11, max local immunized=1, ratio=0,250000 WM=6 [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:12.697) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:12.697) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000001s [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000007s... [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:4252::reactivateSignatures() time = 0,000046s [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000018s) [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000018s [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:1836::process() timeReactivations=0,000299s [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:12.697) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.697) Rtabmap.cpp:1929::process() nearestIds=1/12 [DEBUG] (2017-11-20 10:30:12.697) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.697) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.697) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000067s [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2336::process() timeMapOptimization=0,000008s [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,051718,-0,388781,-0,029900 [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,051718,-0,388781,-0,029900 [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2463::process() Time creating stats = 0,000193... [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:2219::removeRawData() id=38 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.697) Memory.cpp:2137::saveLocationData() Saving location data 38 [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000290s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2537::process() Total time processing = 0,035033s... [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.697) Rtabmap.cpp:2661::process() Adding data 38 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.697) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.697) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.698) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.698) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.698) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,053433,-0,387687,-0,032806 [DEBUG] (2017-11-20 10:30:12.698) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.698) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 38 [DEBUG] (2017-11-20 10:30:12.698) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.698) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.698) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000338s [DEBUG] (2017-11-20 10:30:12.698) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.698) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.701) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.701) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.701) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000033s... [DEBUG] (2017-11-20 10:30:12.701) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.701) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.701) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:12.701) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.701) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.701) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.701) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.701) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.701) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.701) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.701) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.702) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3449)... [DEBUG] (2017-11-20 10:30:12.702) Memory.cpp:621::update() time preUpdate=0,015020 ms [DEBUG] (2017-11-20 10:30:12.702) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.702) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.702) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.702) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.702) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.702) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 255 words... [DEBUG] (2017-11-20 10:30:12.702) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.702) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.703) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 255 words... done! [DEBUG] (2017-11-20 10:30:12.703) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=255 removed=0) [DEBUG] (2017-11-20 10:30:12.703) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:3676::createSignature() id 39 is a bad signature [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:3999::createSignature() time compressing data (id=39) 0,001248s [DEBUG] (2017-11-20 10:30:12.703) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:639::update() time creating signature=1,281977 ms [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:724::addSignatureToStm() adding 39 [DEBUG] (2017-11-20 10:30:12.703) Signature.cpp:121::addLink() Add link 39 to 38 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.703) Signature.cpp:121::addLink() Add link 38 to 39 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:752::addSignatureToStm() Min STM id = 6 [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 39 [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:794::addSignatureToStm() time = 0,000047s [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:660::update() time rehearsal=0,060797 ms [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:713::update() totalTimer = 0,001375s [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1016::process() Processing signature 39 w=-1 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001416s [DEBUG] (2017-11-20 10:30:12.703) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,053433,-0,387687,-0,032806 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,053433,-0,387687,-0,032806) [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000027s [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000033s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:12.703) Graph.cpp:1898::getNodesInRadius() found nodes=12 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1750::process() near nodes=12, max local immunized=1, ratio=0,250000 WM=6 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1836::process() timeReactivations=0,000099s [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,053433,-0,387687,-0,032806 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,053433,-0,387687,-0,032806 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2463::process() Time creating stats = 0,000048... [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:2219::removeRawData() id=39 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.703) Memory.cpp:2137::saveLocationData() Saving location data 39 [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000044s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2537::process() Total time processing = 0,001667s... [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.703) Rtabmap.cpp:2661::process() Adding data 39 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.703) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.703) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.703) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.703) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 39 [DEBUG] (2017-11-20 10:30:12.703) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000173s [DEBUG] (2017-11-20 10:30:12.703) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.703) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.703) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.704) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:12.704) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.704) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.704) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.704) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.705) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.706) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.706) SensorData.cpp:557::uncompressData() 38 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.706) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.708) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 708 [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:3844::drawKeypoints() source time = 0,000578 s [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.709) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.712) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:12.712) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.712) MainWindow.cpp:1971::updateMapCloud() posesIn=12 constraints=11 mapIdsIn=12 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.712) MainWindow.cpp:2065::updateMapCloud() Update map with 12 locations [DEBUG] (2017-11-20 10:30:12.712) SensorData.cpp:557::uncompressData() 38 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.712) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.712) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.712) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.712) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.717) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000217s [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.718) MainWindow.cpp:1853::processStats() time= 6 ms [DEBUG] (2017-11-20 10:30:12.719) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.719) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.719) MainWindow.cpp:1931::processStats() Updating GUI time = 0,014000s [DEBUG] (2017-11-20 10:30:12.719) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.719) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.719) SensorData.cpp:557::uncompressData() 39 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.720) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.722) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.724) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.724) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:1971::updateMapCloud() posesIn=13 constraints=12 mapIdsIn=13 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2065::updateMapCloud() Update map with 13 locations [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000150s [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.725) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.725) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:12.727) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.729) Camera.cpp:103::takeImage() Time capturing image = 0,001117s [DEBUG] (2017-11-20 10:30:12.729) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.729) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.729) RtabmapThread.cpp:628::addData() Added data 40 [ INFO] (2017-11-20 10:30:12.729) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.729) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3449)... [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.729) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.729) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.729) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3676::createSignature() id 40 is a bad signature [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:3999::createSignature() time compressing data (id=40) 0,000098s [DEBUG] (2017-11-20 10:30:12.729) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:639::update() time creating signature=0,124216 ms [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:724::addSignatureToStm() adding 40 [DEBUG] (2017-11-20 10:30:12.729) Signature.cpp:121::addLink() Add link 40 to 39 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.729) Signature.cpp:121::addLink() Add link 39 to 40 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:752::addSignatureToStm() Min STM id = 6 [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 40 [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:660::update() time rehearsal=0,052929 ms [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:713::update() totalTimer = 0,000201s [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1016::process() Processing signature 40 w=-1 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000230s [DEBUG] (2017-11-20 10:30:12.729) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,051813,-0,382181,-0,034960 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,051813,-0,382181,-0,034960) [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000042s [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:12.729) Graph.cpp:1898::getNodesInRadius() found nodes=12 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1750::process() near nodes=12, max local immunized=1, ratio=0,250000 WM=6 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1836::process() timeReactivations=0,000092s [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,051813,-0,382181,-0,034960 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,051813,-0,382181,-0,034960 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2463::process() Time creating stats = 0,000058... [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:2219::removeRawData() id=40 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.729) Memory.cpp:2137::saveLocationData() Saving location data 40 [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2537::process() Total time processing = 0,000496s... [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.729) Rtabmap.cpp:2661::process() Adding data 40 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.729) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.729) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.729) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.729) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 40 [DEBUG] (2017-11-20 10:30:12.730) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000172s [DEBUG] (2017-11-20 10:30:12.730) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.730) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.730) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.730) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.730) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:12.730) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.730) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.730) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.736) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.736) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.737) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,051813,-0,382181,-0,034960 [DEBUG] (2017-11-20 10:30:12.737) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.737) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.742) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.742) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.742) SensorData.cpp:557::uncompressData() 40 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.742) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.744) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000034 s [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.745) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.747) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.747) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.747) MainWindow.cpp:1971::updateMapCloud() posesIn=13 constraints=12 mapIdsIn=13 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.747) MainWindow.cpp:2065::updateMapCloud() Update map with 13 locations [DEBUG] (2017-11-20 10:30:12.747) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000303s [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.748) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.748) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:12.761) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.762) Camera.cpp:103::takeImage() Time capturing image = 0,001423s [DEBUG] (2017-11-20 10:30:12.762) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.762) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.762) RtabmapThread.cpp:628::addData() Added data 41 [ INFO] (2017-11-20 10:30:12.762) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.762) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.762) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.763) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3449)... [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.763) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.763) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.763) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.763) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.763) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.763) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.763) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.764) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,050764,-0,380228,-0,038219 [DEBUG] (2017-11-20 10:30:12.764) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.764) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.765) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.765) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.765) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.765) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.770) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004355 s, keypoints extracted = 673 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.770) Memory.cpp:3482::createSignature() time keypoints (673) = 0,007094s [DEBUG] (2017-11-20 10:30:12.775) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 673, remaining kpts=673 [DEBUG] (2017-11-20 10:30:12.775) Memory.cpp:3487::createSignature() time descriptors (673) = 0,005100s [DEBUG] (2017-11-20 10:30:12.775) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=204 [DEBUG] (2017-11-20 10:30:12.775) Memory.cpp:3500::createSignature() time keypoints 3D (673) = 0,000123s [DEBUG] (2017-11-20 10:30:12.775) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.775) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.775) Memory.cpp:3612::createSignature() time descriptor and memory update (673 of size=32) = 0,000026s [DEBUG] (2017-11-20 10:30:12.775) VWDictionary.cpp:593::addNewWords() id=41 descriptors=673 [DEBUG] (2017-11-20 10:30:12.775) VWDictionary.cpp:686::addNewWords() newPts.total()=673 [DEBUG] (2017-11-20 10:30:12.783) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007741 s [DEBUG] (2017-11-20 10:30:12.786) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003693 s [DEBUG] (2017-11-20 10:30:12.786) VWDictionary.cpp:874::addNewWords() 239 new words added... [DEBUG] (2017-11-20 10:30:12.786) VWDictionary.cpp:876::addNewWords() 434 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:12.786) VWDictionary.cpp:877::addNewWords() total time 0,011466s [DEBUG] (2017-11-20 10:30:12.786) Memory.cpp:3672::createSignature() time addNewWords 0,011486s indexed=3449 not=239 [DEBUG] (2017-11-20 10:30:12.787) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:3999::createSignature() time compressing data (id=41) 0,002403s [DEBUG] (2017-11-20 10:30:12.789) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:639::update() time creating signature=26,468992 ms [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:724::addSignatureToStm() adding 41 [DEBUG] (2017-11-20 10:30:12.789) Signature.cpp:121::addLink() Add link 41 to 40 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.789) Signature.cpp:121::addLink() Add link 40 to 41 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:752::addSignatureToStm() Min STM id = 6 [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:786::addSignatureToStm() 673 words ref for the signature 41 [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:794::addSignatureToStm() time = 0,000049s [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:2882::rehearsal() Comparing with signature (38)... [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:2905::rehearsal() merged=0, sim=0,206215 t=0,000220s [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:660::update() time rehearsal=0,320911 ms [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 6 from STM in WM... [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 7 from STM in WM... [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 8 from STM in WM... [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:713::update() totalTimer = 0,026835s [DEBUG] (2017-11-20 10:30:12.789) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.789) Rtabmap.cpp:1016::process() Processing signature 41 w=0 [ INFO] (2017-11-20 10:30:12.789) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,026873s [DEBUG] (2017-11-20 10:30:12.789) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,050764,-0,380228,-0,038219 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,050764,-0,380228,-0,038219) [ INFO] (2017-11-20 10:30:12.789) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000067s [ INFO] (2017-11-20 10:30:12.789) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000449 s [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=4 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:3272::adjustLikelihood() values.size=3 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:3319::adjustLikelihood() mean=0,125477, stdDev=0,006597, max=0,000000, maxId=0, time=0,000006s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000514s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000007s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:495::updatePrediction() From added id 8, 2 neighbors to update. [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:498::updatePrediction() time getting 2 ids to update = 0,000047s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:544::updatePrediction() time updating modified/added 2 ids = 0,000039s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:575::updatePrediction() time copying = 0,000007s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:597::updatePrediction() Modified=2, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000125s, rows=4, cols=4 [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=4, _posterior size=4 [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000006s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:208::computePosterior() sum=1,838810 [DEBUG] (2017-11-20 10:30:12.790) BayesFilter.cpp:216::computePosterior() normalize time=0,000011s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000193s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1400::process() Highest hypothesis=1, value=0,087660, timeHypothesesCreation=0,000013s [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000018s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1489::process() Retrieving locations... around id=1 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1511::process() neighbors of 1 in time = 17 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1566::process() neighbors of 1 in space = 17 [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=8, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000039s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:12.790) Graph.cpp:1898::getNodesInRadius() found nodes=12 [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1750::process() near nodes=12, max local immunized=2, ratio=0,250000 WM=9 [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:12.790) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:12.790) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000005s [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:12.790) Memory.cpp:4252::reactivateSignatures() time = 0,000038s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000016s) [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000016s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1836::process() timeReactivations=0,000242s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1929::process() nearestIds=1/13 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.790) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000034s [ INFO] (2017-11-20 10:30:12.790) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,050764,-0,380228,-0,038219 [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,050764,-0,380228,-0,038219 [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2463::process() Time creating stats = 0,000138... [DEBUG] (2017-11-20 10:30:12.791) Memory.cpp:2219::removeRawData() id=41 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.791) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.791) Memory.cpp:2137::saveLocationData() Saving location data 41 [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000189s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2537::process() Total time processing = 0,028298s... [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000014... [ INFO] (2017-11-20 10:30:12.791) Rtabmap.cpp:2661::process() Adding data 41 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.791) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.791) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.793) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.793) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 41 [DEBUG] (2017-11-20 10:30:12.794) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000396s [DEBUG] (2017-11-20 10:30:12.794) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.794) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.794) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.796) Camera.cpp:103::takeImage() Time capturing image = 0,002020s [DEBUG] (2017-11-20 10:30:12.796) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.796) RtabmapThread.cpp:628::addData() Added data 42 [DEBUG] (2017-11-20 10:30:12.796) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.796) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.796) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:12.800) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.801) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.802) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.802) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:12.802) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.802) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.802) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.802) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3688)... [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:621::update() time preUpdate=0,019073 ms [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.802) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.802) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.802) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.802) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 239 words... [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.802) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.802) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.802) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.803) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,053983,-0,380672,-0,040809 [DEBUG] (2017-11-20 10:30:12.803) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.803) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.803) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 239 words... done! [DEBUG] (2017-11-20 10:30:12.803) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=239 removed=0) [DEBUG] (2017-11-20 10:30:12.803) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:3676::createSignature() id 42 is a bad signature [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:3999::createSignature() time compressing data (id=42) 0,001189s [DEBUG] (2017-11-20 10:30:12.803) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:639::update() time creating signature=1,266956 ms [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:724::addSignatureToStm() adding 42 [DEBUG] (2017-11-20 10:30:12.803) Signature.cpp:121::addLink() Add link 42 to 41 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.803) Signature.cpp:121::addLink() Add link 41 to 42 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:752::addSignatureToStm() Min STM id = 9 [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 42 [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:794::addSignatureToStm() time = 0,000055s [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:660::update() time rehearsal=0,070095 ms [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:713::update() totalTimer = 0,001372s [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1016::process() Processing signature 42 w=-1 [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001433s [DEBUG] (2017-11-20 10:30:12.803) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,053983,-0,380672,-0,040809 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,053983,-0,380672,-0,040809) [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.803) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:12.803) Graph.cpp:1898::getNodesInRadius() found nodes=13 [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1750::process() near nodes=13, max local immunized=2, ratio=0,250000 WM=9 [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1836::process() timeReactivations=0,000168s [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:12.803) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2336::process() timeMapOptimization=0,003363s [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,053983,-0,380672,-0,040809 [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,053983,-0,380672,-0,040809 [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2463::process() Time creating stats = 0,000104... [DEBUG] (2017-11-20 10:30:12.807) Memory.cpp:2219::removeRawData() id=42 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.807) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.807) Memory.cpp:2137::saveLocationData() Saving location data 42 [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000058s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2537::process() Total time processing = 0,005194s... [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000016... [ INFO] (2017-11-20 10:30:12.807) Rtabmap.cpp:2661::process() Adding data 42 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.807) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.807) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.807) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.807) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 42 [DEBUG] (2017-11-20 10:30:12.807) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000254s [DEBUG] (2017-11-20 10:30:12.808) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.808) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.808) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.808) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:12.808) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.808) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.808) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.808) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.808) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.809) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.809) SensorData.cpp:557::uncompressData() 41 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.809) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.811) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.811) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.811) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 673 [DEBUG] (2017-11-20 10:30:12.812) MainWindow.cpp:3844::drawKeypoints() source time = 0,000396 s [DEBUG] (2017-11-20 10:30:12.812) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.812) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.812) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.812) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.813) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.813) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.813) MainWindow.cpp:1971::updateMapCloud() posesIn=13 constraints=12 mapIdsIn=13 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.814) MainWindow.cpp:2065::updateMapCloud() Update map with 13 locations [DEBUG] (2017-11-20 10:30:12.814) SensorData.cpp:557::uncompressData() 41 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.814) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.814) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.814) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.814) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.817) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000246s [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.818) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:12.819) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.819) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.819) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:12.820) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.820) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.820) SensorData.cpp:557::uncompressData() 42 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.820) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.822) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.824) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.824) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.824) MainWindow.cpp:1971::updateMapCloud() posesIn=14 constraints=13 mapIdsIn=14 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2065::updateMapCloud() Update map with 14 locations [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000185s [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.825) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.826) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.826) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.826) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:12.827) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.829) Camera.cpp:103::takeImage() Time capturing image = 0,001090s [DEBUG] (2017-11-20 10:30:12.829) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.829) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.829) RtabmapThread.cpp:628::addData() Added data 43 [ INFO] (2017-11-20 10:30:12.829) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.829) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3688)... [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.829) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.829) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.829) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3676::createSignature() id 43 is a bad signature [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:3999::createSignature() time compressing data (id=43) 0,000084s [DEBUG] (2017-11-20 10:30:12.829) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:639::update() time creating signature=0,107050 ms [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:724::addSignatureToStm() adding 43 [DEBUG] (2017-11-20 10:30:12.829) Signature.cpp:121::addLink() Add link 43 to 42 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.829) Signature.cpp:121::addLink() Add link 42 to 43 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:752::addSignatureToStm() Min STM id = 9 [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 43 [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:713::update() totalTimer = 0,000166s [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1016::process() Processing signature 43 w=-1 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000193s [DEBUG] (2017-11-20 10:30:12.829) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,055979,-0,381911,-0,041704 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,055979,-0,381911,-0,041704) [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:12.829) Graph.cpp:1898::getNodesInRadius() found nodes=13 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1750::process() near nodes=13, max local immunized=2, ratio=0,250000 WM=9 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1836::process() timeReactivations=0,000078s [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,055979,-0,381911,-0,041704 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,055979,-0,381911,-0,041704 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2463::process() Time creating stats = 0,000047... [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:2219::removeRawData() id=43 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.829) Memory.cpp:2137::saveLocationData() Saving location data 43 [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000027s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2537::process() Total time processing = 0,000411s... [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:12.829) Rtabmap.cpp:2661::process() Adding data 43 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.829) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.829) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.829) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.829) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 43 [DEBUG] (2017-11-20 10:30:12.830) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:12.830) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.830) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.830) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.830) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:12.830) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.830) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.830) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.830) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.835) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.835) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.836) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,055979,-0,381911,-0,041704 [DEBUG] (2017-11-20 10:30:12.836) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.836) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.840) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.840) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.840) SensorData.cpp:557::uncompressData() 43 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.840) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.841) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.842) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.843) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.843) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.843) MainWindow.cpp:1971::updateMapCloud() posesIn=14 constraints=13 mapIdsIn=14 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.843) MainWindow.cpp:2065::updateMapCloud() Update map with 14 locations [DEBUG] (2017-11-20 10:30:12.843) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000166s [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.844) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.844) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.861) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.862) Camera.cpp:103::takeImage() Time capturing image = 0,001206s [DEBUG] (2017-11-20 10:30:12.862) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.862) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.862) RtabmapThread.cpp:628::addData() Added data 44 [ INFO] (2017-11-20 10:30:12.862) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.862) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.862) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3688)... [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:621::update() time preUpdate=0,020027 ms [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.863) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.863) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.863) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3676::createSignature() id 44 is a bad signature [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:3999::createSignature() time compressing data (id=44) 0,000248s [DEBUG] (2017-11-20 10:30:12.863) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:639::update() time creating signature=0,303030 ms [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:724::addSignatureToStm() adding 44 [DEBUG] (2017-11-20 10:30:12.863) Signature.cpp:121::addLink() Add link 44 to 43 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.863) Signature.cpp:121::addLink() Add link 43 to 44 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:752::addSignatureToStm() Min STM id = 9 [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 44 [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:794::addSignatureToStm() time = 0,000072s [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:660::update() time rehearsal=0,090837 ms [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:713::update() totalTimer = 0,000446s [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1016::process() Processing signature 44 w=-1 [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000502s [DEBUG] (2017-11-20 10:30:12.863) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,053325,-0,373741,-0,044189 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,053325,-0,373741,-0,044189) [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000073s [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.863) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000035s [DEBUG] (2017-11-20 10:30:12.863) Graph.cpp:1898::getNodesInRadius() found nodes=13 [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1750::process() near nodes=13, max local immunized=2, ratio=0,250000 WM=9 [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1836::process() timeReactivations=0,000224s [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000011s [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000009s [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2336::process() timeMapOptimization=0,000009s [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,053325,-0,373741,-0,044189 [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,053325,-0,373741,-0,044189 [ INFO] (2017-11-20 10:30:12.863) Rtabmap.cpp:2463::process() Time creating stats = 0,000128... [DEBUG] (2017-11-20 10:30:12.864) Memory.cpp:2219::removeRawData() id=44 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.864) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.864) Memory.cpp:2137::saveLocationData() Saving location data 44 [ INFO] (2017-11-20 10:30:12.864) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000105s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.864) Rtabmap.cpp:2537::process() Total time processing = 0,001107s... [ INFO] (2017-11-20 10:30:12.864) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000020... [ INFO] (2017-11-20 10:30:12.864) Rtabmap.cpp:2661::process() Adding data 44 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.864) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.864) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.864) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.864) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 44 [DEBUG] (2017-11-20 10:30:12.864) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000401s [DEBUG] (2017-11-20 10:30:12.864) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.864) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.865) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.865) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000023s... [DEBUG] (2017-11-20 10:30:12.865) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.865) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.865) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.865) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.867) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.867) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.867) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,053325,-0,373741,-0,044189 [DEBUG] (2017-11-20 10:30:12.868) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.868) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.873) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.874) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.874) SensorData.cpp:557::uncompressData() 44 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.874) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.875) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.876) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.877) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.877) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.877) MainWindow.cpp:1971::updateMapCloud() posesIn=14 constraints=13 mapIdsIn=14 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.877) MainWindow.cpp:2065::updateMapCloud() Update map with 14 locations [DEBUG] (2017-11-20 10:30:12.877) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000227s [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.878) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.879) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.879) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.879) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:12.894) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.895) Camera.cpp:103::takeImage() Time capturing image = 0,001197s [DEBUG] (2017-11-20 10:30:12.895) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.895) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.895) RtabmapThread.cpp:628::addData() Added data 45 [ INFO] (2017-11-20 10:30:12.895) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.895) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.896) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.896) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3688)... [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.896) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.896) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.896) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.896) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:12.896) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:12.896) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.896) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.897) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,049166,-0,370724,-0,045030 [DEBUG] (2017-11-20 10:30:12.897) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.897) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.898) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:12.898) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:12.898) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.898) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:12.902) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003878 s, keypoints extracted = 625 (mask empty=0) [DEBUG] (2017-11-20 10:30:12.902) Memory.cpp:3482::createSignature() time keypoints (625) = 0,006660s [DEBUG] (2017-11-20 10:30:12.907) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 625, remaining kpts=625 [DEBUG] (2017-11-20 10:30:12.907) Memory.cpp:3487::createSignature() time descriptors (625) = 0,004345s [DEBUG] (2017-11-20 10:30:12.907) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=201 [DEBUG] (2017-11-20 10:30:12.907) Memory.cpp:3500::createSignature() time keypoints 3D (625) = 0,000084s [DEBUG] (2017-11-20 10:30:12.907) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.907) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.907) Memory.cpp:3612::createSignature() time descriptor and memory update (625 of size=32) = 0,000019s [DEBUG] (2017-11-20 10:30:12.907) VWDictionary.cpp:593::addNewWords() id=45 descriptors=625 [DEBUG] (2017-11-20 10:30:12.907) VWDictionary.cpp:686::addNewWords() newPts.total()=625 [DEBUG] (2017-11-20 10:30:12.912) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005364 s [DEBUG] (2017-11-20 10:30:12.915) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002628 s [DEBUG] (2017-11-20 10:30:12.915) VWDictionary.cpp:874::addNewWords() 237 new words added... [DEBUG] (2017-11-20 10:30:12.915) VWDictionary.cpp:876::addNewWords() 388 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:12.915) VWDictionary.cpp:877::addNewWords() total time 0,008024s [DEBUG] (2017-11-20 10:30:12.915) Memory.cpp:3672::createSignature() time addNewWords 0,008040s indexed=3688 not=237 [DEBUG] (2017-11-20 10:30:12.915) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:3999::createSignature() time compressing data (id=45) 0,002010s [DEBUG] (2017-11-20 10:30:12.917) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:639::update() time creating signature=21,273136 ms [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:724::addSignatureToStm() adding 45 [DEBUG] (2017-11-20 10:30:12.917) Signature.cpp:121::addLink() Add link 45 to 44 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.917) Signature.cpp:121::addLink() Add link 44 to 45 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:752::addSignatureToStm() Min STM id = 9 [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:786::addSignatureToStm() 625 words ref for the signature 45 [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:2882::rehearsal() Comparing with signature (41)... [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:2905::rehearsal() merged=0, sim=0,208024 t=0,000124s [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:660::update() time rehearsal=0,186920 ms [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 9 from STM in WM... [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 10 from STM in WM... [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 11 from STM in WM... [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:713::update() totalTimer = 0,021488s [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.917) Rtabmap.cpp:1016::process() Processing signature 45 w=0 [ INFO] (2017-11-20 10:30:12.917) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,021513s [DEBUG] (2017-11-20 10:30:12.917) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,049166,-0,370724,-0,045030 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,049166,-0,370724,-0,045030) [ INFO] (2017-11-20 10:30:12.917) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000045s [ INFO] (2017-11-20 10:30:12.917) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:12.917) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000237 s [DEBUG] (2017-11-20 10:30:12.917) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=5 [DEBUG] (2017-11-20 10:30:12.917) Rtabmap.cpp:3272::adjustLikelihood() values.size=4 [DEBUG] (2017-11-20 10:30:12.917) Rtabmap.cpp:3319::adjustLikelihood() mean=0,131375, stdDev=0,008738, max=0,142953, maxId=1, time=0,000003s [ INFO] (2017-11-20 10:30:12.917) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000274s [ INFO] (2017-11-20 10:30:12.917) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:495::updatePrediction() From added id 11, 3 neighbors to update. [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:498::updatePrediction() time getting 3 ids to update = 0,000031s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:544::updatePrediction() time updating modified/added 3 ids = 0,000042s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:575::updatePrediction() time copying = 0,000005s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:597::updatePrediction() Modified=3, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000101s, rows=5, cols=5 [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=5, _posterior size=5 [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000015s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:208::computePosterior() sum=13,478218 [DEBUG] (2017-11-20 10:30:12.917) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000146s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1400::process() Highest hypothesis=5, value=0,012698, timeHypothesesCreation=0,000009s [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000023s, joining (actual overhead) = 0,000011s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1489::process() Retrieving locations... around id=5 [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1511::process() neighbors of 5 in time = 21 [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1566::process() neighbors of 5 in space = 21 [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=11, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000029s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:12.918) Graph.cpp:1898::getNodesInRadius() found nodes=13 [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1750::process() near nodes=13, max local immunized=3, ratio=0,250000 WM=12 [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:12.918) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:12.918) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1836::process() timeReactivations=0,000167s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1929::process() nearestIds=1/14 [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,049166,-0,370724,-0,045030 [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,049166,-0,370724,-0,045030 [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2463::process() Time creating stats = 0,000081... [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:2219::removeRawData() id=45 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.918) Memory.cpp:2137::saveLocationData() Saving location data 45 [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000088s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2537::process() Total time processing = 0,022367s... [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.918) Rtabmap.cpp:2661::process() Adding data 45 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.918) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 45 [DEBUG] (2017-11-20 10:30:12.918) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000179s [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.918) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.918) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.918) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:12.918) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.919) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.919) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.919) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.919) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.919) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.919) SensorData.cpp:557::uncompressData() 45 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.919) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.921) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.921) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.921) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 625 [DEBUG] (2017-11-20 10:30:12.921) MainWindow.cpp:3844::drawKeypoints() source time = 0,000327 s [DEBUG] (2017-11-20 10:30:12.921) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.921) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.922) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.922) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.923) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.923) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.923) MainWindow.cpp:1971::updateMapCloud() posesIn=14 constraints=13 mapIdsIn=14 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.923) MainWindow.cpp:2065::updateMapCloud() Update map with 14 locations [DEBUG] (2017-11-20 10:30:12.923) SensorData.cpp:557::uncompressData() 45 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:12.924) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:12.924) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.924) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:12.924) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000163s [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.927) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:12.927) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.928) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.928) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.928) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:12.929) Camera.cpp:103::takeImage() Time capturing image = 0,001355s [DEBUG] (2017-11-20 10:30:12.929) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.929) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.929) RtabmapThread.cpp:628::addData() Added data 46 [ INFO] (2017-11-20 10:30:12.929) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.929) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.929) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.929) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3925)... [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.929) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.929) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:12.929) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:12.929) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 237 words... [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.929) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.930) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 237 words... done! [DEBUG] (2017-11-20 10:30:12.930) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=237 removed=0) [DEBUG] (2017-11-20 10:30:12.930) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:3676::createSignature() id 46 is a bad signature [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:3999::createSignature() time compressing data (id=46) 0,000799s [DEBUG] (2017-11-20 10:30:12.930) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:639::update() time creating signature=0,824928 ms [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:724::addSignatureToStm() adding 46 [DEBUG] (2017-11-20 10:30:12.930) Signature.cpp:121::addLink() Add link 46 to 45 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.930) Signature.cpp:121::addLink() Add link 45 to 46 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:752::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 46 [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:794::addSignatureToStm() time = 0,000037s [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:660::update() time rehearsal=0,046968 ms [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:713::update() totalTimer = 0,000893s [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1016::process() Processing signature 46 w=-1 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000921s [DEBUG] (2017-11-20 10:30:12.930) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,046815,-0,372853,-0,044441 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,046815,-0,372853,-0,044441) [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000022s [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:12.930) Graph.cpp:1898::getNodesInRadius() found nodes=14 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1750::process() near nodes=14, max local immunized=3, ratio=0,250000 WM=12 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1836::process() timeReactivations=0,000076s [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,046815,-0,372853,-0,044441 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,046815,-0,372853,-0,044441 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2463::process() Time creating stats = 0,000047... [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:2219::removeRawData() id=46 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.930) Memory.cpp:2137::saveLocationData() Saving location data 46 [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2537::process() Total time processing = 0,001126s... [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:12.930) Rtabmap.cpp:2661::process() Adding data 46 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.930) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.930) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.930) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.930) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 46 [DEBUG] (2017-11-20 10:30:12.931) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000160s [DEBUG] (2017-11-20 10:30:12.931) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.931) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.931) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.931) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000007s... [DEBUG] (2017-11-20 10:30:12.931) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.931) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.931) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.931) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.940) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.940) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.940) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,046815,-0,372853,-0,044441 [DEBUG] (2017-11-20 10:30:12.940) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.940) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.944) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.944) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.944) SensorData.cpp:557::uncompressData() 46 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.945) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.946) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.947) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.948) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.948) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.948) MainWindow.cpp:1971::updateMapCloud() posesIn=15 constraints=14 mapIdsIn=15 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.948) MainWindow.cpp:2065::updateMapCloud() Update map with 15 locations [DEBUG] (2017-11-20 10:30:12.948) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000213s [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.949) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.950) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:12.961) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.962) Camera.cpp:103::takeImage() Time capturing image = 0,001489s [DEBUG] (2017-11-20 10:30:12.962) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.962) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.962) RtabmapThread.cpp:628::addData() Added data 47 [ INFO] (2017-11-20 10:30:12.962) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.962) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3925)... [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.963) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.963) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.963) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3676::createSignature() id 47 is a bad signature [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:3999::createSignature() time compressing data (id=47) 0,000096s [DEBUG] (2017-11-20 10:30:12.963) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:639::update() time creating signature=0,118971 ms [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:724::addSignatureToStm() adding 47 [DEBUG] (2017-11-20 10:30:12.963) Signature.cpp:121::addLink() Add link 47 to 46 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.963) Signature.cpp:121::addLink() Add link 46 to 47 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:752::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 47 [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:713::update() totalTimer = 0,000179s [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1016::process() Processing signature 47 w=-1 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000205s [DEBUG] (2017-11-20 10:30:12.963) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,046589,-0,371641,-0,049707 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,046589,-0,371641,-0,049707) [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000007s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:12.963) Graph.cpp:1898::getNodesInRadius() found nodes=14 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1750::process() near nodes=14, max local immunized=3, ratio=0,250000 WM=12 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1836::process() timeReactivations=0,000084s [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,046589,-0,371641,-0,049707 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,046589,-0,371641,-0,049707 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:2219::removeRawData() id=47 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.963) Memory.cpp:2137::saveLocationData() Saving location data 47 [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2537::process() Total time processing = 0,000415s... [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:12.963) Rtabmap.cpp:2661::process() Adding data 47 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.963) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.963) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.963) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.963) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 47 [DEBUG] (2017-11-20 10:30:12.963) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000172s [DEBUG] (2017-11-20 10:30:12.963) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.963) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.963) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.963) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.963) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.963) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.963) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000020s... [DEBUG] (2017-11-20 10:30:12.963) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.963) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.963) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.964) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,046589,-0,371641,-0,049707 [DEBUG] (2017-11-20 10:30:12.964) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.964) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:12.968) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:12.968) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:12.968) SensorData.cpp:557::uncompressData() 47 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:12.968) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:12.970) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.971) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.971) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:12.971) MainWindow.cpp:1971::updateMapCloud() posesIn=15 constraints=14 mapIdsIn=15 labelsIn=1 [DEBUG] (2017-11-20 10:30:12.971) MainWindow.cpp:2065::updateMapCloud() Update map with 15 locations [DEBUG] (2017-11-20 10:30:12.971) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000177s [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:12.972) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:12.972) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:12.994) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:12.995) Camera.cpp:103::takeImage() Time capturing image = 0,001057s [DEBUG] (2017-11-20 10:30:12.995) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:12.995) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:12.995) RtabmapThread.cpp:628::addData() Added data 48 [ INFO] (2017-11-20 10:30:12.995) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:12.995) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:12.995) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.995) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3925)... [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:12.995) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:12.995) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:12.996) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:12.996) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:3676::createSignature() id 48 is a bad signature [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:3999::createSignature() time compressing data (id=48) 0,000101s [DEBUG] (2017-11-20 10:30:12.996) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:639::update() time creating signature=0,123024 ms [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:724::addSignatureToStm() adding 48 [DEBUG] (2017-11-20 10:30:12.996) Signature.cpp:121::addLink() Add link 48 to 47 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.996) Signature.cpp:121::addLink() Add link 47 to 48 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:752::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 48 [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:794::addSignatureToStm() time = 0,000029s [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:660::update() time rehearsal=0,036955 ms [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:713::update() totalTimer = 0,000178s [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1016::process() Processing signature 48 w=-1 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000203s [DEBUG] (2017-11-20 10:30:12.996) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,045851,-0,367824,-0,056099 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,045851,-0,367824,-0,056099) [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000020s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:12.996) Graph.cpp:1898::getNodesInRadius() found nodes=14 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1750::process() near nodes=14, max local immunized=3, ratio=0,250000 WM=12 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1836::process() timeReactivations=0,000082s [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,045851,-0,367824,-0,056099 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,045851,-0,367824,-0,056099 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:2219::removeRawData() id=48 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:12.996) Memory.cpp:2137::saveLocationData() Saving location data 48 [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2537::process() Total time processing = 0,000411s... [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:12.996) Rtabmap.cpp:2661::process() Adding data 48 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:12.996) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:12.996) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:12.996) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:12.996) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 48 [DEBUG] (2017-11-20 10:30:12.996) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000167s [DEBUG] (2017-11-20 10:30:12.996) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:12.996) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:12.996) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:12.996) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:12.996) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:12.996) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000023s... [DEBUG] (2017-11-20 10:30:12.996) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:12.996) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:12.996) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:12.996) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:12.996) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,045851,-0,367824,-0,056099 [DEBUG] (2017-11-20 10:30:12.997) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:12.997) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.002) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.002) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.002) SensorData.cpp:557::uncompressData() 48 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.002) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.004) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.005) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.005) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.005) MainWindow.cpp:1971::updateMapCloud() posesIn=15 constraints=14 mapIdsIn=15 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.005) MainWindow.cpp:2065::updateMapCloud() Update map with 15 locations [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000188s [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.006) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.007) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.007) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.007) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:13.027) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.029) Camera.cpp:103::takeImage() Time capturing image = 0,001076s [DEBUG] (2017-11-20 10:30:13.029) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.029) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.029) RtabmapThread.cpp:628::addData() Added data 49 [ INFO] (2017-11-20 10:30:13.029) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.029) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.029) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.029) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=3925)... [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.029) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.029) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.029) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.029) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.029) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.030) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.030) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.030) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,044657,-0,372171,-0,057254 [DEBUG] (2017-11-20 10:30:13.030) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.030) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.032) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.033) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.033) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.033) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.037) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003899 s, keypoints extracted = 644 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.037) Memory.cpp:3482::createSignature() time keypoints (644) = 0,007898s [DEBUG] (2017-11-20 10:30:13.041) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 644, remaining kpts=644 [DEBUG] (2017-11-20 10:30:13.041) Memory.cpp:3487::createSignature() time descriptors (644) = 0,004592s [DEBUG] (2017-11-20 10:30:13.041) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=197 [DEBUG] (2017-11-20 10:30:13.041) Memory.cpp:3500::createSignature() time keypoints 3D (644) = 0,000115s [DEBUG] (2017-11-20 10:30:13.041) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.041) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.041) Memory.cpp:3612::createSignature() time descriptor and memory update (644 of size=32) = 0,000027s [DEBUG] (2017-11-20 10:30:13.041) VWDictionary.cpp:593::addNewWords() id=49 descriptors=644 [DEBUG] (2017-11-20 10:30:13.041) VWDictionary.cpp:686::addNewWords() newPts.total()=644 [DEBUG] (2017-11-20 10:30:13.047) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005992 s [DEBUG] (2017-11-20 10:30:13.050) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002746 s [DEBUG] (2017-11-20 10:30:13.050) VWDictionary.cpp:874::addNewWords() 277 new words added... [DEBUG] (2017-11-20 10:30:13.050) VWDictionary.cpp:876::addNewWords() 367 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:13.050) VWDictionary.cpp:877::addNewWords() total time 0,008764s [DEBUG] (2017-11-20 10:30:13.050) Memory.cpp:3672::createSignature() time addNewWords 0,008784s indexed=3925 not=277 [DEBUG] (2017-11-20 10:30:13.050) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:3999::createSignature() time compressing data (id=49) 0,001996s [DEBUG] (2017-11-20 10:30:13.052) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:639::update() time creating signature=23,500204 ms [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:724::addSignatureToStm() adding 49 [DEBUG] (2017-11-20 10:30:13.052) Signature.cpp:121::addLink() Add link 49 to 48 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.052) Signature.cpp:121::addLink() Add link 48 to 49 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:752::addSignatureToStm() Min STM id = 12 [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:786::addSignatureToStm() 644 words ref for the signature 49 [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:2882::rehearsal() Comparing with signature (45)... [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:2905::rehearsal() merged=0, sim=0,187888 t=0,000096s [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:660::update() time rehearsal=0,149965 ms [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 12 from STM in WM... [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 13 from STM in WM... [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 14 from STM in WM... [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:713::update() totalTimer = 0,023680s [DEBUG] (2017-11-20 10:30:13.052) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.052) Rtabmap.cpp:1016::process() Processing signature 49 w=0 [ INFO] (2017-11-20 10:30:13.052) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023705s [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,044657,-0,372171,-0,057254 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,044657,-0,372171,-0,057254) [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000065s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000238 s [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=6 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:3272::adjustLikelihood() values.size=5 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:3319::adjustLikelihood() mean=0,119089, stdDev=0,018798, max=0,149004, maxId=14, time=0,000003s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000276s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:495::updatePrediction() From added id 14, 4 neighbors to update. [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:498::updatePrediction() time getting 4 ids to update = 0,000031s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:544::updatePrediction() time updating modified/added 4 ids = 0,000054s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:575::updatePrediction() time copying = 0,000004s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:597::updatePrediction() Modified=4, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000110s, rows=6, cols=6 [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=6, _posterior size=6 [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000014s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000003s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:208::computePosterior() sum=6,639328 [DEBUG] (2017-11-20 10:30:13.053) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000152s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1400::process() Highest hypothesis=14, value=0,016888, timeHypothesesCreation=0,000009s [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000023s, joining (actual overhead) = 0,000011s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1489::process() Retrieving locations... around id=14 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1511::process() neighbors of 14 in time = 30 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1566::process() neighbors of 14 in space = 30 [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=14, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000035s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.053) Graph.cpp:1898::getNodesInRadius() found nodes=14 [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1750::process() near nodes=14, max local immunized=3, ratio=0,250000 WM=15 [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.053) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.053) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1836::process() timeReactivations=0,000174s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1929::process() nearestIds=1/15 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.053) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,044657,-0,372171,-0,057254 [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,044657,-0,372171,-0,057254 [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2463::process() Time creating stats = 0,000091... [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:2219::removeRawData() id=49 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.053) Memory.cpp:2137::saveLocationData() Saving location data 49 [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000087s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2537::process() Total time processing = 0,024605s... [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:13.053) Rtabmap.cpp:2661::process() Adding data 49 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.054) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.054) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.054) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.054) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 49 [DEBUG] (2017-11-20 10:30:13.054) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000175s [DEBUG] (2017-11-20 10:30:13.054) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.054) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.054) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.054) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:13.054) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.054) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.054) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.054) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.054) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.055) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.055) SensorData.cpp:557::uncompressData() 49 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.055) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.056) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 644 [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:3844::drawKeypoints() source time = 0,000521 s [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.057) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.060) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:13.060) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.060) MainWindow.cpp:1971::updateMapCloud() posesIn=15 constraints=14 mapIdsIn=15 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.060) MainWindow.cpp:2065::updateMapCloud() Update map with 15 locations [DEBUG] (2017-11-20 10:30:13.060) SensorData.cpp:557::uncompressData() 49 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.060) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.060) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.060) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.060) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.061) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.062) Camera.cpp:103::takeImage() Time capturing image = 0,001408s [DEBUG] (2017-11-20 10:30:13.062) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.062) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.062) RtabmapThread.cpp:628::addData() Added data 50 [ INFO] (2017-11-20 10:30:13.062) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.063) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.063) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.063) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4202)... [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.063) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.063) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.063) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.063) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 277 words... [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.063) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.064) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 2047 -> 4095 [DEBUG] (2017-11-20 10:30:13.065) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000342s [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.066) MainWindow.cpp:1853::processStats() time= 6 ms [DEBUG] (2017-11-20 10:30:13.069) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.069) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.070) MainWindow.cpp:1931::processStats() Updating GUI time = 0,016000s [DEBUG] (2017-11-20 10:30:13.072) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.072) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.073) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,045788,-0,374701,-0,058320 [DEBUG] (2017-11-20 10:30:13.076) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 277 words... done! [DEBUG] (2017-11-20 10:30:13.076) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=277 removed=0) [DEBUG] (2017-11-20 10:30:13.076) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:3676::createSignature() id 50 is a bad signature [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:3999::createSignature() time compressing data (id=50) 0,013162s [DEBUG] (2017-11-20 10:30:13.076) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:639::update() time creating signature=13,208151 ms [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:724::addSignatureToStm() adding 50 [DEBUG] (2017-11-20 10:30:13.076) Signature.cpp:121::addLink() Add link 50 to 49 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.076) Signature.cpp:121::addLink() Add link 49 to 50 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:752::addSignatureToStm() Min STM id = 15 [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 50 [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:794::addSignatureToStm() time = 0,000058s [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:660::update() time rehearsal=0,073910 ms [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:713::update() totalTimer = 0,013313s [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1016::process() Processing signature 50 w=-1 [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,013351s [DEBUG] (2017-11-20 10:30:13.076) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,045788,-0,374701,-0,058320 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,045788,-0,374701,-0,058320) [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000031s [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.076) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:13.076) Graph.cpp:1898::getNodesInRadius() found nodes=15 [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1750::process() near nodes=15, max local immunized=3, ratio=0,250000 WM=15 [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1836::process() timeReactivations=0,000148s [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000007s [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,045788,-0,374701,-0,058320 [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,045788,-0,374701,-0,058320 [ INFO] (2017-11-20 10:30:13.076) Rtabmap.cpp:2463::process() Time creating stats = 0,000074... [DEBUG] (2017-11-20 10:30:13.077) Memory.cpp:2219::removeRawData() id=50 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.077) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.077) Memory.cpp:2137::saveLocationData() Saving location data 50 [ INFO] (2017-11-20 10:30:13.077) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000052s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.077) Rtabmap.cpp:2537::process() Total time processing = 0,013701s... [ INFO] (2017-11-20 10:30:13.077) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:13.077) Rtabmap.cpp:2661::process() Adding data 50 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.077) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.077) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.077) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.077) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 50 [DEBUG] (2017-11-20 10:30:13.077) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000287s [DEBUG] (2017-11-20 10:30:13.077) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.077) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.077) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.077) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000022s... [DEBUG] (2017-11-20 10:30:13.077) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.077) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.077) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.077) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.091) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.091) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.091) SensorData.cpp:557::uncompressData() 50 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.091) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.093) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.094) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.095) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.095) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.095) MainWindow.cpp:1971::updateMapCloud() posesIn=16 constraints=15 mapIdsIn=16 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.095) MainWindow.cpp:2065::updateMapCloud() Update map with 16 locations [DEBUG] (2017-11-20 10:30:13.095) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.095) Camera.cpp:103::takeImage() Time capturing image = 0,001141s [DEBUG] (2017-11-20 10:30:13.095) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.095) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.095) RtabmapThread.cpp:628::addData() Added data 51 [ INFO] (2017-11-20 10:30:13.095) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.095) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.095) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.095) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4202)... [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.095) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.096) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.096) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.096) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:3676::createSignature() id 51 is a bad signature [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:3999::createSignature() time compressing data (id=51) 0,000097s [DEBUG] (2017-11-20 10:30:13.096) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:639::update() time creating signature=0,119925 ms [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:724::addSignatureToStm() adding 51 [DEBUG] (2017-11-20 10:30:13.096) Signature.cpp:121::addLink() Add link 51 to 50 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.096) Signature.cpp:121::addLink() Add link 50 to 51 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:752::addSignatureToStm() Min STM id = 15 [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 51 [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:660::update() time rehearsal=0,046015 ms [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000230s [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:713::update() totalTimer = 0,000187s [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1016::process() Processing signature 51 w=-1 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000240s [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.096) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,046967,-0,377097,-0,060992 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,046967,-0,377097,-0,060992) [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:2604::updateMapCloud() [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000048s [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000022s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:13.096) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.096) Graph.cpp:1898::getNodesInRadius() found nodes=15 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1750::process() near nodes=15, max local immunized=3, ratio=0,250000 WM=15 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1836::process() timeReactivations=0,000088s [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,046967,-0,377097,-0,060992 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,046967,-0,377097,-0,060992 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2463::process() Time creating stats = 0,000049... [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:2219::removeRawData() id=51 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.096) Memory.cpp:2137::saveLocationData() Saving location data 51 [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2537::process() Total time processing = 0,000488s... [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:13.096) Rtabmap.cpp:2661::process() Adding data 51 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.096) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.096) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.096) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.096) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 51 [DEBUG] (2017-11-20 10:30:13.096) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000181s [DEBUG] (2017-11-20 10:30:13.096) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.096) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.096) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.096) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.096) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000026s... [DEBUG] (2017-11-20 10:30:13.096) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.096) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.096) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.097) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.097) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.097) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:13.098) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.098) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.098) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,046967,-0,377097,-0,060992 [DEBUG] (2017-11-20 10:30:13.100) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.100) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.101) SensorData.cpp:557::uncompressData() 51 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.101) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.102) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:1971::updateMapCloud() posesIn=16 constraints=15 mapIdsIn=16 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2065::updateMapCloud() Update map with 16 locations [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000176s [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.104) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.105) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.105) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.105) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:13.127) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.129) Camera.cpp:103::takeImage() Time capturing image = 0,001325s [DEBUG] (2017-11-20 10:30:13.129) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.129) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.129) RtabmapThread.cpp:628::addData() Added data 52 [ INFO] (2017-11-20 10:30:13.129) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.129) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.129) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.129) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4202)... [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.129) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.129) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.129) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.129) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.129) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.130) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.130) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.130) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,052012,-0,381089,-0,064723 [DEBUG] (2017-11-20 10:30:13.130) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.130) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.131) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.132) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.132) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.132) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.135) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003247 s, keypoints extracted = 602 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.135) Memory.cpp:3482::createSignature() time keypoints (602) = 0,005846s [DEBUG] (2017-11-20 10:30:13.139) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 602, remaining kpts=602 [DEBUG] (2017-11-20 10:30:13.139) Memory.cpp:3487::createSignature() time descriptors (602) = 0,003739s [DEBUG] (2017-11-20 10:30:13.139) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=198 [DEBUG] (2017-11-20 10:30:13.139) Memory.cpp:3500::createSignature() time keypoints 3D (602) = 0,000083s [DEBUG] (2017-11-20 10:30:13.139) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.139) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.139) Memory.cpp:3612::createSignature() time descriptor and memory update (602 of size=32) = 0,000021s [DEBUG] (2017-11-20 10:30:13.139) VWDictionary.cpp:593::addNewWords() id=52 descriptors=602 [DEBUG] (2017-11-20 10:30:13.139) VWDictionary.cpp:686::addNewWords() newPts.total()=602 [DEBUG] (2017-11-20 10:30:13.144) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005521 s [DEBUG] (2017-11-20 10:30:13.149) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004367 s [DEBUG] (2017-11-20 10:30:13.149) VWDictionary.cpp:874::addNewWords() 249 new words added... [DEBUG] (2017-11-20 10:30:13.149) VWDictionary.cpp:876::addNewWords() 353 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:13.149) VWDictionary.cpp:877::addNewWords() total time 0,009941s [DEBUG] (2017-11-20 10:30:13.149) Memory.cpp:3672::createSignature() time addNewWords 0,009961s indexed=4202 not=249 [DEBUG] (2017-11-20 10:30:13.149) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:3999::createSignature() time compressing data (id=52) 0,002216s [DEBUG] (2017-11-20 10:30:13.151) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:639::update() time creating signature=22,031069 ms [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:724::addSignatureToStm() adding 52 [DEBUG] (2017-11-20 10:30:13.151) Signature.cpp:121::addLink() Add link 52 to 51 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.151) Signature.cpp:121::addLink() Add link 51 to 52 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:752::addSignatureToStm() Min STM id = 15 [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:786::addSignatureToStm() 602 words ref for the signature 52 [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:794::addSignatureToStm() time = 0,000051s [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:2882::rehearsal() Comparing with signature (49)... [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:2905::rehearsal() merged=0, sim=0,149068 t=0,000163s [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:660::update() time rehearsal=0,258923 ms [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 15 from STM in WM... [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 16 from STM in WM... [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 17 from STM in WM... [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:713::update() totalTimer = 0,022337s [DEBUG] (2017-11-20 10:30:13.151) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.151) Rtabmap.cpp:1016::process() Processing signature 52 w=0 [ INFO] (2017-11-20 10:30:13.151) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022375s [DEBUG] (2017-11-20 10:30:13.151) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,052012,-0,381089,-0,064723 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,052012,-0,381089,-0,064723) [ INFO] (2017-11-20 10:30:13.151) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000068s [ INFO] (2017-11-20 10:30:13.151) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000363 s [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=7 [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:3272::adjustLikelihood() values.size=6 [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:3319::adjustLikelihood() mean=0,100264, stdDev=0,006937, max=0,109387, maxId=11, time=0,000007s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000427s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000009s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000007s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:495::updatePrediction() From added id 17, 5 neighbors to update. [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:498::updatePrediction() time getting 5 ids to update = 0,000050s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:544::updatePrediction() time updating modified/added 5 ids = 0,000107s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:575::updatePrediction() time copying = 0,000008s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000007s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:597::updatePrediction() Modified=5, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000203s, rows=7, cols=7 [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=7, _posterior size=7 [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000025s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000007s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000007s [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:208::computePosterior() sum=13,812799 [DEBUG] (2017-11-20 10:30:13.152) BayesFilter.cpp:216::computePosterior() normalize time=0,000014s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000280s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1400::process() Highest hypothesis=11, value=0,008262, timeHypothesesCreation=0,000015s [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000026s, joining (actual overhead) = 0,000020s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1489::process() Retrieving locations... around id=11 [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:1511::process() neighbors of 11 in time = 27 [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:1566::process() neighbors of 11 in space = 27 [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000056s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.152) Graph.cpp:1898::getNodesInRadius() found nodes=15 [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1750::process() near nodes=15, max local immunized=4, ratio=0,250000 WM=18 [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.152) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.152) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000007s... [DEBUG] (2017-11-20 10:30:13.152) Memory.cpp:4252::reactivateSignatures() time = 0,000045s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000019s) [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000019s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1836::process() timeReactivations=0,000268s [ INFO] (2017-11-20 10:30:13.152) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:13.152) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:1929::process() nearestIds=1/16 [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000037s [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,052012,-0,381089,-0,064723 [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,052012,-0,381089,-0,064723 [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2463::process() Time creating stats = 0,000156... [DEBUG] (2017-11-20 10:30:13.153) Memory.cpp:2219::removeRawData() id=52 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.153) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.153) Memory.cpp:2137::saveLocationData() Saving location data 52 [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000143s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2537::process() Total time processing = 0,023810s... [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:13.153) Rtabmap.cpp:2661::process() Adding data 52 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.153) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.153) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 52 [DEBUG] (2017-11-20 10:30:13.154) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000264s [DEBUG] (2017-11-20 10:30:13.154) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.154) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.157) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.157) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000020s... [DEBUG] (2017-11-20 10:30:13.157) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.157) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.157) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.157) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.157) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.158) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.158) SensorData.cpp:557::uncompressData() 52 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.158) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.160) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 602 [DEBUG] (2017-11-20 10:30:13.161) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:3844::drawKeypoints() source time = 0,000460 s [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.161) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.162) Camera.cpp:103::takeImage() Time capturing image = 0,001300s [DEBUG] (2017-11-20 10:30:13.162) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.162) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.162) RtabmapThread.cpp:628::addData() Added data 53 [ INFO] (2017-11-20 10:30:13.162) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.162) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.162) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.162) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4451)... [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.162) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.162) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.163) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.163) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.163) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 249 words... [DEBUG] (2017-11-20 10:30:13.163) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.163) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.163) MainWindow.cpp:1971::updateMapCloud() posesIn=16 constraints=15 mapIdsIn=16 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.163) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 249 words... done! [DEBUG] (2017-11-20 10:30:13.163) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=249 removed=0) [DEBUG] (2017-11-20 10:30:13.163) MainWindow.cpp:2065::updateMapCloud() Update map with 16 locations [DEBUG] (2017-11-20 10:30:13.163) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:3676::createSignature() id 53 is a bad signature [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.163) SensorData.cpp:557::uncompressData() 52 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:3999::createSignature() time compressing data (id=53) 0,000730s [DEBUG] (2017-11-20 10:30:13.163) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:639::update() time creating signature=0,762224 ms [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:724::addSignatureToStm() adding 53 [DEBUG] (2017-11-20 10:30:13.163) Signature.cpp:121::addLink() Add link 53 to 52 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.163) Signature.cpp:121::addLink() Add link 52 to 53 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:752::addSignatureToStm() Min STM id = 18 [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 53 [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:794::addSignatureToStm() time = 0,000033s [DEBUG] (2017-11-20 10:30:13.163) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.163) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:660::update() time rehearsal=0,042915 ms [DEBUG] (2017-11-20 10:30:13.163) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:713::update() totalTimer = 0,000863s [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1016::process() Processing signature 53 w=-1 [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000924s [DEBUG] (2017-11-20 10:30:13.163) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,053571,-0,378944,-0,070043 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,053571,-0,378944,-0,070043) [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000020s [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000020s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:13.163) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.163) Graph.cpp:1898::getNodesInRadius() found nodes=16 [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1750::process() near nodes=16, max local immunized=4, ratio=0,250000 WM=18 [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1836::process() timeReactivations=0,000085s [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,053571,-0,378944,-0,070043 [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,053571,-0,378944,-0,070043 [ INFO] (2017-11-20 10:30:13.163) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:13.163) Memory.cpp:2219::removeRawData() id=53 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.164) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.164) Memory.cpp:2137::saveLocationData() Saving location data 53 [ INFO] (2017-11-20 10:30:13.164) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.164) Rtabmap.cpp:2537::process() Total time processing = 0,001124s... [ INFO] (2017-11-20 10:30:13.164) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:13.164) Rtabmap.cpp:2661::process() Adding data 53 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.164) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.164) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.164) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.164) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 53 [DEBUG] (2017-11-20 10:30:13.164) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000158s [DEBUG] (2017-11-20 10:30:13.164) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.164) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.164) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.164) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:13.164) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.164) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.164) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.164) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000152s [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.166) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:13.167) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.167) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.167) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:13.168) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.168) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.168) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,053571,-0,378944,-0,070043 [DEBUG] (2017-11-20 10:30:13.170) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.170) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.170) SensorData.cpp:557::uncompressData() 53 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.170) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.172) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.173) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.173) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.173) MainWindow.cpp:1971::updateMapCloud() posesIn=17 constraints=16 mapIdsIn=17 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.173) MainWindow.cpp:2065::updateMapCloud() Update map with 17 locations [DEBUG] (2017-11-20 10:30:13.173) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000150s [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.174) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.174) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.194) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.195) Camera.cpp:103::takeImage() Time capturing image = 0,001155s [DEBUG] (2017-11-20 10:30:13.195) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.195) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.195) RtabmapThread.cpp:628::addData() Added data 54 [ INFO] (2017-11-20 10:30:13.195) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.195) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4451)... [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.196) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.196) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.196) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3676::createSignature() id 54 is a bad signature [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:3999::createSignature() time compressing data (id=54) 0,000121s [DEBUG] (2017-11-20 10:30:13.196) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:639::update() time creating signature=0,149012 ms [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:724::addSignatureToStm() adding 54 [DEBUG] (2017-11-20 10:30:13.196) Signature.cpp:121::addLink() Add link 54 to 53 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.196) Signature.cpp:121::addLink() Add link 53 to 54 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:752::addSignatureToStm() Min STM id = 18 [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 54 [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:713::update() totalTimer = 0,000226s [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1016::process() Processing signature 54 w=-1 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000256s [DEBUG] (2017-11-20 10:30:13.196) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,051353,-0,374147,-0,073765 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,051353,-0,374147,-0,073765) [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:13.196) Graph.cpp:1898::getNodesInRadius() found nodes=16 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1750::process() near nodes=16, max local immunized=4, ratio=0,250000 WM=18 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1836::process() timeReactivations=0,000109s [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,051353,-0,374147,-0,073765 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,051353,-0,374147,-0,073765 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:2219::removeRawData() id=54 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.196) Memory.cpp:2137::saveLocationData() Saving location data 54 [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2537::process() Total time processing = 0,000544s... [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.196) Rtabmap.cpp:2661::process() Adding data 54 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.196) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.196) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.196) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.196) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 54 [DEBUG] (2017-11-20 10:30:13.196) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.196) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.197) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000223s [DEBUG] (2017-11-20 10:30:13.197) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.197) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.197) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.197) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000017s... [DEBUG] (2017-11-20 10:30:13.197) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.197) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.197) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.197) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.197) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,051353,-0,374147,-0,073765 [DEBUG] (2017-11-20 10:30:13.197) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.197) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.202) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.202) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.202) SensorData.cpp:557::uncompressData() 54 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.202) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.203) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.204) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.205) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.205) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.205) MainWindow.cpp:1971::updateMapCloud() posesIn=17 constraints=16 mapIdsIn=17 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.205) MainWindow.cpp:2065::updateMapCloud() Update map with 17 locations [DEBUG] (2017-11-20 10:30:13.205) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000180s [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.206) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.206) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.227) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.229) Camera.cpp:103::takeImage() Time capturing image = 0,001220s [DEBUG] (2017-11-20 10:30:13.229) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.229) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.229) RtabmapThread.cpp:628::addData() Added data 55 [ INFO] (2017-11-20 10:30:13.229) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.229) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4451)... [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.229) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.229) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.229) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3676::createSignature() id 55 is a bad signature [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:3999::createSignature() time compressing data (id=55) 0,000092s [DEBUG] (2017-11-20 10:30:13.229) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:639::update() time creating signature=0,118971 ms [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:724::addSignatureToStm() adding 55 [DEBUG] (2017-11-20 10:30:13.229) Signature.cpp:121::addLink() Add link 55 to 54 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.229) Signature.cpp:121::addLink() Add link 54 to 55 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:752::addSignatureToStm() Min STM id = 18 [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 55 [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:660::update() time rehearsal=0,054121 ms [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:713::update() totalTimer = 0,000198s [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1016::process() Processing signature 55 w=-1 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000230s [DEBUG] (2017-11-20 10:30:13.229) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,053004,-0,369901,-0,078228 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,053004,-0,369901,-0,078228) [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000039s [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000017s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:13.229) Graph.cpp:1898::getNodesInRadius() found nodes=16 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1750::process() near nodes=16, max local immunized=4, ratio=0,250000 WM=18 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1836::process() timeReactivations=0,000112s [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,053004,-0,369901,-0,078228 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,053004,-0,369901,-0,078228 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:2219::removeRawData() id=55 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.229) Memory.cpp:2137::saveLocationData() Saving location data 55 [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2537::process() Total time processing = 0,000521s... [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.229) Rtabmap.cpp:2661::process() Adding data 55 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.229) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.230) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.230) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.230) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 55 [DEBUG] (2017-11-20 10:30:13.230) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.230) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.230) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000221s [DEBUG] (2017-11-20 10:30:13.230) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.230) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.230) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.230) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:13.230) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.230) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.230) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.230) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.230) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,053004,-0,369901,-0,078228 [DEBUG] (2017-11-20 10:30:13.230) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.230) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.235) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.235) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.235) SensorData.cpp:557::uncompressData() 55 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.235) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.236) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.237) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:1971::updateMapCloud() posesIn=17 constraints=16 mapIdsIn=17 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2065::updateMapCloud() Update map with 17 locations [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000178s [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.238) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.239) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.239) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.239) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.261) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.262) Camera.cpp:103::takeImage() Time capturing image = 0,001368s [DEBUG] (2017-11-20 10:30:13.262) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.262) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.262) RtabmapThread.cpp:628::addData() Added data 56 [ INFO] (2017-11-20 10:30:13.262) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.262) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.262) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.262) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4451)... [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.262) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.262) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.262) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.263) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.263) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.263) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.263) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.264) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,052719,-0,363755,-0,083080 [DEBUG] (2017-11-20 10:30:13.264) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.264) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.264) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.265) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.265) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.265) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.270) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004823 s, keypoints extracted = 564 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.270) Memory.cpp:3482::createSignature() time keypoints (564) = 0,007598s [DEBUG] (2017-11-20 10:30:13.274) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 564, remaining kpts=564 [DEBUG] (2017-11-20 10:30:13.274) Memory.cpp:3487::createSignature() time descriptors (564) = 0,004405s [DEBUG] (2017-11-20 10:30:13.274) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:13.275) Memory.cpp:3500::createSignature() time keypoints 3D (564) = 0,000107s [DEBUG] (2017-11-20 10:30:13.275) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.275) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.275) Memory.cpp:3612::createSignature() time descriptor and memory update (564 of size=32) = 0,000025s [DEBUG] (2017-11-20 10:30:13.275) VWDictionary.cpp:593::addNewWords() id=56 descriptors=564 [DEBUG] (2017-11-20 10:30:13.275) VWDictionary.cpp:686::addNewWords() newPts.total()=564 [DEBUG] (2017-11-20 10:30:13.282) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007282 s [DEBUG] (2017-11-20 10:30:13.286) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003811 s [DEBUG] (2017-11-20 10:30:13.286) VWDictionary.cpp:874::addNewWords() 249 new words added... [DEBUG] (2017-11-20 10:30:13.286) VWDictionary.cpp:876::addNewWords() 315 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:13.286) VWDictionary.cpp:877::addNewWords() total time 0,011157s [DEBUG] (2017-11-20 10:30:13.286) Memory.cpp:3672::createSignature() time addNewWords 0,011176s indexed=4451 not=249 [DEBUG] (2017-11-20 10:30:13.286) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:3999::createSignature() time compressing data (id=56) 0,003004s [DEBUG] (2017-11-20 10:30:13.289) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:639::update() time creating signature=26,443005 ms [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:724::addSignatureToStm() adding 56 [DEBUG] (2017-11-20 10:30:13.289) Signature.cpp:121::addLink() Add link 56 to 55 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.289) Signature.cpp:121::addLink() Add link 55 to 56 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:752::addSignatureToStm() Min STM id = 18 [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:786::addSignatureToStm() 564 words ref for the signature 56 [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:2882::rehearsal() Comparing with signature (52)... [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:2905::rehearsal() merged=0, sim=0,161130 t=0,000101s [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:660::update() time rehearsal=0,156879 ms [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 18 from STM in WM... [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 19 from STM in WM... [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 20 from STM in WM... [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 21 from STM in WM... [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:713::update() totalTimer = 0,026634s [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.289) Rtabmap.cpp:1016::process() Processing signature 56 w=0 [ INFO] (2017-11-20 10:30:13.289) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,026659s [DEBUG] (2017-11-20 10:30:13.289) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,052719,-0,363755,-0,083080 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,052719,-0,363755,-0,083080) [ INFO] (2017-11-20 10:30:13.289) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000068s [ INFO] (2017-11-20 10:30:13.289) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.289) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000458 s [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=8 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:3272::adjustLikelihood() values.size=7 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:3319::adjustLikelihood() mean=0,088061, stdDev=0,006932, max=0,097328, maxId=14, time=0,000004s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000515s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000006s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:495::updatePrediction() From added id 21, 6 neighbors to update. [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:498::updatePrediction() time getting 6 ids to update = 0,000040s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:544::updatePrediction() time updating modified/added 6 ids = 0,000088s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:575::updatePrediction() time copying = 0,000005s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:597::updatePrediction() Modified=6, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000156s, rows=8, cols=8 [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=8, _posterior size=8 [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000016s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000003s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:208::computePosterior() sum=12,349478 [DEBUG] (2017-11-20 10:30:13.290) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000202s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1400::process() Highest hypothesis=14, value=0,008667, timeHypothesesCreation=0,000010s [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1489::process() Retrieving locations... around id=14 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1511::process() neighbors of 14 in time = 30 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1566::process() neighbors of 14 in space = 30 [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=21, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000039s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.290) Graph.cpp:1898::getNodesInRadius() found nodes=16 [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1750::process() near nodes=16, max local immunized=5, ratio=0,250000 WM=22 [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.290) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.290) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000005s... [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:4252::reactivateSignatures() time = 0,000037s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000014s) [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000014s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1836::process() timeReactivations=0,000204s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1929::process() nearestIds=1/17 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000028s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,052719,-0,363755,-0,083080 [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,052719,-0,363755,-0,083080 [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2463::process() Time creating stats = 0,000114... [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:2219::removeRawData() id=56 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.290) Memory.cpp:2137::saveLocationData() Saving location data 56 [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000110s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2537::process() Total time processing = 0,027936s... [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:13.290) Rtabmap.cpp:2661::process() Adding data 56 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.290) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.291) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.291) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.291) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 56 [DEBUG] (2017-11-20 10:30:13.291) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000186s [DEBUG] (2017-11-20 10:30:13.291) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.291) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.293) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.293) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000021s... [DEBUG] (2017-11-20 10:30:13.293) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.293) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.293) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.293) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.293) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.293) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.294) SensorData.cpp:557::uncompressData() 56 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.294) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.294) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.296) Camera.cpp:103::takeImage() Time capturing image = 0,001665s [DEBUG] (2017-11-20 10:30:13.296) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.296) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.296) RtabmapThread.cpp:628::addData() Added data 57 [ INFO] (2017-11-20 10:30:13.296) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.296) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.296) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.296) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4700)... [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.296) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.296) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.296) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.296) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 249 words... [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.296) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.296) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.297) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.297) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 564 [DEBUG] (2017-11-20 10:30:13.297) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 249 words... done! [DEBUG] (2017-11-20 10:30:13.297) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=249 removed=0) [DEBUG] (2017-11-20 10:30:13.297) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:3676::createSignature() id 57 is a bad signature [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:3999::createSignature() time compressing data (id=57) 0,000912s [DEBUG] (2017-11-20 10:30:13.297) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:639::update() time creating signature=0,944138 ms [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:724::addSignatureToStm() adding 57 [DEBUG] (2017-11-20 10:30:13.297) Signature.cpp:121::addLink() Add link 57 to 56 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.297) Signature.cpp:121::addLink() Add link 56 to 57 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:752::addSignatureToStm() Min STM id = 22 [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 57 [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:660::update() time rehearsal=0,046015 ms [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:713::update() totalTimer = 0,001015s [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1016::process() Processing signature 57 w=-1 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001050s [DEBUG] (2017-11-20 10:30:13.297) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,049923,-0,366174,-0,082864 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,049923,-0,366174,-0,082864) [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000021s [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000021s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:13.297) Graph.cpp:1898::getNodesInRadius() found nodes=17 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1750::process() near nodes=17, max local immunized=5, ratio=0,250000 WM=22 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1836::process() timeReactivations=0,000099s [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,049923,-0,366174,-0,082864 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,049923,-0,366174,-0,082864 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2463::process() Time creating stats = 0,000052... [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:2219::removeRawData() id=57 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.297) Memory.cpp:2137::saveLocationData() Saving location data 57 [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000039s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2537::process() Total time processing = 0,001295s... [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [DEBUG] (2017-11-20 10:30:13.297) MainWindow.cpp:3844::drawKeypoints() source time = 0,000479 s [DEBUG] (2017-11-20 10:30:13.297) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.297) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000008 s [ INFO] (2017-11-20 10:30:13.297) Rtabmap.cpp:2661::process() Adding data 57 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.297) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.297) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.298) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.298) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.298) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.298) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 57 [DEBUG] (2017-11-20 10:30:13.298) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000177s [DEBUG] (2017-11-20 10:30:13.298) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.298) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.298) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.298) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:13.298) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.298) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.298) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.298) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.300) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.300) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.300) MainWindow.cpp:1971::updateMapCloud() posesIn=17 constraints=16 mapIdsIn=17 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.300) MainWindow.cpp:2065::updateMapCloud() Update map with 17 locations [DEBUG] (2017-11-20 10:30:13.300) SensorData.cpp:557::uncompressData() 56 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.300) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.300) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.300) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.300) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000229s [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.304) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:13.305) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.305) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.305) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:13.306) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.306) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.307) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,049923,-0,366174,-0,082864 [DEBUG] (2017-11-20 10:30:13.310) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.310) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.310) SensorData.cpp:557::uncompressData() 57 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.310) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.312) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.314) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.314) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.314) MainWindow.cpp:1971::updateMapCloud() posesIn=18 constraints=17 mapIdsIn=18 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.314) MainWindow.cpp:2065::updateMapCloud() Update map with 18 locations [DEBUG] (2017-11-20 10:30:13.314) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000241s [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.315) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.315) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:13.327) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.329) Camera.cpp:103::takeImage() Time capturing image = 0,001286s [DEBUG] (2017-11-20 10:30:13.329) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.329) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.329) RtabmapThread.cpp:628::addData() Added data 58 [ INFO] (2017-11-20 10:30:13.329) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.329) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4700)... [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:621::update() time preUpdate=0,009775 ms [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.329) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.329) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.329) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3676::createSignature() id 58 is a bad signature [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:3999::createSignature() time compressing data (id=58) 0,000101s [DEBUG] (2017-11-20 10:30:13.329) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:639::update() time creating signature=0,128031 ms [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:724::addSignatureToStm() adding 58 [DEBUG] (2017-11-20 10:30:13.329) Signature.cpp:121::addLink() Add link 58 to 57 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.329) Signature.cpp:121::addLink() Add link 57 to 58 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:752::addSignatureToStm() Min STM id = 22 [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 58 [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:794::addSignatureToStm() time = 0,000037s [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:660::update() time rehearsal=0,047207 ms [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:713::update() totalTimer = 0,000198s [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1016::process() Processing signature 58 w=-1 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000232s [DEBUG] (2017-11-20 10:30:13.329) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,048261,-0,367818,-0,079628 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,048261,-0,367818,-0,079628) [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000034s [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:13.329) Graph.cpp:1898::getNodesInRadius() found nodes=17 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1750::process() near nodes=17, max local immunized=5, ratio=0,250000 WM=22 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1836::process() timeReactivations=0,000093s [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,048261,-0,367818,-0,079628 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,048261,-0,367818,-0,079628 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2463::process() Time creating stats = 0,000051... [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:2219::removeRawData() id=58 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.329) Memory.cpp:2137::saveLocationData() Saving location data 58 [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2537::process() Total time processing = 0,000474s... [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:13.329) Rtabmap.cpp:2661::process() Adding data 58 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.329) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.329) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.330) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.330) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 58 [DEBUG] (2017-11-20 10:30:13.330) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.330) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.330) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:13.330) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.330) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.330) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.330) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.330) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:13.330) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.330) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.330) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.330) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,048261,-0,367818,-0,079628 [DEBUG] (2017-11-20 10:30:13.330) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.330) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.335) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.335) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.335) SensorData.cpp:557::uncompressData() 58 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.335) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.338) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:1971::updateMapCloud() posesIn=18 constraints=17 mapIdsIn=18 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2065::updateMapCloud() Update map with 18 locations [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000179s [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.340) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.341) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.341) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.341) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:13.361) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.362) Camera.cpp:103::takeImage() Time capturing image = 0,001080s [DEBUG] (2017-11-20 10:30:13.362) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.362) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.362) RtabmapThread.cpp:628::addData() Added data 59 [ INFO] (2017-11-20 10:30:13.362) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.362) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4700)... [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.362) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.362) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.362) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3676::createSignature() id 59 is a bad signature [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:3999::createSignature() time compressing data (id=59) 0,000101s [DEBUG] (2017-11-20 10:30:13.362) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:639::update() time creating signature=0,128984 ms [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:724::addSignatureToStm() adding 59 [DEBUG] (2017-11-20 10:30:13.362) Signature.cpp:121::addLink() Add link 59 to 58 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.362) Signature.cpp:121::addLink() Add link 58 to 59 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:752::addSignatureToStm() Min STM id = 22 [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 59 [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:794::addSignatureToStm() time = 0,000033s [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:660::update() time rehearsal=0,041962 ms [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:713::update() totalTimer = 0,000197s [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:1016::process() Processing signature 59 w=-1 [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000230s [DEBUG] (2017-11-20 10:30:13.362) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,047911,-0,366373,-0,077200 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,047911,-0,366373,-0,077200) [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.362) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:13.362) Graph.cpp:1898::getNodesInRadius() found nodes=17 [ INFO] (2017-11-20 10:30:13.362) Rtabmap.cpp:1750::process() near nodes=17, max local immunized=5, ratio=0,250000 WM=22 [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:1836::process() timeReactivations=0,000104s [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,047911,-0,366373,-0,077200 [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,047911,-0,366373,-0,077200 [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2463::process() Time creating stats = 0,000044... [DEBUG] (2017-11-20 10:30:13.363) Memory.cpp:2219::removeRawData() id=59 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.363) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.363) Memory.cpp:2137::saveLocationData() Saving location data 59 [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2537::process() Total time processing = 0,000465s... [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:13.363) Rtabmap.cpp:2661::process() Adding data 59 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.363) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.363) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.363) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.363) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 59 [DEBUG] (2017-11-20 10:30:13.363) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:13.363) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.363) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.363) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.363) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.363) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:13.363) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.363) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.363) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.363) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.363) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.363) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,047911,-0,366373,-0,077200 [DEBUG] (2017-11-20 10:30:13.364) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.364) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.368) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.368) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.368) SensorData.cpp:557::uncompressData() 59 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.368) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.369) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.370) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.371) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.371) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.371) MainWindow.cpp:1971::updateMapCloud() posesIn=18 constraints=17 mapIdsIn=18 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.371) MainWindow.cpp:2065::updateMapCloud() Update map with 18 locations [DEBUG] (2017-11-20 10:30:13.371) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000179s [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.372) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.372) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.394) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.395) Camera.cpp:103::takeImage() Time capturing image = 0,001207s [DEBUG] (2017-11-20 10:30:13.395) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.395) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.395) RtabmapThread.cpp:628::addData() Added data 60 [ INFO] (2017-11-20 10:30:13.395) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.396) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.396) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.396) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4700)... [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.396) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.396) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.396) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.396) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.396) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.396) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.396) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.397) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043538,-0,371654,-0,073505 [DEBUG] (2017-11-20 10:30:13.397) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.397) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.398) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.398) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.398) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.398) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.401) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003272 s, keypoints extracted = 631 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.401) Memory.cpp:3482::createSignature() time keypoints (631) = 0,005884s [DEBUG] (2017-11-20 10:30:13.405) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 631, remaining kpts=631 [DEBUG] (2017-11-20 10:30:13.405) Memory.cpp:3487::createSignature() time descriptors (631) = 0,003697s [DEBUG] (2017-11-20 10:30:13.405) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=191 [DEBUG] (2017-11-20 10:30:13.405) Memory.cpp:3500::createSignature() time keypoints 3D (631) = 0,000078s [DEBUG] (2017-11-20 10:30:13.405) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.405) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.405) Memory.cpp:3612::createSignature() time descriptor and memory update (631 of size=32) = 0,000019s [DEBUG] (2017-11-20 10:30:13.405) VWDictionary.cpp:593::addNewWords() id=60 descriptors=631 [DEBUG] (2017-11-20 10:30:13.405) VWDictionary.cpp:686::addNewWords() newPts.total()=631 [DEBUG] (2017-11-20 10:30:13.411) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,006103 s [DEBUG] (2017-11-20 10:30:13.416) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004624 s [DEBUG] (2017-11-20 10:30:13.416) VWDictionary.cpp:874::addNewWords() 224 new words added... [DEBUG] (2017-11-20 10:30:13.416) VWDictionary.cpp:876::addNewWords() 407 duplicated words added (from current image = 0)... [DEBUG] (2017-11-20 10:30:13.416) VWDictionary.cpp:877::addNewWords() total time 0,010779s [DEBUG] (2017-11-20 10:30:13.416) Memory.cpp:3672::createSignature() time addNewWords 0,010798s indexed=4700 not=224 [DEBUG] (2017-11-20 10:30:13.417) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.418) Memory.cpp:3999::createSignature() time compressing data (id=60) 0,002282s [DEBUG] (2017-11-20 10:30:13.418) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:639::update() time creating signature=22,925138 ms [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:724::addSignatureToStm() adding 60 [DEBUG] (2017-11-20 10:30:13.419) Signature.cpp:121::addLink() Add link 60 to 59 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.419) Signature.cpp:121::addLink() Add link 59 to 60 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:752::addSignatureToStm() Min STM id = 22 [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:786::addSignatureToStm() 631 words ref for the signature 60 [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:794::addSignatureToStm() time = 0,000050s [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:2882::rehearsal() Comparing with signature (56)... [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:2905::rehearsal() merged=0, sim=0,167987 t=0,000151s [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:660::update() time rehearsal=0,243902 ms [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 22 from STM in WM... [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 23 from STM in WM... [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 24 from STM in WM... [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:713::update() totalTimer = 0,023209s [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.419) Rtabmap.cpp:1016::process() Processing signature 60 w=0 [ INFO] (2017-11-20 10:30:13.419) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023241s [DEBUG] (2017-11-20 10:30:13.419) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043538,-0,371654,-0,073505 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043538,-0,371654,-0,073505) [ INFO] (2017-11-20 10:30:13.419) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000061s [ INFO] (2017-11-20 10:30:13.419) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.419) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000404 s [DEBUG] (2017-11-20 10:30:13.419) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=9 [DEBUG] (2017-11-20 10:30:13.419) Rtabmap.cpp:3272::adjustLikelihood() values.size=8 [DEBUG] (2017-11-20 10:30:13.419) Rtabmap.cpp:3319::adjustLikelihood() mean=0,111361, stdDev=0,015928, max=0,148672, maxId=14, time=0,000007s [ INFO] (2017-11-20 10:30:13.419) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000467s [ INFO] (2017-11-20 10:30:13.419) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.419) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.419) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.419) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000008s [DEBUG] (2017-11-20 10:30:13.419) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000007s [DEBUG] (2017-11-20 10:30:13.419) BayesFilter.cpp:495::updatePrediction() From added id 24, 7 neighbors to update. [DEBUG] (2017-11-20 10:30:13.419) BayesFilter.cpp:498::updatePrediction() time getting 7 ids to update = 0,000056s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:544::updatePrediction() time updating modified/added 7 ids = 0,000165s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:575::updatePrediction() time copying = 0,000009s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000007s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:597::updatePrediction() Modified=7, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000266s, rows=9, cols=9 [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=9, _posterior size=9 [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000026s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000006s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:208::computePosterior() sum=7,246560 [DEBUG] (2017-11-20 10:30:13.420) BayesFilter.cpp:216::computePosterior() normalize time=0,000012s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000339s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1400::process() Highest hypothesis=14, value=0,015116, timeHypothesesCreation=0,000016s [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000019s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1489::process() Retrieving locations... around id=14 [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1511::process() neighbors of 14 in time = 30 [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1566::process() neighbors of 14 in space = 30 [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=24, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000061s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.420) Graph.cpp:1898::getNodesInRadius() found nodes=17 [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1750::process() near nodes=17, max local immunized=6, ratio=0,250000 WM=25 [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.420) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.420) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000001s [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000007s... [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:4252::reactivateSignatures() time = 0,000045s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000019s) [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000019s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1836::process() timeReactivations=0,000286s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1929::process() nearestIds=1/18 [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.420) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000038s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043538,-0,371654,-0,073505 [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043538,-0,371654,-0,073505 [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2463::process() Time creating stats = 0,000128... [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:2219::removeRawData() id=60 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.420) Memory.cpp:2137::saveLocationData() Saving location data 60 [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000140s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2537::process() Total time processing = 0,024755s... [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000014... [ INFO] (2017-11-20 10:30:13.420) Rtabmap.cpp:2661::process() Adding data 60 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.421) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.421) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.421) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.421) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 60 [DEBUG] (2017-11-20 10:30:13.421) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000250s [DEBUG] (2017-11-20 10:30:13.421) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.421) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.421) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.421) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.421) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:13.421) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.422) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.422) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.422) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.422) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.422) SensorData.cpp:557::uncompressData() 60 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.422) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.424) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.424) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.424) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 631 [DEBUG] (2017-11-20 10:30:13.425) MainWindow.cpp:3844::drawKeypoints() source time = 0,000345 s [DEBUG] (2017-11-20 10:30:13.425) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.425) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.425) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.425) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.427) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.427) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.427) MainWindow.cpp:1971::updateMapCloud() posesIn=18 constraints=17 mapIdsIn=18 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.427) MainWindow.cpp:2065::updateMapCloud() Update map with 18 locations [DEBUG] (2017-11-20 10:30:13.427) SensorData.cpp:557::uncompressData() 60 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.427) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.427) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.427) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.427) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.427) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.430) Camera.cpp:103::takeImage() Time capturing image = 0,002271s [DEBUG] (2017-11-20 10:30:13.430) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.430) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.430) RtabmapThread.cpp:628::addData() Added data 61 [ INFO] (2017-11-20 10:30:13.430) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.430) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:13.430) MainWindow.cpp:2278::updateMapCloud() [ INFO] (2017-11-20 10:30:13.430) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.430) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4924)... [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.430) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.430) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.430) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.430) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 224 words... [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.430) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000167s [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:13.431) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 224 words... done! [DEBUG] (2017-11-20 10:30:13.431) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=224 removed=0) [DEBUG] (2017-11-20 10:30:13.431) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:3676::createSignature() id 61 is a bad signature [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:3999::createSignature() time compressing data (id=61) 0,000617s [DEBUG] (2017-11-20 10:30:13.431) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:639::update() time creating signature=0,643969 ms [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:724::addSignatureToStm() adding 61 [DEBUG] (2017-11-20 10:30:13.431) Signature.cpp:121::addLink() Add link 61 to 60 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.431) Signature.cpp:121::addLink() Add link 60 to 61 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:752::addSignatureToStm() Min STM id = 25 [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 61 [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:660::update() time rehearsal=0,046015 ms [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:713::update() totalTimer = 0,000715s [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1016::process() Processing signature 61 w=-1 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000747s [DEBUG] (2017-11-20 10:30:13.431) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,043356,-0,372414,-0,071732 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,043356,-0,372414,-0,071732) [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000023s [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:13.431) Graph.cpp:1898::getNodesInRadius() found nodes=18 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1750::process() near nodes=18, max local immunized=6, ratio=0,250000 WM=25 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1836::process() timeReactivations=0,000087s [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,043356,-0,372414,-0,071732 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,043356,-0,372414,-0,071732 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2463::process() Time creating stats = 0,000048... [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:2219::removeRawData() id=61 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.431) Memory.cpp:2137::saveLocationData() Saving location data 61 [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2537::process() Total time processing = 0,000968s... [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:13.431) Rtabmap.cpp:2661::process() Adding data 61 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.431) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.431) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.431) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.431) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 61 [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.431) MainWindow.cpp:1919::processStats() [DEBUG] (2017-11-20 10:30:13.431) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000168s [DEBUG] (2017-11-20 10:30:13.431) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.431) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.431) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.431) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:13.431) Rtabmap.cpp:2851::process() End process [ INFO] (2017-11-20 10:30:13.431) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:13.431) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.431) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.431) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.432) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.432) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.433) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,043356,-0,372414,-0,071732 [DEBUG] (2017-11-20 10:30:13.435) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.435) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.435) SensorData.cpp:557::uncompressData() 61 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.435) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.436) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.437) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:1971::updateMapCloud() posesIn=19 constraints=18 mapIdsIn=19 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2065::updateMapCloud() Update map with 19 locations [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000154s [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.438) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.439) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.439) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.439) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.461) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.462) Camera.cpp:103::takeImage() Time capturing image = 0,001110s [DEBUG] (2017-11-20 10:30:13.462) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.462) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.462) RtabmapThread.cpp:628::addData() Added data 62 [ INFO] (2017-11-20 10:30:13.462) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.462) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.462) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.462) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4924)... [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.462) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.462) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.462) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3676::createSignature() id 62 is a bad signature [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:3999::createSignature() time compressing data (id=62) 0,000110s [DEBUG] (2017-11-20 10:30:13.462) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:639::update() time creating signature=0,137091 ms [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:724::addSignatureToStm() adding 62 [DEBUG] (2017-11-20 10:30:13.462) Signature.cpp:121::addLink() Add link 62 to 61 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.462) Signature.cpp:121::addLink() Add link 61 to 62 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:752::addSignatureToStm() Min STM id = 25 [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 62 [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:713::update() totalTimer = 0,000196s [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.462) Rtabmap.cpp:1016::process() Processing signature 62 w=-1 [ INFO] (2017-11-20 10:30:13.462) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000220s [DEBUG] (2017-11-20 10:30:13.462) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,044765,-0,371007,-0,065637 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,044765,-0,371007,-0,065637) [ INFO] (2017-11-20 10:30:13.462) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.462) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.462) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:13.463) Graph.cpp:1898::getNodesInRadius() found nodes=18 [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:1750::process() near nodes=18, max local immunized=6, ratio=0,250000 WM=25 [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:1836::process() timeReactivations=0,000095s [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,044765,-0,371007,-0,065637 [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,044765,-0,371007,-0,065637 [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2463::process() Time creating stats = 0,000044... [DEBUG] (2017-11-20 10:30:13.463) Memory.cpp:2219::removeRawData() id=62 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.463) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.463) Memory.cpp:2137::saveLocationData() Saving location data 62 [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2537::process() Total time processing = 0,000442s... [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:13.463) Rtabmap.cpp:2661::process() Adding data 62 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.463) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.463) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.463) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.463) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 62 [DEBUG] (2017-11-20 10:30:13.463) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000165s [DEBUG] (2017-11-20 10:30:13.463) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.463) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.463) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.463) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:13.463) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.463) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.463) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.463) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.463) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.463) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.463) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,044765,-0,371007,-0,065637 [DEBUG] (2017-11-20 10:30:13.464) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.464) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.471) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.472) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.472) SensorData.cpp:557::uncompressData() 62 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.472) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.474) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.475) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.476) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.476) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.476) MainWindow.cpp:1971::updateMapCloud() posesIn=19 constraints=18 mapIdsIn=19 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.476) MainWindow.cpp:2065::updateMapCloud() Update map with 19 locations [DEBUG] (2017-11-20 10:30:13.476) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000282s [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.477) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.478) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.478) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.478) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:13.494) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.495) Camera.cpp:103::takeImage() Time capturing image = 0,001226s [DEBUG] (2017-11-20 10:30:13.495) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.496) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.496) RtabmapThread.cpp:628::addData() Added data 63 [ INFO] (2017-11-20 10:30:13.496) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.496) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.496) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.496) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=4924)... [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.496) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.496) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.496) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.496) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.496) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.497) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.497) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.498) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,046830,-0,373954,-0,063882 [DEBUG] (2017-11-20 10:30:13.498) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.498) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.499) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.500) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.500) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.500) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.504) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004654 s, keypoints extracted = 618 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.504) Memory.cpp:3482::createSignature() time keypoints (618) = 0,008735s [DEBUG] (2017-11-20 10:30:13.508) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 618, remaining kpts=618 [DEBUG] (2017-11-20 10:30:13.508) Memory.cpp:3487::createSignature() time descriptors (618) = 0,003857s [DEBUG] (2017-11-20 10:30:13.508) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=192 [DEBUG] (2017-11-20 10:30:13.508) Memory.cpp:3500::createSignature() time keypoints 3D (618) = 0,000082s [DEBUG] (2017-11-20 10:30:13.508) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.508) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.508) Memory.cpp:3612::createSignature() time descriptor and memory update (618 of size=32) = 0,000019s [DEBUG] (2017-11-20 10:30:13.508) VWDictionary.cpp:593::addNewWords() id=63 descriptors=618 [DEBUG] (2017-11-20 10:30:13.508) VWDictionary.cpp:686::addNewWords() newPts.total()=618 [DEBUG] (2017-11-20 10:30:13.514) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005556 s [DEBUG] (2017-11-20 10:30:13.517) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002679 s [DEBUG] (2017-11-20 10:30:13.517) VWDictionary.cpp:874::addNewWords() 262 new words added... [DEBUG] (2017-11-20 10:30:13.517) VWDictionary.cpp:876::addNewWords() 356 duplicated words added (from current image = 1)... [DEBUG] (2017-11-20 10:30:13.517) VWDictionary.cpp:877::addNewWords() total time 0,008260s [DEBUG] (2017-11-20 10:30:13.517) Memory.cpp:3672::createSignature() time addNewWords 0,008275s indexed=4924 not=262 [DEBUG] (2017-11-20 10:30:13.517) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:3999::createSignature() time compressing data (id=63) 0,001971s [DEBUG] (2017-11-20 10:30:13.519) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:639::update() time creating signature=23,053885 ms [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:724::addSignatureToStm() adding 63 [DEBUG] (2017-11-20 10:30:13.519) Signature.cpp:121::addLink() Add link 63 to 62 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.519) Signature.cpp:121::addLink() Add link 62 to 63 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:752::addSignatureToStm() Min STM id = 25 [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:786::addSignatureToStm() 618 words ref for the signature 63 [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:2882::rehearsal() Comparing with signature (60)... [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:2905::rehearsal() merged=0, sim=0,137876 t=0,000114s [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:660::update() time rehearsal=0,176191 ms [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 25 from STM in WM... [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 26 from STM in WM... [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 27 from STM in WM... [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:713::update() totalTimer = 0,023265s [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.519) Rtabmap.cpp:1016::process() Processing signature 63 w=0 [ INFO] (2017-11-20 10:30:13.519) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023298s [DEBUG] (2017-11-20 10:30:13.519) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,046830,-0,373954,-0,063882 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,046830,-0,373954,-0,063882) [ INFO] (2017-11-20 10:30:13.519) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000046s [ INFO] (2017-11-20 10:30:13.519) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.519) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000261 s [DEBUG] (2017-11-20 10:30:13.519) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=10 [DEBUG] (2017-11-20 10:30:13.519) Rtabmap.cpp:3272::adjustLikelihood() values.size=9 [DEBUG] (2017-11-20 10:30:13.519) Rtabmap.cpp:3319::adjustLikelihood() mean=0,101723, stdDev=0,014470, max=0,127126, maxId=21, time=0,000003s [ INFO] (2017-11-20 10:30:13.519) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000301s [ INFO] (2017-11-20 10:30:13.519) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.519) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.519) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.519) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000006s [DEBUG] (2017-11-20 10:30:13.519) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:13.519) BayesFilter.cpp:495::updatePrediction() From added id 27, 8 neighbors to update. [DEBUG] (2017-11-20 10:30:13.519) BayesFilter.cpp:498::updatePrediction() time getting 8 ids to update = 0,000047s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:544::updatePrediction() time updating modified/added 8 ids = 0,000129s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:597::updatePrediction() Modified=8, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000211s, rows=10, cols=10 [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=10, _posterior size=10 [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000015s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000003s [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:208::computePosterior() sum=7,244246 [DEBUG] (2017-11-20 10:30:13.520) BayesFilter.cpp:216::computePosterior() normalize time=0,000010s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000260s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1400::process() Highest hypothesis=21, value=0,015772, timeHypothesesCreation=0,000016s [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000018s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1489::process() Retrieving locations... around id=21 [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1511::process() neighbors of 21 in time = 33 [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1566::process() neighbors of 21 in space = 33 [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=23, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000051s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.520) Graph.cpp:1898::getNodesInRadius() found nodes=18 [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1750::process() near nodes=18, max local immunized=7, ratio=0,250000 WM=28 [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.520) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.520) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:4252::reactivateSignatures() time = 0,000042s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000017s) [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000017s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1836::process() timeReactivations=0,000237s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1929::process() nearestIds=1/19 [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000035s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,046830,-0,373954,-0,063882 [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,046830,-0,373954,-0,063882 [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2463::process() Time creating stats = 0,000100... [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:2219::removeRawData() id=63 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.520) Memory.cpp:2137::saveLocationData() Saving location data 63 [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000097s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2537::process() Total time processing = 0,024428s... [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.520) Rtabmap.cpp:2661::process() Adding data 63 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.520) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.521) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 63 [DEBUG] (2017-11-20 10:30:13.521) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000197s [DEBUG] (2017-11-20 10:30:13.521) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.521) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.521) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.521) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:13.521) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.521) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.521) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.521) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.521) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.522) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.522) SensorData.cpp:557::uncompressData() 63 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.522) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.523) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 618 [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:3844::drawKeypoints() source time = 0,000332 s [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.524) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.526) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.526) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.526) MainWindow.cpp:1971::updateMapCloud() posesIn=19 constraints=18 mapIdsIn=19 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.526) MainWindow.cpp:2065::updateMapCloud() Update map with 19 locations [DEBUG] (2017-11-20 10:30:13.526) SensorData.cpp:557::uncompressData() 63 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.526) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.526) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.526) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.526) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.527) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.530) Camera.cpp:103::takeImage() Time capturing image = 0,002074s [DEBUG] (2017-11-20 10:30:13.530) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.530) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.530) RtabmapThread.cpp:628::addData() Added data 64 [ INFO] (2017-11-20 10:30:13.530) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.530) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:13.530) MainWindow.cpp:2278::updateMapCloud() [ INFO] (2017-11-20 10:30:13.530) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.530) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5186)... [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:621::update() time preUpdate=0,011206 ms [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.530) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.530) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.530) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.530) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 262 words... [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.530) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000224s [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:13.531) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 262 words... done! [DEBUG] (2017-11-20 10:30:13.531) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=262 removed=0) [DEBUG] (2017-11-20 10:30:13.531) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:3676::createSignature() id 64 is a bad signature [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:3999::createSignature() time compressing data (id=64) 0,000941s [DEBUG] (2017-11-20 10:30:13.531) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:639::update() time creating signature=0,969887 ms [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:724::addSignatureToStm() adding 64 [DEBUG] (2017-11-20 10:30:13.531) Signature.cpp:121::addLink() Add link 64 to 63 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.531) Signature.cpp:121::addLink() Add link 63 to 64 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:752::addSignatureToStm() Min STM id = 28 [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 64 [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:794::addSignatureToStm() time = 0,000043s [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:660::update() time rehearsal=0,056982 ms [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:713::update() totalTimer = 0,001053s [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1016::process() Processing signature 64 w=-1 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001087s [DEBUG] (2017-11-20 10:30:13.531) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,046746,-0,375969,-0,063483 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,046746,-0,375969,-0,063483) [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000025s [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:13.531) Graph.cpp:1898::getNodesInRadius() found nodes=19 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1750::process() near nodes=19, max local immunized=7, ratio=0,250000 WM=28 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1836::process() timeReactivations=0,000105s [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,046746,-0,375969,-0,063483 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,046746,-0,375969,-0,063483 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:2219::removeRawData() id=64 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.531) Memory.cpp:2137::saveLocationData() Saving location data 64 [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000035s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2537::process() Total time processing = 0,001356s... [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.531) Rtabmap.cpp:2661::process() Adding data 64 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.531) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.531) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.531) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.531) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 64 [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.531) MainWindow.cpp:1919::processStats() [DEBUG] (2017-11-20 10:30:13.532) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000176s [DEBUG] (2017-11-20 10:30:13.532) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.532) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [ INFO] (2017-11-20 10:30:13.532) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:13.532) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.532) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:13.532) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.532) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.532) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.532) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.533) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.533) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.533) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,046746,-0,375969,-0,063483 [DEBUG] (2017-11-20 10:30:13.536) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.536) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.536) SensorData.cpp:557::uncompressData() 64 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.536) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.538) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.539) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.539) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.539) MainWindow.cpp:1971::updateMapCloud() posesIn=20 constraints=19 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.539) MainWindow.cpp:2065::updateMapCloud() Update map with 20 locations [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000184s [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.540) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.540) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.561) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.562) Camera.cpp:103::takeImage() Time capturing image = 0,001107s [DEBUG] (2017-11-20 10:30:13.562) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.562) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.562) RtabmapThread.cpp:628::addData() Added data 65 [ INFO] (2017-11-20 10:30:13.562) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.562) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.562) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.562) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5186)... [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.562) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.562) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.562) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3676::createSignature() id 65 is a bad signature [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:3999::createSignature() time compressing data (id=65) 0,000108s [DEBUG] (2017-11-20 10:30:13.562) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:639::update() time creating signature=0,136137 ms [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:724::addSignatureToStm() adding 65 [DEBUG] (2017-11-20 10:30:13.562) Signature.cpp:121::addLink() Add link 65 to 64 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.562) Signature.cpp:121::addLink() Add link 64 to 65 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:752::addSignatureToStm() Min STM id = 28 [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 65 [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:713::update() totalTimer = 0,000214s [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.562) Rtabmap.cpp:1016::process() Processing signature 65 w=-1 [ INFO] (2017-11-20 10:30:13.562) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000249s [DEBUG] (2017-11-20 10:30:13.562) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,045707,-0,379016,-0,058338 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,045707,-0,379016,-0,058338) [ INFO] (2017-11-20 10:30:13.562) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000039s [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.562) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.562) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:13.563) Graph.cpp:1898::getNodesInRadius() found nodes=19 [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:1750::process() near nodes=19, max local immunized=7, ratio=0,250000 WM=28 [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:1836::process() timeReactivations=0,000129s [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,045707,-0,379016,-0,058338 [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,045707,-0,379016,-0,058338 [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:13.563) Memory.cpp:2219::removeRawData() id=65 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.563) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.563) Memory.cpp:2137::saveLocationData() Saving location data 65 [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2537::process() Total time processing = 0,000559s... [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.563) Rtabmap.cpp:2661::process() Adding data 65 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.563) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.563) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.563) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.563) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 65 [DEBUG] (2017-11-20 10:30:13.563) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.563) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.563) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000223s [DEBUG] (2017-11-20 10:30:13.563) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.563) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.563) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.563) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000017s... [DEBUG] (2017-11-20 10:30:13.563) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.563) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.563) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.563) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.563) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,045707,-0,379016,-0,058338 [DEBUG] (2017-11-20 10:30:13.564) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.564) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.568) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.568) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.568) SensorData.cpp:557::uncompressData() 65 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.568) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.570) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.571) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.571) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.571) MainWindow.cpp:1971::updateMapCloud() posesIn=20 constraints=19 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.571) MainWindow.cpp:2065::updateMapCloud() Update map with 20 locations [DEBUG] (2017-11-20 10:30:13.571) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000172s [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.572) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.572) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.594) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.595) Camera.cpp:103::takeImage() Time capturing image = 0,001123s [DEBUG] (2017-11-20 10:30:13.595) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.595) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.595) RtabmapThread.cpp:628::addData() Added data 66 [ INFO] (2017-11-20 10:30:13.595) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.595) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5186)... [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.596) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.596) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.596) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3676::createSignature() id 66 is a bad signature [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:3999::createSignature() time compressing data (id=66) 0,000095s [DEBUG] (2017-11-20 10:30:13.596) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:639::update() time creating signature=0,122070 ms [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:724::addSignatureToStm() adding 66 [DEBUG] (2017-11-20 10:30:13.596) Signature.cpp:121::addLink() Add link 66 to 65 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.596) Signature.cpp:121::addLink() Add link 65 to 66 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:752::addSignatureToStm() Min STM id = 28 [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 66 [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:660::update() time rehearsal=0,051022 ms [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:713::update() totalTimer = 0,000199s [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1016::process() Processing signature 66 w=-1 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000230s [DEBUG] (2017-11-20 10:30:13.596) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,048329,-0,379965,-0,057966 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,048329,-0,379965,-0,057966) [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000039s [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000017s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:13.596) Graph.cpp:1898::getNodesInRadius() found nodes=19 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1750::process() near nodes=19, max local immunized=7, ratio=0,250000 WM=28 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1836::process() timeReactivations=0,000120s [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,048329,-0,379965,-0,057966 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,048329,-0,379965,-0,057966 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:2219::removeRawData() id=66 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.596) Memory.cpp:2137::saveLocationData() Saving location data 66 [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2537::process() Total time processing = 0,000529s... [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.596) Rtabmap.cpp:2661::process() Adding data 66 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.596) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.596) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.596) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.596) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 66 [DEBUG] (2017-11-20 10:30:13.596) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.596) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.596) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000219s [DEBUG] (2017-11-20 10:30:13.597) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.597) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.597) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.597) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:13.597) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.597) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.597) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.597) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.597) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,048329,-0,379965,-0,057966 [DEBUG] (2017-11-20 10:30:13.597) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.597) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.602) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.602) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.602) SensorData.cpp:557::uncompressData() 66 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.602) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.603) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.604) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.605) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.605) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.605) MainWindow.cpp:1971::updateMapCloud() posesIn=20 constraints=19 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.605) MainWindow.cpp:2065::updateMapCloud() Update map with 20 locations [DEBUG] (2017-11-20 10:30:13.605) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000198s [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.606) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.606) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.627) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.629) Camera.cpp:103::takeImage() Time capturing image = 0,001114s [DEBUG] (2017-11-20 10:30:13.629) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.629) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.629) RtabmapThread.cpp:628::addData() Added data 67 [ INFO] (2017-11-20 10:30:13.629) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.629) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.629) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.629) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5186)... [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.629) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.629) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.629) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.629) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.629) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.630) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.630) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.630) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,053046,-0,380982,-0,058606 [DEBUG] (2017-11-20 10:30:13.630) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.630) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.632) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.633) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.633) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.633) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.637) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003709 s, keypoints extracted = 649 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.637) Memory.cpp:3482::createSignature() time keypoints (649) = 0,007683s [DEBUG] (2017-11-20 10:30:13.641) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 649, remaining kpts=649 [DEBUG] (2017-11-20 10:30:13.641) Memory.cpp:3487::createSignature() time descriptors (649) = 0,004806s [DEBUG] (2017-11-20 10:30:13.641) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=190 [DEBUG] (2017-11-20 10:30:13.642) Memory.cpp:3500::createSignature() time keypoints 3D (649) = 0,000113s [DEBUG] (2017-11-20 10:30:13.642) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.642) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.642) Memory.cpp:3612::createSignature() time descriptor and memory update (649 of size=32) = 0,000027s [DEBUG] (2017-11-20 10:30:13.642) VWDictionary.cpp:593::addNewWords() id=67 descriptors=649 [DEBUG] (2017-11-20 10:30:13.642) VWDictionary.cpp:686::addNewWords() newPts.total()=649 [DEBUG] (2017-11-20 10:30:13.648) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,005962 s [DEBUG] (2017-11-20 10:30:13.650) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,002824 s [DEBUG] (2017-11-20 10:30:13.650) VWDictionary.cpp:874::addNewWords() 274 new words added... [DEBUG] (2017-11-20 10:30:13.650) VWDictionary.cpp:876::addNewWords() 375 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:13.650) VWDictionary.cpp:877::addNewWords() total time 0,008812s [DEBUG] (2017-11-20 10:30:13.650) Memory.cpp:3672::createSignature() time addNewWords 0,008830s indexed=5186 not=274 [DEBUG] (2017-11-20 10:30:13.651) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.652) Memory.cpp:3999::createSignature() time compressing data (id=67) 0,001987s [DEBUG] (2017-11-20 10:30:13.652) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.652) Memory.cpp:639::update() time creating signature=23,553848 ms [DEBUG] (2017-11-20 10:30:13.652) Memory.cpp:724::addSignatureToStm() adding 67 [DEBUG] (2017-11-20 10:30:13.652) Signature.cpp:121::addLink() Add link 67 to 66 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.652) Signature.cpp:121::addLink() Add link 66 to 67 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:752::addSignatureToStm() Min STM id = 28 [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:786::addSignatureToStm() 649 words ref for the signature 67 [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:2882::rehearsal() Comparing with signature (63)... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:2905::rehearsal() merged=0, sim=0,127889 t=0,000112s [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:660::update() time rehearsal=0,190020 ms [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 28 from STM in WM... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 29 from STM in WM... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 30 from STM in WM... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:713::update() totalTimer = 0,023776s [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1016::process() Processing signature 67 w=0 [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023801s [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,053046,-0,380982,-0,058606 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,053046,-0,380982,-0,058606) [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000045s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000242 s [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=11 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:3272::adjustLikelihood() values.size=10 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:3319::adjustLikelihood() mean=0,092957, stdDev=0,014525, max=0,115151, maxId=30, time=0,000003s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000281s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:495::updatePrediction() From added id 30, 9 neighbors to update. [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:498::updatePrediction() time getting 9 ids to update = 0,000042s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:544::updatePrediction() time updating modified/added 9 ids = 0,000144s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:575::updatePrediction() time copying = 0,000005s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000003s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:597::updatePrediction() Modified=9, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000212s, rows=11, cols=11 [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=11, _posterior size=11 [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000014s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:208::computePosterior() sum=6,680252 [DEBUG] (2017-11-20 10:30:13.653) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000255s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1400::process() Highest hypothesis=8, value=0,017045, timeHypothesesCreation=0,000010s [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000009s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1489::process() Retrieving locations... around id=8 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1511::process() neighbors of 8 in time = 24 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1566::process() neighbors of 8 in space = 24 [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=24, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000034s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.653) Graph.cpp:1898::getNodesInRadius() found nodes=19 [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1750::process() near nodes=19, max local immunized=7, ratio=0,250000 WM=31 [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.653) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.653) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000003s [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:13.653) Memory.cpp:4252::reactivateSignatures() time = 0,000023s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000009s) [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000009s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1836::process() timeReactivations=0,000184s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1929::process() nearestIds=1/20 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.653) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000027s [ INFO] (2017-11-20 10:30:13.653) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,053046,-0,380982,-0,058606 [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,053046,-0,380982,-0,058606 [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2463::process() Time creating stats = 0,000084... [DEBUG] (2017-11-20 10:30:13.654) Memory.cpp:2219::removeRawData() id=67 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.654) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.654) Memory.cpp:2137::saveLocationData() Saving location data 67 [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000092s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2537::process() Total time processing = 0,024800s... [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:13.654) Rtabmap.cpp:2661::process() Adding data 67 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.654) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.654) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.654) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.654) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 67 [DEBUG] (2017-11-20 10:30:13.654) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000176s [DEBUG] (2017-11-20 10:30:13.654) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.654) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.654) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.654) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:13.654) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.654) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.655) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.655) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.655) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.655) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.655) SensorData.cpp:557::uncompressData() 67 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.655) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.657) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.657) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.657) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 649 [DEBUG] (2017-11-20 10:30:13.657) MainWindow.cpp:3844::drawKeypoints() source time = 0,000344 s [DEBUG] (2017-11-20 10:30:13.657) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.657) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.658) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.658) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.659) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.659) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.659) MainWindow.cpp:1971::updateMapCloud() posesIn=20 constraints=19 mapIdsIn=20 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.659) MainWindow.cpp:2065::updateMapCloud() Update map with 20 locations [DEBUG] (2017-11-20 10:30:13.659) SensorData.cpp:557::uncompressData() 67 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.659) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.659) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.659) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.660) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.661) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.662) Camera.cpp:103::takeImage() Time capturing image = 0,001487s [DEBUG] (2017-11-20 10:30:13.662) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.662) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.662) RtabmapThread.cpp:628::addData() Added data 68 [ INFO] (2017-11-20 10:30:13.662) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.662) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.662) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.663) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.663) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5460)... [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 274 words... [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000183s [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.663) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 274 words... done! [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=274 removed=0) [DEBUG] (2017-11-20 10:30:13.663) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3676::createSignature() id 68 is a bad signature [DEBUG] (2017-11-20 10:30:13.663) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:3999::createSignature() time compressing data (id=68) 0,000843s [DEBUG] (2017-11-20 10:30:13.664) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:639::update() time creating signature=0,874996 ms [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:724::addSignatureToStm() adding 68 [DEBUG] (2017-11-20 10:30:13.664) Signature.cpp:121::addLink() Add link 68 to 67 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.664) Signature.cpp:121::addLink() Add link 67 to 68 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:752::addSignatureToStm() Min STM id = 31 [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 68 [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:660::update() time rehearsal=0,055075 ms [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:713::update() totalTimer = 0,000957s [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1016::process() Processing signature 68 w=-1 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000992s [DEBUG] (2017-11-20 10:30:13.664) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,059042,-0,383800,-0,061022 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,059042,-0,383800,-0,061022) [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000024s [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:13.664) Graph.cpp:1898::getNodesInRadius() found nodes=20 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1750::process() near nodes=20, max local immunized=7, ratio=0,250000 WM=31 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1836::process() timeReactivations=0,000109s [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,059042,-0,383800,-0,061022 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,059042,-0,383800,-0,061022 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:2219::removeRawData() id=68 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.664) Memory.cpp:2137::saveLocationData() Saving location data 68 [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2537::process() Total time processing = 0,001261s... [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.664) Rtabmap.cpp:2661::process() Adding data 68 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.664) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.664) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.664) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.664) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.664) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:13.664) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.664) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 68 [DEBUG] (2017-11-20 10:30:13.664) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000223s [DEBUG] (2017-11-20 10:30:13.664) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.664) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.664) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.664) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000008s... [DEBUG] (2017-11-20 10:30:13.664) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.664) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.665) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.665) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.665) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.665) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.666) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,059042,-0,383800,-0,061022 [DEBUG] (2017-11-20 10:30:13.683) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.683) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.683) SensorData.cpp:557::uncompressData() 68 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.684) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.686) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.688) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.688) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.688) MainWindow.cpp:1971::updateMapCloud() posesIn=21 constraints=20 mapIdsIn=21 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.688) MainWindow.cpp:2065::updateMapCloud() Update map with 21 locations [DEBUG] (2017-11-20 10:30:13.688) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000488s [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.690) MainWindow.cpp:1853::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.693) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.693) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.693) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:13.694) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.696) Camera.cpp:103::takeImage() Time capturing image = 0,001708s [DEBUG] (2017-11-20 10:30:13.696) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.696) RtabmapThread.cpp:628::addData() Added data 69 [DEBUG] (2017-11-20 10:30:13.696) CameraThread.cpp:132::mainLoop() [ INFO] (2017-11-20 10:30:13.697) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.697) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.697) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.697) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5460)... [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:621::update() time preUpdate=0,037193 ms [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.697) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.697) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.697) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.697) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:3676::createSignature() id 69 is a bad signature [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:3999::createSignature() time compressing data (id=69) 0,001234s [DEBUG] (2017-11-20 10:30:13.698) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:639::update() time creating signature=1,303911 ms [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:724::addSignatureToStm() adding 69 [DEBUG] (2017-11-20 10:30:13.698) Signature.cpp:121::addLink() Add link 69 to 68 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.698) Signature.cpp:121::addLink() Add link 68 to 69 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:752::addSignatureToStm() Min STM id = 31 [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 69 [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:794::addSignatureToStm() time = 0,000065s [DEBUG] (2017-11-20 10:30:13.698) Memory.cpp:660::update() time rehearsal=0,082016 ms [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:713::update() totalTimer = 0,001447s [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1016::process() Processing signature 69 w=-1 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001535s [DEBUG] (2017-11-20 10:30:13.699) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,065880,-0,387292,-0,062117 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,065880,-0,387292,-0,062117) [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000057s [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000008s, joining (actual overhead) = 0,000023s [DEBUG] (2017-11-20 10:30:13.699) Graph.cpp:1898::getNodesInRadius() found nodes=20 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1750::process() near nodes=20, max local immunized=7, ratio=0,250000 WM=31 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1836::process() timeReactivations=0,000195s [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,065880,-0,387292,-0,062117 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,065880,-0,387292,-0,062117 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2463::process() Time creating stats = 0,000085... [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:2219::removeRawData() id=69 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.699) Memory.cpp:2137::saveLocationData() Saving location data 69 [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000047s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2537::process() Total time processing = 0,001966s... [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000016... [ INFO] (2017-11-20 10:30:13.699) Rtabmap.cpp:2661::process() Adding data 69 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.699) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.699) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.699) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.699) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 69 [DEBUG] (2017-11-20 10:30:13.700) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000286s [DEBUG] (2017-11-20 10:30:13.700) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.700) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.700) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.700) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:13.700) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.700) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.700) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.700) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.705) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.705) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.706) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,065880,-0,387292,-0,062117 [DEBUG] (2017-11-20 10:30:13.706) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.706) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.713) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.713) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.713) SensorData.cpp:557::uncompressData() 69 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.713) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.715) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.716) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.718) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.718) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.718) MainWindow.cpp:1971::updateMapCloud() posesIn=21 constraints=20 mapIdsIn=21 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.718) MainWindow.cpp:2065::updateMapCloud() Update map with 21 locations [DEBUG] (2017-11-20 10:30:13.718) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000243s [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.719) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.719) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:13.727) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.729) Camera.cpp:103::takeImage() Time capturing image = 0,001183s [DEBUG] (2017-11-20 10:30:13.729) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.729) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.729) RtabmapThread.cpp:628::addData() Added data 70 [ INFO] (2017-11-20 10:30:13.729) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.729) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.729) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.729) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5460)... [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.729) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.729) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.729) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.729) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.729) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.730) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.730) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.731) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,074462,-0,395255,-0,062824 [DEBUG] (2017-11-20 10:30:13.731) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.731) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.732) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.733) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.733) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.733) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.740) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,006701 s, keypoints extracted = 697 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.740) Memory.cpp:3482::createSignature() time keypoints (697) = 0,010731s [DEBUG] (2017-11-20 10:30:13.745) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 697, remaining kpts=697 [DEBUG] (2017-11-20 10:30:13.745) Memory.cpp:3487::createSignature() time descriptors (697) = 0,005513s [DEBUG] (2017-11-20 10:30:13.745) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=191 [DEBUG] (2017-11-20 10:30:13.745) Memory.cpp:3500::createSignature() time keypoints 3D (697) = 0,000178s [DEBUG] (2017-11-20 10:30:13.745) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.745) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.745) Memory.cpp:3612::createSignature() time descriptor and memory update (697 of size=32) = 0,000036s [DEBUG] (2017-11-20 10:30:13.745) VWDictionary.cpp:593::addNewWords() id=70 descriptors=697 [DEBUG] (2017-11-20 10:30:13.746) VWDictionary.cpp:686::addNewWords() newPts.total()=697 [DEBUG] (2017-11-20 10:30:13.754) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008219 s [DEBUG] (2017-11-20 10:30:13.758) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003735 s [DEBUG] (2017-11-20 10:30:13.758) VWDictionary.cpp:874::addNewWords() 336 new words added... [DEBUG] (2017-11-20 10:30:13.758) VWDictionary.cpp:876::addNewWords() 361 duplicated words added (from current image = 11)... [DEBUG] (2017-11-20 10:30:13.758) VWDictionary.cpp:877::addNewWords() total time 0,012004s [DEBUG] (2017-11-20 10:30:13.758) Memory.cpp:3672::createSignature() time addNewWords 0,012186s indexed=5460 not=336 [DEBUG] (2017-11-20 10:30:13.758) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:3999::createSignature() time compressing data (id=70) 0,003077s [DEBUG] (2017-11-20 10:30:13.761) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.761) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:639::update() time creating signature=32,078979 ms [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:724::addSignatureToStm() adding 70 [DEBUG] (2017-11-20 10:30:13.761) Signature.cpp:121::addLink() Add link 70 to 69 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.761) Signature.cpp:121::addLink() Add link 69 to 70 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:752::addSignatureToStm() Min STM id = 31 [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:786::addSignatureToStm() 697 words ref for the signature 70 [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:794::addSignatureToStm() time = 0,000047s [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:2882::rehearsal() Comparing with signature (67)... [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:2905::rehearsal() merged=0, sim=0,149211 t=0,000159s [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:660::update() time rehearsal=0,248909 ms [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 31 from STM in WM... [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 32 from STM in WM... [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 33 from STM in WM... [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 34 from STM in WM... [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:713::update() totalTimer = 0,032378s [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.761) Rtabmap.cpp:1016::process() Processing signature 70 w=0 [ INFO] (2017-11-20 10:30:13.761) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,032420s [DEBUG] (2017-11-20 10:30:13.761) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,074462,-0,395255,-0,062824 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,074462,-0,395255,-0,062824) [ INFO] (2017-11-20 10:30:13.761) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000065s [ INFO] (2017-11-20 10:30:13.761) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.761) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.762) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000555 s [DEBUG] (2017-11-20 10:30:13.762) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=12 [DEBUG] (2017-11-20 10:30:13.762) Rtabmap.cpp:3272::adjustLikelihood() values.size=11 [DEBUG] (2017-11-20 10:30:13.762) Rtabmap.cpp:3319::adjustLikelihood() mean=0,091227, stdDev=0,009043, max=0,109409, maxId=34, time=0,000012s [ INFO] (2017-11-20 10:30:13.762) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000680s [ INFO] (2017-11-20 10:30:13.762) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.762) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.762) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.762) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000008s [DEBUG] (2017-11-20 10:30:13.762) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000007s [DEBUG] (2017-11-20 10:30:13.762) Camera.cpp:103::takeImage() Time capturing image = 0,001455s [DEBUG] (2017-11-20 10:30:13.762) BayesFilter.cpp:495::updatePrediction() From added id 34, 10 neighbors to update. [DEBUG] (2017-11-20 10:30:13.762) BayesFilter.cpp:498::updatePrediction() time getting 10 ids to update = 0,000214s [DEBUG] (2017-11-20 10:30:13.762) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.762) RtabmapThread.cpp:628::addData() Added data 71 [DEBUG] (2017-11-20 10:30:13.762) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:544::updatePrediction() time updating modified/added 10 ids = 0,000211s [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:575::updatePrediction() time copying = 0,000007s [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000008s [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:597::updatePrediction() Modified=10, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000473s, rows=12, cols=12 [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=12, _posterior size=12 [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000027s [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000006s [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000007s [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:208::computePosterior() sum=9,942942 [DEBUG] (2017-11-20 10:30:13.763) BayesFilter.cpp:216::computePosterior() normalize time=0,000013s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000555s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1400::process() Highest hypothesis=8, value=0,011527, timeHypothesesCreation=0,000018s [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000019s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1489::process() Retrieving locations... around id=8 [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1511::process() neighbors of 8 in time = 24 [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1566::process() neighbors of 8 in space = 24 [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=24, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000047s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.763) Graph.cpp:1898::getNodesInRadius() found nodes=20 [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1750::process() near nodes=20, max local immunized=8, ratio=0,250000 WM=35 [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.763) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.763) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:4252::reactivateSignatures() time = 0,000044s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000018s) [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000018s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1836::process() timeReactivations=0,000276s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1929::process() nearestIds=1/21 [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.763) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000037s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,074462,-0,395255,-0,062824 [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,074462,-0,395255,-0,062824 [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2463::process() Time creating stats = 0,000163... [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:2219::removeRawData() id=70 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.763) Memory.cpp:2137::saveLocationData() Saving location data 70 [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000166s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2537::process() Total time processing = 0,034419s... [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000014... [ INFO] (2017-11-20 10:30:13.763) Rtabmap.cpp:2661::process() Adding data 70 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.763) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.763) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.764) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.764) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.764) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.764) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 70 [DEBUG] (2017-11-20 10:30:13.764) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,081368,-0,394669,-0,065005 [DEBUG] (2017-11-20 10:30:13.764) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000199s [DEBUG] (2017-11-20 10:30:13.764) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.764) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.764) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.764) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.764) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.764) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000017s... [DEBUG] (2017-11-20 10:30:13.764) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.764) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.765) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.765) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:13.765) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.765) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.765) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.765) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5796)... [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.765) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.765) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.765) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.765) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 336 words... [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.765) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.766) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 336 words... done! [DEBUG] (2017-11-20 10:30:13.766) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=336 removed=0) [DEBUG] (2017-11-20 10:30:13.766) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:3676::createSignature() id 71 is a bad signature [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:3999::createSignature() time compressing data (id=71) 0,000943s [DEBUG] (2017-11-20 10:30:13.766) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:639::update() time creating signature=0,977039 ms [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:724::addSignatureToStm() adding 71 [DEBUG] (2017-11-20 10:30:13.766) Signature.cpp:121::addLink() Add link 71 to 70 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.766) Signature.cpp:121::addLink() Add link 70 to 71 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:752::addSignatureToStm() Min STM id = 35 [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 71 [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:660::update() time rehearsal=0,057936 ms [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:713::update() totalTimer = 0,001063s [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1016::process() Processing signature 71 w=-1 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001105s [DEBUG] (2017-11-20 10:30:13.766) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,081368,-0,394669,-0,065005 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,081368,-0,394669,-0,065005) [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000026s [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000017s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:13.766) Graph.cpp:1898::getNodesInRadius() found nodes=21 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1750::process() near nodes=21, max local immunized=8, ratio=0,250000 WM=35 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1836::process() timeReactivations=0,000118s [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,081368,-0,394669,-0,065005 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,081368,-0,394669,-0,065005 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2463::process() Time creating stats = 0,000062... [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:2219::removeRawData() id=71 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.766) Memory.cpp:2137::saveLocationData() Saving location data 71 [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2537::process() Total time processing = 0,001389s... [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:13.766) Rtabmap.cpp:2661::process() Adding data 71 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.766) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.766) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.766) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.766) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 71 [DEBUG] (2017-11-20 10:30:13.767) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000217s [DEBUG] (2017-11-20 10:30:13.767) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.767) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.769) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.769) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000018s... [DEBUG] (2017-11-20 10:30:13.769) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.769) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.769) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.769) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.769) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.770) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.770) SensorData.cpp:557::uncompressData() 70 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.770) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.771) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.772) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.772) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 697 [DEBUG] (2017-11-20 10:30:13.773) MainWindow.cpp:3844::drawKeypoints() source time = 0,000555 s [DEBUG] (2017-11-20 10:30:13.773) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.773) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000007 s [DEBUG] (2017-11-20 10:30:13.773) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.773) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.775) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.775) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.775) MainWindow.cpp:1971::updateMapCloud() posesIn=21 constraints=20 mapIdsIn=21 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.775) MainWindow.cpp:2065::updateMapCloud() Update map with 21 locations [DEBUG] (2017-11-20 10:30:13.775) SensorData.cpp:557::uncompressData() 70 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.775) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.775) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.775) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.775) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.779) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000222s [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.780) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:13.781) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.781) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.781) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:13.781) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.781) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.781) SensorData.cpp:557::uncompressData() 71 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.782) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.783) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.784) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.785) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.785) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.785) MainWindow.cpp:1971::updateMapCloud() posesIn=22 constraints=21 mapIdsIn=22 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.785) MainWindow.cpp:2065::updateMapCloud() Update map with 22 locations [DEBUG] (2017-11-20 10:30:13.785) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000143s [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.786) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.786) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:13.794) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.795) Camera.cpp:103::takeImage() Time capturing image = 0,001310s [DEBUG] (2017-11-20 10:30:13.795) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.796) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.796) RtabmapThread.cpp:628::addData() Added data 72 [ INFO] (2017-11-20 10:30:13.796) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.796) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5796)... [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.796) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.796) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.796) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3676::createSignature() id 72 is a bad signature [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:3999::createSignature() time compressing data (id=72) 0,000084s [DEBUG] (2017-11-20 10:30:13.796) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:639::update() time creating signature=0,104904 ms [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:724::addSignatureToStm() adding 72 [DEBUG] (2017-11-20 10:30:13.796) Signature.cpp:121::addLink() Add link 72 to 71 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.796) Signature.cpp:121::addLink() Add link 71 to 72 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:752::addSignatureToStm() Min STM id = 35 [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 72 [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:660::update() time rehearsal=0,053167 ms [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:713::update() totalTimer = 0,000182s [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1016::process() Processing signature 72 w=-1 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000215s [DEBUG] (2017-11-20 10:30:13.796) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,085624,-0,395342,-0,066627 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,085624,-0,395342,-0,066627) [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000041s [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000018s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:13.796) Graph.cpp:1898::getNodesInRadius() found nodes=21 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1750::process() near nodes=21, max local immunized=8, ratio=0,250000 WM=35 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1836::process() timeReactivations=0,000138s [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,085624,-0,395342,-0,066627 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,085624,-0,395342,-0,066627 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2463::process() Time creating stats = 0,000065... [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:2219::removeRawData() id=72 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.796) Memory.cpp:2137::saveLocationData() Saving location data 72 [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2537::process() Total time processing = 0,000540s... [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:13.796) Rtabmap.cpp:2661::process() Adding data 72 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.796) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.796) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.796) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.796) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.796) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.796) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 72 [DEBUG] (2017-11-20 10:30:13.797) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000253s [DEBUG] (2017-11-20 10:30:13.797) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.797) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.797) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,085624,-0,395342,-0,066627 [DEBUG] (2017-11-20 10:30:13.797) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.797) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:13.797) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.797) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.797) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.797) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.797) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.797) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.806) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.806) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.806) SensorData.cpp:557::uncompressData() 72 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.806) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.814) MainWindow.cpp:1689::processStats() time= 8 ms [DEBUG] (2017-11-20 10:30:13.814) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.815) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.815) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:13.815) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.815) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:13.815) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.815) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.817) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.817) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.817) MainWindow.cpp:1971::updateMapCloud() posesIn=22 constraints=21 mapIdsIn=22 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.817) MainWindow.cpp:2065::updateMapCloud() Update map with 22 locations [DEBUG] (2017-11-20 10:30:13.817) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000279s [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.818) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.819) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.819) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.819) MainWindow.cpp:1931::processStats() Updating GUI time = 0,013000s [DEBUG] (2017-11-20 10:30:13.827) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.829) Camera.cpp:103::takeImage() Time capturing image = 0,001257s [DEBUG] (2017-11-20 10:30:13.829) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.829) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.829) RtabmapThread.cpp:628::addData() Added data 73 [ INFO] (2017-11-20 10:30:13.829) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.829) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.829) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.829) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=5796)... [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.829) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.829) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.829) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.829) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.829) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.830) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.830) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.830) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,089807,-0,400155,-0,070233 [DEBUG] (2017-11-20 10:30:13.830) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.830) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.832) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.833) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.833) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.833) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.837) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004397 s, keypoints extracted = 702 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.837) Memory.cpp:3482::createSignature() time keypoints (702) = 0,008349s [DEBUG] (2017-11-20 10:30:13.841) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 702, remaining kpts=702 [DEBUG] (2017-11-20 10:30:13.841) Memory.cpp:3487::createSignature() time descriptors (702) = 0,003947s [DEBUG] (2017-11-20 10:30:13.841) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=193 [DEBUG] (2017-11-20 10:30:13.841) Memory.cpp:3500::createSignature() time keypoints 3D (702) = 0,000082s [DEBUG] (2017-11-20 10:30:13.841) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.841) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.841) Memory.cpp:3612::createSignature() time descriptor and memory update (702 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:13.841) VWDictionary.cpp:593::addNewWords() id=73 descriptors=702 [DEBUG] (2017-11-20 10:30:13.841) VWDictionary.cpp:686::addNewWords() newPts.total()=702 [DEBUG] (2017-11-20 10:30:13.848) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,006508 s [DEBUG] (2017-11-20 10:30:13.851) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003276 s [DEBUG] (2017-11-20 10:30:13.851) VWDictionary.cpp:874::addNewWords() 316 new words added... [DEBUG] (2017-11-20 10:30:13.851) VWDictionary.cpp:876::addNewWords() 386 duplicated words added (from current image = 6)... [DEBUG] (2017-11-20 10:30:13.851) VWDictionary.cpp:877::addNewWords() total time 0,009812s [DEBUG] (2017-11-20 10:30:13.851) Memory.cpp:3672::createSignature() time addNewWords 0,009827s indexed=5796 not=316 [DEBUG] (2017-11-20 10:30:13.852) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:3999::createSignature() time compressing data (id=73) 0,002052s [DEBUG] (2017-11-20 10:30:13.853) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:639::update() time creating signature=24,394035 ms [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:724::addSignatureToStm() adding 73 [DEBUG] (2017-11-20 10:30:13.853) Signature.cpp:121::addLink() Add link 73 to 72 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.853) Signature.cpp:121::addLink() Add link 72 to 73 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:752::addSignatureToStm() Min STM id = 35 [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:786::addSignatureToStm() 702 words ref for the signature 73 [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:13.853) Memory.cpp:2882::rehearsal() Comparing with signature (70)... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:2905::rehearsal() merged=0, sim=0,175214 t=0,000124s [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:660::update() time rehearsal=0,187159 ms [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 35 from STM in WM... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 36 from STM in WM... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 37 from STM in WM... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 38 from STM in WM... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:713::update() totalTimer = 0,024619s [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1016::process() Processing signature 73 w=0 [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,024654s [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,089807,-0,400155,-0,070233 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,089807,-0,400155,-0,070233) [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000045s [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000289 s [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=13 [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:3272::adjustLikelihood() values.size=12 [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:3319::adjustLikelihood() mean=0,093715, stdDev=0,009099, max=0,110903, maxId=1, time=0,000004s [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000332s [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:495::updatePrediction() From added id 38, 11 neighbors to update. [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:498::updatePrediction() time getting 11 ids to update = 0,000045s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:544::updatePrediction() time updating modified/added 11 ids = 0,000189s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:597::updatePrediction() Modified=11, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000263s, rows=13, cols=13 [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=13, _posterior size=13 [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000017s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:208::computePosterior() sum=10,176317 [DEBUG] (2017-11-20 10:30:13.854) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000310s [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1400::process() Highest hypothesis=1, value=0,010863, timeHypothesesCreation=0,000012s [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000011s [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1489::process() Retrieving locations... around id=1 [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:1511::process() neighbors of 1 in time = 17 [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.854) Rtabmap.cpp:1566::process() neighbors of 1 in space = 17 [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000028s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.854) Graph.cpp:1898::getNodesInRadius() found nodes=21 [ INFO] (2017-11-20 10:30:13.854) Rtabmap.cpp:1750::process() near nodes=21, max local immunized=9, ratio=0,250000 WM=39 [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.854) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.854) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:13.854) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000003s... [DEBUG] (2017-11-20 10:30:13.855) Memory.cpp:4252::reactivateSignatures() time = 0,000025s [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000010s) [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000010s [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:1836::process() timeReactivations=0,000182s [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:1929::process() nearestIds=1/22 [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,089807,-0,400155,-0,070233 [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,089807,-0,400155,-0,070233 [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2463::process() Time creating stats = 0,000086... [DEBUG] (2017-11-20 10:30:13.855) Memory.cpp:2219::removeRawData() id=73 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.855) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.855) Memory.cpp:2137::saveLocationData() Saving location data 73 [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000096s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2537::process() Total time processing = 0,025761s... [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:13.855) Rtabmap.cpp:2661::process() Adding data 73 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.855) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 73 [DEBUG] (2017-11-20 10:30:13.855) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000218s [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.855) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.855) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.855) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:13.855) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.856) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.856) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.856) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.856) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.856) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.856) SensorData.cpp:557::uncompressData() 73 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.856) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.858) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.858) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.858) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 702 [DEBUG] (2017-11-20 10:30:13.859) MainWindow.cpp:3844::drawKeypoints() source time = 0,000363 s [DEBUG] (2017-11-20 10:30:13.859) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.859) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.859) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.859) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.860) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.860) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.860) MainWindow.cpp:1971::updateMapCloud() posesIn=22 constraints=21 mapIdsIn=22 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.860) MainWindow.cpp:2065::updateMapCloud() Update map with 22 locations [DEBUG] (2017-11-20 10:30:13.860) SensorData.cpp:557::uncompressData() 73 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.861) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.861) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.861) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.861) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.861) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.862) Camera.cpp:103::takeImage() Time capturing image = 0,001313s [DEBUG] (2017-11-20 10:30:13.863) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.863) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.863) RtabmapThread.cpp:628::addData() Added data 74 [ INFO] (2017-11-20 10:30:13.863) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.863) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.863) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.863) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6112)... [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.863) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.863) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.863) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.863) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 316 words... [DEBUG] (2017-11-20 10:30:13.863) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.863) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000179s [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.864) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:13.864) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 316 words... done! [DEBUG] (2017-11-20 10:30:13.864) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=316 removed=0) [DEBUG] (2017-11-20 10:30:13.864) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:3676::createSignature() id 74 is a bad signature [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:3999::createSignature() time compressing data (id=74) 0,000790s [DEBUG] (2017-11-20 10:30:13.864) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:639::update() time creating signature=0,814199 ms [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:724::addSignatureToStm() adding 74 [DEBUG] (2017-11-20 10:30:13.864) Signature.cpp:121::addLink() Add link 74 to 73 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.864) Signature.cpp:121::addLink() Add link 73 to 74 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:752::addSignatureToStm() Min STM id = 39 [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 74 [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:660::update() time rehearsal=0,038862 ms [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:713::update() totalTimer = 0,000873s [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1016::process() Processing signature 74 w=-1 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000898s [DEBUG] (2017-11-20 10:30:13.864) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,092318,-0,401778,-0,072845 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,092318,-0,401778,-0,072845) [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000019s [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:13.864) Graph.cpp:1898::getNodesInRadius() found nodes=22 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1750::process() near nodes=22, max local immunized=9, ratio=0,250000 WM=39 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1836::process() timeReactivations=0,000084s [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,092318,-0,401778,-0,072845 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,092318,-0,401778,-0,072845 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2463::process() Time creating stats = 0,000041... [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:2219::removeRawData() id=74 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.864) Memory.cpp:2137::saveLocationData() Saving location data 74 [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000024s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2537::process() Total time processing = 0,001093s... [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:13.864) Rtabmap.cpp:2661::process() Adding data 74 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.864) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.864) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.865) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.865) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 74 [DEBUG] (2017-11-20 10:30:13.865) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.865) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.865) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:13.865) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000186s [DEBUG] (2017-11-20 10:30:13.865) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.865) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.865) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.865) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.865) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:13.865) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.865) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.865) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.866) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.866) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.866) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,092318,-0,401778,-0,072845 [DEBUG] (2017-11-20 10:30:13.868) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.868) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.868) SensorData.cpp:557::uncompressData() 74 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.869) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:1689::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.873) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:1971::updateMapCloud() posesIn=23 constraints=22 mapIdsIn=23 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2065::updateMapCloud() Update map with 23 locations [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000179s [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.875) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.876) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.876) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.876) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:13.894) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.895) Camera.cpp:103::takeImage() Time capturing image = 0,001075s [DEBUG] (2017-11-20 10:30:13.895) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.895) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.895) RtabmapThread.cpp:628::addData() Added data 75 [ INFO] (2017-11-20 10:30:13.895) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.895) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.895) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.895) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.895) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.895) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.895) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6112)... [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.896) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.896) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.896) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3676::createSignature() id 75 is a bad signature [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:3999::createSignature() time compressing data (id=75) 0,000230s [DEBUG] (2017-11-20 10:30:13.896) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:639::update() time creating signature=0,252962 ms [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:724::addSignatureToStm() adding 75 [DEBUG] (2017-11-20 10:30:13.896) Signature.cpp:121::addLink() Add link 75 to 74 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.896) Signature.cpp:121::addLink() Add link 74 to 75 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:752::addSignatureToStm() Min STM id = 39 [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 75 [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:660::update() time rehearsal=0,056028 ms [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:713::update() totalTimer = 0,000328s [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1016::process() Processing signature 75 w=-1 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000353s [DEBUG] (2017-11-20 10:30:13.896) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,093016,-0,398102,-0,077044 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,093016,-0,398102,-0,077044) [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:13.896) Graph.cpp:1898::getNodesInRadius() found nodes=22 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1750::process() near nodes=22, max local immunized=9, ratio=0,250000 WM=39 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1836::process() timeReactivations=0,000103s [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,093016,-0,398102,-0,077044 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,093016,-0,398102,-0,077044 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:2219::removeRawData() id=75 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.896) Memory.cpp:2137::saveLocationData() Saving location data 75 [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2537::process() Total time processing = 0,000582s... [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:13.896) Rtabmap.cpp:2661::process() Adding data 75 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.896) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.896) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.896) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.896) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.896) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.896) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 75 [DEBUG] (2017-11-20 10:30:13.896) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000167s [DEBUG] (2017-11-20 10:30:13.896) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.896) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.896) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.896) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:13.896) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.896) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.897) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,093016,-0,398102,-0,077044 [DEBUG] (2017-11-20 10:30:13.897) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.897) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.897) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.897) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.901) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.901) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.901) SensorData.cpp:557::uncompressData() 75 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.901) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.903) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.904) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.904) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.904) MainWindow.cpp:1971::updateMapCloud() posesIn=23 constraints=22 mapIdsIn=23 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.904) MainWindow.cpp:2065::updateMapCloud() Update map with 23 locations [DEBUG] (2017-11-20 10:30:13.904) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000184s [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.905) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.905) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:13.927) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.929) Camera.cpp:103::takeImage() Time capturing image = 0,001113s [DEBUG] (2017-11-20 10:30:13.929) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.929) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.929) RtabmapThread.cpp:628::addData() Added data 76 [ INFO] (2017-11-20 10:30:13.929) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.929) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6112)... [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.929) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.929) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.929) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3676::createSignature() id 76 is a bad signature [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:3999::createSignature() time compressing data (id=76) 0,000102s [DEBUG] (2017-11-20 10:30:13.929) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:639::update() time creating signature=0,126123 ms [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:724::addSignatureToStm() adding 76 [DEBUG] (2017-11-20 10:30:13.929) Signature.cpp:121::addLink() Add link 76 to 75 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.929) Signature.cpp:121::addLink() Add link 75 to 76 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:752::addSignatureToStm() Min STM id = 39 [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 76 [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:660::update() time rehearsal=0,044823 ms [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:713::update() totalTimer = 0,000194s [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1016::process() Processing signature 76 w=-1 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000224s [DEBUG] (2017-11-20 10:30:13.929) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,092889,-0,398892,-0,077900 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,092889,-0,398892,-0,077900) [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000034s [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:13.929) Graph.cpp:1898::getNodesInRadius() found nodes=22 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1750::process() near nodes=22, max local immunized=9, ratio=0,250000 WM=39 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1836::process() timeReactivations=0,000115s [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,092889,-0,398892,-0,077900 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,092889,-0,398892,-0,077900 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:2219::removeRawData() id=76 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.929) Memory.cpp:2137::saveLocationData() Saving location data 76 [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2537::process() Total time processing = 0,000485s... [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:13.929) Rtabmap.cpp:2661::process() Adding data 76 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.929) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.929) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.929) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.929) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 76 [DEBUG] (2017-11-20 10:30:13.930) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.930) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.930) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000170s [DEBUG] (2017-11-20 10:30:13.930) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.930) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.930) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.930) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:13.930) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.930) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.930) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.930) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.930) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,092889,-0,398892,-0,077900 [DEBUG] (2017-11-20 10:30:13.930) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.930) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.935) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.935) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.935) SensorData.cpp:557::uncompressData() 76 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:13.935) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.936) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.937) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.938) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.938) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.938) MainWindow.cpp:1971::updateMapCloud() posesIn=23 constraints=22 mapIdsIn=23 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.938) MainWindow.cpp:2065::updateMapCloud() Update map with 23 locations [DEBUG] (2017-11-20 10:30:13.938) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000302s [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.939) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:13.942) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.942) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.942) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:13.961) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.962) Camera.cpp:103::takeImage() Time capturing image = 0,001442s [DEBUG] (2017-11-20 10:30:13.962) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.962) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.962) RtabmapThread.cpp:628::addData() Added data 77 [ INFO] (2017-11-20 10:30:13.962) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.962) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.963) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.963) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6112)... [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.963) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.963) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.963) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:13.963) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:13.963) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:13.963) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.963) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:13.964) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,094325,-0,401298,-0,078311 [DEBUG] (2017-11-20 10:30:13.964) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:13.964) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:13.965) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:13.967) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:13.967) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.967) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:13.970) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003265 s, keypoints extracted = 713 (mask empty=0) [DEBUG] (2017-11-20 10:30:13.970) Memory.cpp:3482::createSignature() time keypoints (713) = 0,007257s [DEBUG] (2017-11-20 10:30:13.973) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 713, remaining kpts=713 [DEBUG] (2017-11-20 10:30:13.973) Memory.cpp:3487::createSignature() time descriptors (713) = 0,003644s [DEBUG] (2017-11-20 10:30:13.973) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=192 [DEBUG] (2017-11-20 10:30:13.974) Memory.cpp:3500::createSignature() time keypoints 3D (713) = 0,000081s [DEBUG] (2017-11-20 10:30:13.974) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.974) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.974) Memory.cpp:3612::createSignature() time descriptor and memory update (713 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:13.974) VWDictionary.cpp:593::addNewWords() id=77 descriptors=713 [DEBUG] (2017-11-20 10:30:13.974) VWDictionary.cpp:686::addNewWords() newPts.total()=713 [DEBUG] (2017-11-20 10:30:13.980) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,006839 s [DEBUG] (2017-11-20 10:30:13.984) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003434 s [DEBUG] (2017-11-20 10:30:13.984) VWDictionary.cpp:874::addNewWords() 332 new words added... [DEBUG] (2017-11-20 10:30:13.984) VWDictionary.cpp:876::addNewWords() 381 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:13.984) VWDictionary.cpp:877::addNewWords() total time 0,010300s [DEBUG] (2017-11-20 10:30:13.984) Memory.cpp:3672::createSignature() time addNewWords 0,010315s indexed=6112 not=332 [DEBUG] (2017-11-20 10:30:13.984) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:3999::createSignature() time compressing data (id=77) 0,002032s [DEBUG] (2017-11-20 10:30:13.986) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:639::update() time creating signature=23,468018 ms [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:724::addSignatureToStm() adding 77 [DEBUG] (2017-11-20 10:30:13.986) Signature.cpp:121::addLink() Add link 77 to 76 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.986) Signature.cpp:121::addLink() Add link 76 to 77 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:752::addSignatureToStm() Min STM id = 39 [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:786::addSignatureToStm() 713 words ref for the signature 77 [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:2882::rehearsal() Comparing with signature (73)... [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:2905::rehearsal() merged=0, sim=0,159888 t=0,000127s [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:660::update() time rehearsal=0,190020 ms [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 39 from STM in WM... [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 40 from STM in WM... [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 41 from STM in WM... [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:713::update() totalTimer = 0,023690s [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.986) Rtabmap.cpp:1016::process() Processing signature 77 w=0 [ INFO] (2017-11-20 10:30:13.986) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023722s [DEBUG] (2017-11-20 10:30:13.986) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,094325,-0,401298,-0,078311 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,094325,-0,401298,-0,078311) [ INFO] (2017-11-20 10:30:13.986) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000047s [ INFO] (2017-11-20 10:30:13.986) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:13.986) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000298 s [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=14 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:3272::adjustLikelihood() values.size=13 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:3319::adjustLikelihood() mean=0,075885, stdDev=0,006852, max=0,088576, maxId=30, time=0,000004s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000344s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000005s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:495::updatePrediction() From added id 41, 12 neighbors to update. [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:498::updatePrediction() time getting 12 ids to update = 0,000047s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:544::updatePrediction() time updating modified/added 12 ids = 0,000217s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:597::updatePrediction() Modified=12, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000296s, rows=14, cols=14 [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=14, _posterior size=14 [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000017s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:208::computePosterior() sum=10,872005 [DEBUG] (2017-11-20 10:30:13.987) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000344s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1400::process() Highest hypothesis=30, value=0,010100, timeHypothesesCreation=0,000012s [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1489::process() Retrieving locations... around id=30 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1511::process() neighbors of 30 in time = 33 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1566::process() neighbors of 30 in space = 33 [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=28, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000043s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:13.987) Graph.cpp:1898::getNodesInRadius() found nodes=22 [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1750::process() near nodes=22, max local immunized=10, ratio=0,250000 WM=42 [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:13.987) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:13.987) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000003s... [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1836::process() timeReactivations=0,000202s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1929::process() nearestIds=1/23 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:13.987) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,094325,-0,401298,-0,078311 [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,094325,-0,401298,-0,078311 [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2463::process() Time creating stats = 0,000090... [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:2219::removeRawData() id=77 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.987) Memory.cpp:2137::saveLocationData() Saving location data 77 [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000101s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2537::process() Total time processing = 0,024907s... [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:13.987) Rtabmap.cpp:2661::process() Adding data 77 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.988) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.988) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.988) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.988) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 77 [DEBUG] (2017-11-20 10:30:13.988) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000178s [DEBUG] (2017-11-20 10:30:13.988) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:13.988) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:13.988) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:13.988) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:13.988) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:13.988) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:13.988) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:13.988) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:13.989) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:13.989) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:13.989) SensorData.cpp:557::uncompressData() 77 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.989) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 713 [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:3844::drawKeypoints() source time = 0,000370 s [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:13.991) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.993) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:13.993) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:13.993) MainWindow.cpp:1971::updateMapCloud() posesIn=23 constraints=22 mapIdsIn=23 labelsIn=1 [DEBUG] (2017-11-20 10:30:13.993) MainWindow.cpp:2065::updateMapCloud() Update map with 23 locations [DEBUG] (2017-11-20 10:30:13.993) SensorData.cpp:557::uncompressData() 77 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:13.993) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:13.993) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.993) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:13.994) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:13.994) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000171s [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:13.997) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:13.997) Camera.cpp:103::takeImage() Time capturing image = 0,003241s [DEBUG] (2017-11-20 10:30:13.997) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:13.997) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:13.997) RtabmapThread.cpp:628::addData() Added data 78 [ INFO] (2017-11-20 10:30:13.997) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:13.998) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:13.998) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.998) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6444)... [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:13.998) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:13.998) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:13.998) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:13.998) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 332 words... [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:13.998) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:13.998) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:13.998) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:13.998) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:13.999) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 332 words... done! [DEBUG] (2017-11-20 10:30:13.999) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=332 removed=0) [DEBUG] (2017-11-20 10:30:13.999) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:3676::createSignature() id 78 is a bad signature [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:3999::createSignature() time compressing data (id=78) 0,001077s [DEBUG] (2017-11-20 10:30:13.999) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:639::update() time creating signature=1,106024 ms [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:724::addSignatureToStm() adding 78 [DEBUG] (2017-11-20 10:30:13.999) Signature.cpp:121::addLink() Add link 78 to 77 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.999) Signature.cpp:121::addLink() Add link 77 to 78 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:752::addSignatureToStm() Min STM id = 42 [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 78 [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:660::update() time rehearsal=0,056028 ms [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:713::update() totalTimer = 0,001186s [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1016::process() Processing signature 78 w=-1 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001222s [DEBUG] (2017-11-20 10:30:13.999) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,094827,-0,401601,-0,079633 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,094827,-0,401601,-0,079633) [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000024s [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:13.999) Graph.cpp:1898::getNodesInRadius() found nodes=23 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1750::process() near nodes=23, max local immunized=10, ratio=0,250000 WM=42 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1836::process() timeReactivations=0,000108s [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,094827,-0,401601,-0,079633 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,094827,-0,401601,-0,079633 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2463::process() Time creating stats = 0,000057... [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:2219::removeRawData() id=78 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:13.999) Memory.cpp:2137::saveLocationData() Saving location data 78 [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2537::process() Total time processing = 0,001481s... [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:13.999) Rtabmap.cpp:2661::process() Adding data 78 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:13.999) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:13.999) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:13.999) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:13.999) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:13.999) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 78 [DEBUG] (2017-11-20 10:30:13.999) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.000) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000165s [DEBUG] (2017-11-20 10:30:14.000) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.000) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.000) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.000) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:14.000) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.000) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.000) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.000) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.000) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,094827,-0,401601,-0,079633 [DEBUG] (2017-11-20 10:30:14.017) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.017) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.017) SensorData.cpp:557::uncompressData() 78 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.018) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.019) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.020) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.021) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.021) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.021) MainWindow.cpp:1971::updateMapCloud() posesIn=24 constraints=23 mapIdsIn=24 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.021) MainWindow.cpp:2065::updateMapCloud() Update map with 24 locations [DEBUG] (2017-11-20 10:30:14.021) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000175s [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.022) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.022) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.027) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.029) Camera.cpp:103::takeImage() Time capturing image = 0,001380s [DEBUG] (2017-11-20 10:30:14.029) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.029) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.029) RtabmapThread.cpp:628::addData() Added data 79 [ INFO] (2017-11-20 10:30:14.029) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.029) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6444)... [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.029) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.029) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.029) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3676::createSignature() id 79 is a bad signature [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:3999::createSignature() time compressing data (id=79) 0,000103s [DEBUG] (2017-11-20 10:30:14.029) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:639::update() time creating signature=0,126123 ms [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:724::addSignatureToStm() adding 79 [DEBUG] (2017-11-20 10:30:14.029) Signature.cpp:121::addLink() Add link 79 to 78 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.029) Signature.cpp:121::addLink() Add link 78 to 79 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:752::addSignatureToStm() Min STM id = 42 [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 79 [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:713::update() totalTimer = 0,000187s [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1016::process() Processing signature 79 w=-1 [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000228s [DEBUG] (2017-11-20 10:30:14.029) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,092685,-0,401524,-0,077319 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,092685,-0,401524,-0,077319) [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000031s [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.029) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:14.029) Graph.cpp:1898::getNodesInRadius() found nodes=23 [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1750::process() near nodes=23, max local immunized=10, ratio=0,250000 WM=42 [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1836::process() timeReactivations=0,000104s [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.029) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,092685,-0,401524,-0,077319 [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,092685,-0,401524,-0,077319 [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:14.030) Memory.cpp:2219::removeRawData() id=79 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.030) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.030) Memory.cpp:2137::saveLocationData() Saving location data 79 [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2537::process() Total time processing = 0,000459s... [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:14.030) Rtabmap.cpp:2661::process() Adding data 79 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.030) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.030) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.030) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.030) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 79 [DEBUG] (2017-11-20 10:30:14.030) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000165s [DEBUG] (2017-11-20 10:30:14.030) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.030) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.030) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.030) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:14.030) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.030) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.030) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.030) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.030) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.030) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.031) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,092685,-0,401524,-0,077319 [DEBUG] (2017-11-20 10:30:14.031) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.031) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.035) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.035) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.035) SensorData.cpp:557::uncompressData() 79 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.036) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.037) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:1971::updateMapCloud() posesIn=24 constraints=23 mapIdsIn=24 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2065::updateMapCloud() Update map with 24 locations [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000182s [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.039) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.040) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.040) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.040) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.040) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.061) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.062) Camera.cpp:103::takeImage() Time capturing image = 0,001064s [DEBUG] (2017-11-20 10:30:14.062) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.062) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.062) RtabmapThread.cpp:628::addData() Added data 80 [ INFO] (2017-11-20 10:30:14.062) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.062) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.062) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.062) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6444)... [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.062) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.062) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.062) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3676::createSignature() id 80 is a bad signature [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:3999::createSignature() time compressing data (id=80) 0,000131s [DEBUG] (2017-11-20 10:30:14.062) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:639::update() time creating signature=0,159979 ms [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:724::addSignatureToStm() adding 80 [DEBUG] (2017-11-20 10:30:14.062) Signature.cpp:121::addLink() Add link 80 to 79 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.062) Signature.cpp:121::addLink() Add link 79 to 80 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:752::addSignatureToStm() Min STM id = 42 [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 80 [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:660::update() time rehearsal=0,055075 ms [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:713::update() totalTimer = 0,000239s [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.062) Rtabmap.cpp:1016::process() Processing signature 80 w=-1 [ INFO] (2017-11-20 10:30:14.062) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000266s [DEBUG] (2017-11-20 10:30:14.062) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,090482,-0,400696,-0,078375 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,090482,-0,400696,-0,078375) [ INFO] (2017-11-20 10:30:14.062) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000036s [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.062) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.062) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:14.063) Graph.cpp:1898::getNodesInRadius() found nodes=23 [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:1750::process() near nodes=23, max local immunized=10, ratio=0,250000 WM=42 [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:1836::process() timeReactivations=0,000126s [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,090482,-0,400696,-0,078375 [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,090482,-0,400696,-0,078375 [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:14.063) Memory.cpp:2219::removeRawData() id=80 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.063) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.063) Memory.cpp:2137::saveLocationData() Saving location data 80 [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2537::process() Total time processing = 0,000560s... [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.063) Rtabmap.cpp:2661::process() Adding data 80 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.063) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.063) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.063) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.063) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.063) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.063) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 80 [DEBUG] (2017-11-20 10:30:14.063) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000167s [DEBUG] (2017-11-20 10:30:14.063) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.063) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.063) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.063) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:14.063) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,090482,-0,400696,-0,078375 [DEBUG] (2017-11-20 10:30:14.063) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.063) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.063) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.063) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.063) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.063) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.068) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.068) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.068) SensorData.cpp:557::uncompressData() 80 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.068) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.070) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.071) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.071) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.071) MainWindow.cpp:1971::updateMapCloud() posesIn=24 constraints=23 mapIdsIn=24 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.071) MainWindow.cpp:2065::updateMapCloud() Update map with 24 locations [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000210s [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.072) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.073) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.073) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.073) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.094) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.095) Camera.cpp:103::takeImage() Time capturing image = 0,001057s [DEBUG] (2017-11-20 10:30:14.095) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.095) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.095) RtabmapThread.cpp:628::addData() Added data 81 [ INFO] (2017-11-20 10:30:14.095) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.095) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.095) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.095) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6444)... [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.095) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.096) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.096) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.096) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.096) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.096) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.096) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.097) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,087873,-0,399440,-0,077231 [DEBUG] (2017-11-20 10:30:14.097) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.097) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.098) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.099) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.099) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.099) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.102) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003013 s, keypoints extracted = 693 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.102) Memory.cpp:3482::createSignature() time keypoints (693) = 0,006929s [DEBUG] (2017-11-20 10:30:14.106) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 693, remaining kpts=693 [DEBUG] (2017-11-20 10:30:14.106) Memory.cpp:3487::createSignature() time descriptors (693) = 0,003526s [DEBUG] (2017-11-20 10:30:14.106) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=191 [DEBUG] (2017-11-20 10:30:14.106) Memory.cpp:3500::createSignature() time keypoints 3D (693) = 0,000085s [DEBUG] (2017-11-20 10:30:14.106) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.106) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.106) Memory.cpp:3612::createSignature() time descriptor and memory update (693 of size=32) = 0,000020s [DEBUG] (2017-11-20 10:30:14.106) VWDictionary.cpp:593::addNewWords() id=81 descriptors=693 [DEBUG] (2017-11-20 10:30:14.106) VWDictionary.cpp:686::addNewWords() newPts.total()=693 [DEBUG] (2017-11-20 10:30:14.113) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,006467 s [DEBUG] (2017-11-20 10:30:14.116) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003264 s [DEBUG] (2017-11-20 10:30:14.116) VWDictionary.cpp:874::addNewWords() 315 new words added... [DEBUG] (2017-11-20 10:30:14.116) VWDictionary.cpp:876::addNewWords() 378 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:14.116) VWDictionary.cpp:877::addNewWords() total time 0,009766s [DEBUG] (2017-11-20 10:30:14.116) Memory.cpp:3672::createSignature() time addNewWords 0,009783s indexed=6444 not=315 [DEBUG] (2017-11-20 10:30:14.116) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:3999::createSignature() time compressing data (id=81) 0,002050s [DEBUG] (2017-11-20 10:30:14.118) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:639::update() time creating signature=22,520065 ms [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:724::addSignatureToStm() adding 81 [DEBUG] (2017-11-20 10:30:14.118) Signature.cpp:121::addLink() Add link 81 to 80 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.118) Signature.cpp:121::addLink() Add link 80 to 81 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:752::addSignatureToStm() Min STM id = 42 [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:786::addSignatureToStm() 693 words ref for the signature 81 [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:2882::rehearsal() Comparing with signature (77)... [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:2905::rehearsal() merged=0, sim=0,127630 t=0,000125s [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:660::update() time rehearsal=0,186920 ms [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 42 from STM in WM... [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 43 from STM in WM... [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 44 from STM in WM... [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 45 from STM in WM... [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:713::update() totalTimer = 0,022742s [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.118) Rtabmap.cpp:1016::process() Processing signature 81 w=0 [ INFO] (2017-11-20 10:30:14.118) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022776s [DEBUG] (2017-11-20 10:30:14.118) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,087873,-0,399440,-0,077231 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,087873,-0,399440,-0,077231) [ INFO] (2017-11-20 10:30:14.118) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000052s [ INFO] (2017-11-20 10:30:14.118) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.118) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000315 s [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=15 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:3272::adjustLikelihood() values.size=14 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:3319::adjustLikelihood() mean=0,076491, stdDev=0,008592, max=0,088720, maxId=1, time=0,000005s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000366s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000006s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000004s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:495::updatePrediction() From added id 45, 13 neighbors to update. [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:498::updatePrediction() time getting 13 ids to update = 0,000054s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:544::updatePrediction() time updating modified/added 13 ids = 0,000239s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:597::updatePrediction() Modified=13, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000328s, rows=15, cols=15 [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=15, _posterior size=15 [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000019s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:208::computePosterior() sum=8,941215 [DEBUG] (2017-11-20 10:30:14.119) BayesFilter.cpp:216::computePosterior() normalize time=0,000009s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000384s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1400::process() Highest hypothesis=1, value=0,012176, timeHypothesesCreation=0,000015s [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000014s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1489::process() Retrieving locations... around id=1 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1511::process() neighbors of 1 in time = 17 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1566::process() neighbors of 1 in space = 17 [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000032s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.119) Graph.cpp:1898::getNodesInRadius() found nodes=23 [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1750::process() near nodes=23, max local immunized=11, ratio=0,250000 WM=46 [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.119) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.119) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000005s [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000005s... [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:4252::reactivateSignatures() time = 0,000032s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000013s) [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000013s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1836::process() timeReactivations=0,000207s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1929::process() nearestIds=1/24 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.119) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000027s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,087873,-0,399440,-0,077231 [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,087873,-0,399440,-0,077231 [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2463::process() Time creating stats = 0,000098... [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:2219::removeRawData() id=81 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.119) Memory.cpp:2137::saveLocationData() Saving location data 81 [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000099s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2537::process() Total time processing = 0,024051s... [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:14.119) Rtabmap.cpp:2661::process() Adding data 81 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.120) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.120) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.120) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.120) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 81 [DEBUG] (2017-11-20 10:30:14.120) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000178s [DEBUG] (2017-11-20 10:30:14.120) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.120) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.120) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.120) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.120) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.120) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.120) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.120) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.121) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.121) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.121) SensorData.cpp:557::uncompressData() 81 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.121) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.123) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.123) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.123) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 693 [DEBUG] (2017-11-20 10:30:14.124) MainWindow.cpp:3844::drawKeypoints() source time = 0,000365 s [DEBUG] (2017-11-20 10:30:14.124) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.124) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.124) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.124) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.125) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.125) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.125) MainWindow.cpp:1971::updateMapCloud() posesIn=24 constraints=23 mapIdsIn=24 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.125) MainWindow.cpp:2065::updateMapCloud() Update map with 24 locations [DEBUG] (2017-11-20 10:30:14.126) SensorData.cpp:557::uncompressData() 81 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.126) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.126) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.126) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.126) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.127) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.129) Camera.cpp:103::takeImage() Time capturing image = 0,001053s [DEBUG] (2017-11-20 10:30:14.129) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.129) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.129) RtabmapThread.cpp:628::addData() Added data 82 [ INFO] (2017-11-20 10:30:14.129) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.129) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2278::updateMapCloud() [ INFO] (2017-11-20 10:30:14.129) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.129) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6759)... [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:621::update() time preUpdate=0,007153 ms [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.129) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.129) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.129) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.129) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 315 words... [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.129) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000174s [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.129) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:14.130) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 315 words... done! [DEBUG] (2017-11-20 10:30:14.130) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=315 removed=0) [DEBUG] (2017-11-20 10:30:14.130) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:3676::createSignature() id 82 is a bad signature [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:3999::createSignature() time compressing data (id=82) 0,000879s [DEBUG] (2017-11-20 10:30:14.130) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:639::update() time creating signature=0,905991 ms [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:724::addSignatureToStm() adding 82 [DEBUG] (2017-11-20 10:30:14.130) Signature.cpp:121::addLink() Add link 82 to 81 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.130) Signature.cpp:121::addLink() Add link 81 to 82 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:752::addSignatureToStm() Min STM id = 46 [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 82 [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:794::addSignatureToStm() time = 0,000043s [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:660::update() time rehearsal=0,056028 ms [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:713::update() totalTimer = 0,000983s [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1016::process() Processing signature 82 w=-1 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001010s [DEBUG] (2017-11-20 10:30:14.130) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,085197,-0,400439,-0,074145 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,085197,-0,400439,-0,074145) [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000026s [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:14.130) Graph.cpp:1898::getNodesInRadius() found nodes=24 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1750::process() near nodes=24, max local immunized=11, ratio=0,250000 WM=46 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1836::process() timeReactivations=0,000122s [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,085197,-0,400439,-0,074145 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,085197,-0,400439,-0,074145 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2463::process() Time creating stats = 0,000055... [DEBUG] (2017-11-20 10:30:14.130) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:2219::removeRawData() id=82 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.130) MainWindow.cpp:1919::processStats() [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.130) Memory.cpp:2137::saveLocationData() Saving location data 82 [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000056s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2537::process() Total time processing = 0,001305s... [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:14.130) Rtabmap.cpp:2661::process() Adding data 82 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.130) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.130) Rtabmap.cpp:2679::process() Get all node infos... [ INFO] (2017-11-20 10:30:14.130) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:14.130) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.130) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 82 [DEBUG] (2017-11-20 10:30:14.131) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000221s [DEBUG] (2017-11-20 10:30:14.131) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.131) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.131) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.131) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.131) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.131) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.131) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.131) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.131) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.131) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.132) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,085197,-0,400439,-0,074145 [DEBUG] (2017-11-20 10:30:14.149) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.149) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.149) SensorData.cpp:557::uncompressData() 82 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.149) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.152) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.155) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.155) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.155) MainWindow.cpp:1971::updateMapCloud() posesIn=25 constraints=24 mapIdsIn=25 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.155) MainWindow.cpp:2065::updateMapCloud() Update map with 25 locations [DEBUG] (2017-11-20 10:30:14.156) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000928s [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.158) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.161) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.161) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.161) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.161) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:14.162) Camera.cpp:103::takeImage() Time capturing image = 0,001185s [DEBUG] (2017-11-20 10:30:14.162) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.162) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.162) RtabmapThread.cpp:628::addData() Added data 83 [ INFO] (2017-11-20 10:30:14.162) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.162) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.162) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.162) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6759)... [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.162) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.162) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.162) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3676::createSignature() id 83 is a bad signature [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:3999::createSignature() time compressing data (id=83) 0,000159s [DEBUG] (2017-11-20 10:30:14.162) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.162) Memory.cpp:639::update() time creating signature=0,185966 ms [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:724::addSignatureToStm() adding 83 [DEBUG] (2017-11-20 10:30:14.163) Signature.cpp:121::addLink() Add link 83 to 82 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.163) Signature.cpp:121::addLink() Add link 82 to 83 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:752::addSignatureToStm() Min STM id = 46 [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 83 [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:660::update() time rehearsal=0,045061 ms [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:713::update() totalTimer = 0,000257s [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1016::process() Processing signature 83 w=-1 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000289s [DEBUG] (2017-11-20 10:30:14.163) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,085487,-0,403955,-0,074067 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,085487,-0,403955,-0,074067) [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000044s [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:14.163) Graph.cpp:1898::getNodesInRadius() found nodes=24 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1750::process() near nodes=24, max local immunized=11, ratio=0,250000 WM=46 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1836::process() timeReactivations=0,000153s [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,085487,-0,403955,-0,074067 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,085487,-0,403955,-0,074067 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2463::process() Time creating stats = 0,000066... [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:2219::removeRawData() id=83 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.163) Memory.cpp:2137::saveLocationData() Saving location data 83 [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000039s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2537::process() Total time processing = 0,000631s... [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.163) Rtabmap.cpp:2661::process() Adding data 83 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.163) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.163) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.163) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.163) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 83 [DEBUG] (2017-11-20 10:30:14.163) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000200s [DEBUG] (2017-11-20 10:30:14.163) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.163) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.163) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.163) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:14.163) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.163) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.164) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.164) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.164) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.164) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.165) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,085487,-0,403955,-0,074067 [DEBUG] (2017-11-20 10:30:14.176) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.176) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.176) SensorData.cpp:557::uncompressData() 83 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.176) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.178) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.180) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.180) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.180) MainWindow.cpp:1971::updateMapCloud() posesIn=25 constraints=24 mapIdsIn=25 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.180) MainWindow.cpp:2065::updateMapCloud() Update map with 25 locations [DEBUG] (2017-11-20 10:30:14.180) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000236s [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.181) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.181) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.194) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.195) Camera.cpp:103::takeImage() Time capturing image = 0,001055s [DEBUG] (2017-11-20 10:30:14.195) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.195) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.195) RtabmapThread.cpp:628::addData() Added data 84 [ INFO] (2017-11-20 10:30:14.195) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.195) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.195) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.195) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6759)... [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.195) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.196) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.196) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.196) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:3676::createSignature() id 84 is a bad signature [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:3999::createSignature() time compressing data (id=84) 0,000095s [DEBUG] (2017-11-20 10:30:14.196) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:639::update() time creating signature=0,117064 ms [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:724::addSignatureToStm() adding 84 [DEBUG] (2017-11-20 10:30:14.196) Signature.cpp:121::addLink() Add link 84 to 83 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.196) Signature.cpp:121::addLink() Add link 83 to 84 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:752::addSignatureToStm() Min STM id = 46 [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 84 [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:713::update() totalTimer = 0,000176s [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1016::process() Processing signature 84 w=-1 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000201s [DEBUG] (2017-11-20 10:30:14.196) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,086382,-0,409801,-0,073531 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,086382,-0,409801,-0,073531) [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:14.196) Graph.cpp:1898::getNodesInRadius() found nodes=24 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1750::process() near nodes=24, max local immunized=11, ratio=0,250000 WM=46 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1836::process() timeReactivations=0,000113s [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,086382,-0,409801,-0,073531 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,086382,-0,409801,-0,073531 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2463::process() Time creating stats = 0,000059... [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:2219::removeRawData() id=84 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.196) Memory.cpp:2137::saveLocationData() Saving location data 84 [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2537::process() Total time processing = 0,000470s... [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.196) Rtabmap.cpp:2661::process() Adding data 84 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.196) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.196) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.196) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.196) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 84 [DEBUG] (2017-11-20 10:30:14.196) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.196) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.196) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000164s [DEBUG] (2017-11-20 10:30:14.196) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.196) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.196) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.196) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:14.196) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.196) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.196) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.196) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.197) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,086382,-0,409801,-0,073531 [DEBUG] (2017-11-20 10:30:14.197) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.197) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.202) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.202) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.202) SensorData.cpp:557::uncompressData() 84 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.202) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.204) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:1971::updateMapCloud() posesIn=25 constraints=24 mapIdsIn=25 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2065::updateMapCloud() Update map with 25 locations [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000198s [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.206) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.207) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.207) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.207) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.227) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.229) Camera.cpp:103::takeImage() Time capturing image = 0,001069s [DEBUG] (2017-11-20 10:30:14.229) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.229) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.229) RtabmapThread.cpp:628::addData() Added data 85 [ INFO] (2017-11-20 10:30:14.229) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.229) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.229) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.229) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=6759)... [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.229) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.229) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.229) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.229) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.229) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.230) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.230) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.230) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,089433,-0,415644,-0,073601 [DEBUG] (2017-11-20 10:30:14.230) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.230) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.231) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.231) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.231) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.231) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.234) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003046 s, keypoints extracted = 718 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.234) Memory.cpp:3482::createSignature() time keypoints (718) = 0,005514s [DEBUG] (2017-11-20 10:30:14.238) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 718, remaining kpts=718 [DEBUG] (2017-11-20 10:30:14.238) Memory.cpp:3487::createSignature() time descriptors (718) = 0,003657s [DEBUG] (2017-11-20 10:30:14.238) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=190 [DEBUG] (2017-11-20 10:30:14.238) Memory.cpp:3500::createSignature() time keypoints 3D (718) = 0,000084s [DEBUG] (2017-11-20 10:30:14.238) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.238) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.238) Memory.cpp:3612::createSignature() time descriptor and memory update (718 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:14.238) VWDictionary.cpp:593::addNewWords() id=85 descriptors=718 [DEBUG] (2017-11-20 10:30:14.238) VWDictionary.cpp:686::addNewWords() newPts.total()=718 [DEBUG] (2017-11-20 10:30:14.245) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007273 s [DEBUG] (2017-11-20 10:30:14.249) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003216 s [DEBUG] (2017-11-20 10:30:14.249) VWDictionary.cpp:874::addNewWords() 291 new words added... [DEBUG] (2017-11-20 10:30:14.249) VWDictionary.cpp:876::addNewWords() 427 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:14.249) VWDictionary.cpp:877::addNewWords() total time 0,010529s [DEBUG] (2017-11-20 10:30:14.249) Memory.cpp:3672::createSignature() time addNewWords 0,010548s indexed=6759 not=291 [DEBUG] (2017-11-20 10:30:14.249) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:3999::createSignature() time compressing data (id=85) 0,002050s [DEBUG] (2017-11-20 10:30:14.251) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:639::update() time creating signature=21,997929 ms [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:724::addSignatureToStm() adding 85 [DEBUG] (2017-11-20 10:30:14.251) Signature.cpp:121::addLink() Add link 85 to 84 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.251) Signature.cpp:121::addLink() Add link 84 to 85 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:752::addSignatureToStm() Min STM id = 46 [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:786::addSignatureToStm() 718 words ref for the signature 85 [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:2882::rehearsal() Comparing with signature (81)... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:2905::rehearsal() merged=0, sim=0,179666 t=0,000131s [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:660::update() time rehearsal=0,196218 ms [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 46 from STM in WM... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 47 from STM in WM... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 48 from STM in WM... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 49 from STM in WM... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:713::update() totalTimer = 0,022227s [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.251) Rtabmap.cpp:1016::process() Processing signature 85 w=0 [ INFO] (2017-11-20 10:30:14.251) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022257s [DEBUG] (2017-11-20 10:30:14.251) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,089433,-0,415644,-0,073601 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,089433,-0,415644,-0,073601) [ INFO] (2017-11-20 10:30:14.251) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000047s [ INFO] (2017-11-20 10:30:14.251) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.251) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000352 s [DEBUG] (2017-11-20 10:30:14.251) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=16 [DEBUG] (2017-11-20 10:30:14.251) Rtabmap.cpp:3272::adjustLikelihood() values.size=15 [DEBUG] (2017-11-20 10:30:14.251) Rtabmap.cpp:3319::adjustLikelihood() mean=0,076160, stdDev=0,007246, max=0,091603, maxId=49, time=0,000004s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000397s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000020s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:495::updatePrediction() From added id 49, 14 neighbors to update. [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:498::updatePrediction() time getting 14 ids to update = 0,000053s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:544::updatePrediction() time updating modified/added 14 ids = 0,000263s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:597::updatePrediction() Modified=14, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000361s, rows=16, cols=16 [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=16, _posterior size=16 [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000017s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:208::computePosterior() sum=10,358341 [DEBUG] (2017-11-20 10:30:14.252) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000410s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1400::process() Highest hypothesis=49, value=0,010667, timeHypothesesCreation=0,000014s [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1489::process() Retrieving locations... around id=49 [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1511::process() neighbors of 49 in time = 33 [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1566::process() neighbors of 49 in space = 33 [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000037s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.252) Graph.cpp:1898::getNodesInRadius() found nodes=24 [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1750::process() near nodes=24, max local immunized=12, ratio=0,250000 WM=50 [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.252) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.252) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000003s... [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:4252::reactivateSignatures() time = 0,000025s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1836::process() timeReactivations=0,000179s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1929::process() nearestIds=1/25 [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.252) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,089433,-0,415644,-0,073601 [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,089433,-0,415644,-0,073601 [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2463::process() Time creating stats = 0,000090... [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:2219::removeRawData() id=85 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.252) Memory.cpp:2137::saveLocationData() Saving location data 85 [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000100s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2537::process() Total time processing = 0,023539s... [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:14.252) Rtabmap.cpp:2661::process() Adding data 85 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.253) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.253) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.253) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.253) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 85 [DEBUG] (2017-11-20 10:30:14.253) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000179s [DEBUG] (2017-11-20 10:30:14.253) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.253) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.253) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.253) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.253) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.253) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.253) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.253) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.254) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.254) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.254) SensorData.cpp:557::uncompressData() 85 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.254) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.255) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 718 [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:3844::drawKeypoints() source time = 0,000367 s [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.256) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.258) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.258) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.258) MainWindow.cpp:1971::updateMapCloud() posesIn=25 constraints=24 mapIdsIn=25 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.258) MainWindow.cpp:2065::updateMapCloud() Update map with 25 locations [DEBUG] (2017-11-20 10:30:14.258) SensorData.cpp:557::uncompressData() 85 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.258) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.258) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.258) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.258) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.261) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.261) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000155s [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:14.262) Camera.cpp:103::takeImage() Time capturing image = 0,001038s [DEBUG] (2017-11-20 10:30:14.262) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.262) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.262) RtabmapThread.cpp:628::addData() Added data 86 [ INFO] (2017-11-20 10:30:14.262) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.262) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.262) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.262) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7050)... [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.262) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.262) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.262) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.262) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 291 words... [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.262) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.262) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.263) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:14.263) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 291 words... done! [DEBUG] (2017-11-20 10:30:14.263) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=291 removed=0) [DEBUG] (2017-11-20 10:30:14.263) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:3676::createSignature() id 86 is a bad signature [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:3999::createSignature() time compressing data (id=86) 0,000937s [DEBUG] (2017-11-20 10:30:14.263) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:639::update() time creating signature=0,964165 ms [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:724::addSignatureToStm() adding 86 [DEBUG] (2017-11-20 10:30:14.263) Signature.cpp:121::addLink() Add link 86 to 85 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.263) Signature.cpp:121::addLink() Add link 85 to 86 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:752::addSignatureToStm() Min STM id = 50 [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 86 [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:660::update() time rehearsal=0,046968 ms [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:713::update() totalTimer = 0,001031s [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1016::process() Processing signature 86 w=-1 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001060s [DEBUG] (2017-11-20 10:30:14.263) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,095495,-0,416887,-0,076279 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,095495,-0,416887,-0,076279) [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000023s [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:14.263) Graph.cpp:1898::getNodesInRadius() found nodes=25 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1750::process() near nodes=25, max local immunized=12, ratio=0,250000 WM=50 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1836::process() timeReactivations=0,000105s [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,095495,-0,416887,-0,076279 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,095495,-0,416887,-0,076279 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:2219::removeRawData() id=86 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.263) Memory.cpp:2137::saveLocationData() Saving location data 86 [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000030s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2537::process() Total time processing = 0,001302s... [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:14.263) Rtabmap.cpp:2661::process() Adding data 86 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.263) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.263) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.264) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.264) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.264) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.264) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 86 [DEBUG] (2017-11-20 10:30:14.264) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000171s [DEBUG] (2017-11-20 10:30:14.264) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.264) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.264) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.264) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.264) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.264) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,095495,-0,416887,-0,076279 [DEBUG] (2017-11-20 10:30:14.264) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.264) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.264) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.280) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.280) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.280) SensorData.cpp:557::uncompressData() 86 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.280) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.282) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.283) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.284) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.284) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.284) MainWindow.cpp:1971::updateMapCloud() posesIn=26 constraints=25 mapIdsIn=26 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.284) MainWindow.cpp:2065::updateMapCloud() Update map with 26 locations [DEBUG] (2017-11-20 10:30:14.284) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000183s [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.285) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.285) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.294) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.295) Camera.cpp:103::takeImage() Time capturing image = 0,001120s [DEBUG] (2017-11-20 10:30:14.295) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.295) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.295) RtabmapThread.cpp:628::addData() Added data 87 [ INFO] (2017-11-20 10:30:14.295) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.295) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7050)... [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.296) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.296) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.296) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3676::createSignature() id 87 is a bad signature [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:3999::createSignature() time compressing data (id=87) 0,000087s [DEBUG] (2017-11-20 10:30:14.296) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:639::update() time creating signature=0,115156 ms [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:724::addSignatureToStm() adding 87 [DEBUG] (2017-11-20 10:30:14.296) Signature.cpp:121::addLink() Add link 87 to 86 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.296) Signature.cpp:121::addLink() Add link 86 to 87 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:752::addSignatureToStm() Min STM id = 50 [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 87 [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:713::update() totalTimer = 0,000189s [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1016::process() Processing signature 87 w=-1 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000216s [DEBUG] (2017-11-20 10:30:14.296) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,099330,-0,420245,-0,077985 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,099330,-0,420245,-0,077985) [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000037s [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:14.296) Graph.cpp:1898::getNodesInRadius() found nodes=25 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1750::process() near nodes=25, max local immunized=12, ratio=0,250000 WM=50 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1836::process() timeReactivations=0,000115s [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,099330,-0,420245,-0,077985 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,099330,-0,420245,-0,077985 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2463::process() Time creating stats = 0,000058... [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:2219::removeRawData() id=87 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.296) Memory.cpp:2137::saveLocationData() Saving location data 87 [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2537::process() Total time processing = 0,000498s... [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.296) Rtabmap.cpp:2661::process() Adding data 87 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.296) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.296) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.296) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.296) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 87 [DEBUG] (2017-11-20 10:30:14.296) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000167s [DEBUG] (2017-11-20 10:30:14.296) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.296) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.296) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.296) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.296) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.296) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.297) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.297) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.297) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.297) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.297) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,099330,-0,420245,-0,077985 [DEBUG] (2017-11-20 10:30:14.298) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.298) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.302) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.302) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.302) SensorData.cpp:557::uncompressData() 87 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.302) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.304) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.305) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.305) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.305) MainWindow.cpp:1971::updateMapCloud() posesIn=26 constraints=25 mapIdsIn=26 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.305) MainWindow.cpp:2065::updateMapCloud() Update map with 26 locations [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000172s [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.306) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.306) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.327) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.329) Camera.cpp:103::takeImage() Time capturing image = 0,001022s [DEBUG] (2017-11-20 10:30:14.329) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.329) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.329) RtabmapThread.cpp:628::addData() Added data 88 [ INFO] (2017-11-20 10:30:14.329) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.329) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7050)... [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.329) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.329) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.329) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3676::createSignature() id 88 is a bad signature [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:3999::createSignature() time compressing data (id=88) 0,000088s [DEBUG] (2017-11-20 10:30:14.329) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:639::update() time creating signature=0,110149 ms [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:724::addSignatureToStm() adding 88 [DEBUG] (2017-11-20 10:30:14.329) Signature.cpp:121::addLink() Add link 88 to 87 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.329) Signature.cpp:121::addLink() Add link 87 to 88 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:752::addSignatureToStm() Min STM id = 50 [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 88 [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:713::update() totalTimer = 0,000169s [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1016::process() Processing signature 88 w=-1 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000195s [DEBUG] (2017-11-20 10:30:14.329) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,102573,-0,423559,-0,079407 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,102573,-0,423559,-0,079407) [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:14.329) Graph.cpp:1898::getNodesInRadius() found nodes=25 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1750::process() near nodes=25, max local immunized=12, ratio=0,250000 WM=50 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1836::process() timeReactivations=0,000108s [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,102573,-0,423559,-0,079407 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,102573,-0,423559,-0,079407 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:2219::removeRawData() id=88 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.329) Memory.cpp:2137::saveLocationData() Saving location data 88 [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2537::process() Total time processing = 0,000434s... [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.329) Rtabmap.cpp:2661::process() Adding data 88 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.329) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.329) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.329) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.329) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.329) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.329) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 88 [DEBUG] (2017-11-20 10:30:14.330) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000167s [DEBUG] (2017-11-20 10:30:14.330) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.330) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.330) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.330) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:14.330) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.330) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.330) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,102573,-0,423559,-0,079407 [DEBUG] (2017-11-20 10:30:14.330) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.330) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.330) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.330) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.334) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.335) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.335) SensorData.cpp:557::uncompressData() 88 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.335) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.336) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000044 s [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.337) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.338) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.338) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.338) MainWindow.cpp:1971::updateMapCloud() posesIn=26 constraints=25 mapIdsIn=26 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.338) MainWindow.cpp:2065::updateMapCloud() Update map with 26 locations [DEBUG] (2017-11-20 10:30:14.338) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000187s [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.339) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.339) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.361) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.362) Camera.cpp:103::takeImage() Time capturing image = 0,001521s [DEBUG] (2017-11-20 10:30:14.362) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.362) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.362) RtabmapThread.cpp:628::addData() Added data 89 [ INFO] (2017-11-20 10:30:14.363) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.363) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.363) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.363) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7050)... [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:621::update() time preUpdate=0,009775 ms [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.363) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.363) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.363) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.363) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.363) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.364) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.364) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.364) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,105341,-0,426958,-0,082696 [DEBUG] (2017-11-20 10:30:14.365) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.365) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.366) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.367) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.367) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.367) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.371) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003955 s, keypoints extracted = 713 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.371) Memory.cpp:3482::createSignature() time keypoints (713) = 0,007992s [DEBUG] (2017-11-20 10:30:14.375) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 713, remaining kpts=713 [DEBUG] (2017-11-20 10:30:14.375) Memory.cpp:3487::createSignature() time descriptors (713) = 0,003856s [DEBUG] (2017-11-20 10:30:14.375) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=190 [DEBUG] (2017-11-20 10:30:14.375) Memory.cpp:3500::createSignature() time keypoints 3D (713) = 0,000093s [DEBUG] (2017-11-20 10:30:14.375) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.375) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.375) Memory.cpp:3612::createSignature() time descriptor and memory update (713 of size=32) = 0,000024s [DEBUG] (2017-11-20 10:30:14.375) VWDictionary.cpp:593::addNewWords() id=89 descriptors=713 [DEBUG] (2017-11-20 10:30:14.375) VWDictionary.cpp:686::addNewWords() newPts.total()=713 [DEBUG] (2017-11-20 10:30:14.382) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007212 s [DEBUG] (2017-11-20 10:30:14.385) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003402 s [DEBUG] (2017-11-20 10:30:14.385) VWDictionary.cpp:874::addNewWords() 315 new words added... [DEBUG] (2017-11-20 10:30:14.385) VWDictionary.cpp:876::addNewWords() 398 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:14.385) VWDictionary.cpp:877::addNewWords() total time 0,010640s [DEBUG] (2017-11-20 10:30:14.385) Memory.cpp:3672::createSignature() time addNewWords 0,010660s indexed=7050 not=315 [DEBUG] (2017-11-20 10:30:14.386) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.387) Memory.cpp:3999::createSignature() time compressing data (id=89) 0,002083s [DEBUG] (2017-11-20 10:30:14.387) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:639::update() time creating signature=24,835110 ms [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:724::addSignatureToStm() adding 89 [DEBUG] (2017-11-20 10:30:14.388) Signature.cpp:121::addLink() Add link 89 to 88 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.388) Signature.cpp:121::addLink() Add link 88 to 89 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:752::addSignatureToStm() Min STM id = 50 [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:786::addSignatureToStm() 713 words ref for the signature 89 [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:2882::rehearsal() Comparing with signature (85)... [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:2905::rehearsal() merged=0, sim=0,126741 t=0,000137s [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:660::update() time rehearsal=0,207901 ms [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 50 from STM in WM... [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 51 from STM in WM... [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 52 from STM in WM... [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:713::update() totalTimer = 0,025074s [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.388) Rtabmap.cpp:1016::process() Processing signature 89 w=0 [ INFO] (2017-11-20 10:30:14.388) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025103s [DEBUG] (2017-11-20 10:30:14.388) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,105341,-0,426958,-0,082696 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,105341,-0,426958,-0,082696) [ INFO] (2017-11-20 10:30:14.388) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000055s [ INFO] (2017-11-20 10:30:14.388) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.388) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000436 s [DEBUG] (2017-11-20 10:30:14.388) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=17 [DEBUG] (2017-11-20 10:30:14.388) Rtabmap.cpp:3272::adjustLikelihood() values.size=16 [DEBUG] (2017-11-20 10:30:14.388) Rtabmap.cpp:3319::adjustLikelihood() mean=0,074129, stdDev=0,011881, max=0,104358, maxId=52, time=0,000004s [ INFO] (2017-11-20 10:30:14.388) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000517s [ INFO] (2017-11-20 10:30:14.388) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.388) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.388) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.388) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000025s [DEBUG] (2017-11-20 10:30:14.388) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:495::updatePrediction() From added id 52, 15 neighbors to update. [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:498::updatePrediction() time getting 15 ids to update = 0,000058s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:544::updatePrediction() time updating modified/added 15 ids = 0,000319s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:575::updatePrediction() time copying = 0,000008s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:597::updatePrediction() Modified=15, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000431s, rows=17, cols=17 [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=17, _posterior size=17 [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000017s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:208::computePosterior() sum=6,564044 [DEBUG] (2017-11-20 10:30:14.389) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000479s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1400::process() Highest hypothesis=52, value=0,016792, timeHypothesesCreation=0,000016s [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1489::process() Retrieving locations... around id=52 [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1511::process() neighbors of 52 in time = 33 [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1566::process() neighbors of 52 in space = 33 [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000038s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.389) Graph.cpp:1898::getNodesInRadius() found nodes=25 [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1750::process() near nodes=25, max local immunized=13, ratio=0,250000 WM=53 [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.389) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.389) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000003s... [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:4252::reactivateSignatures() time = 0,000031s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1836::process() timeReactivations=0,000189s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1929::process() nearestIds=1/26 [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.389) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,105341,-0,426958,-0,082696 [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,105341,-0,426958,-0,082696 [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2463::process() Time creating stats = 0,000100... [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:2219::removeRawData() id=89 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.389) Memory.cpp:2137::saveLocationData() Saving location data 89 [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000112s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2537::process() Total time processing = 0,026617s... [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:14.389) Rtabmap.cpp:2661::process() Adding data 89 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.390) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.390) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.390) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.390) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 89 [DEBUG] (2017-11-20 10:30:14.390) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000180s [DEBUG] (2017-11-20 10:30:14.390) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.390) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.390) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.390) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.390) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.390) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.390) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.390) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.391) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.391) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.391) SensorData.cpp:557::uncompressData() 89 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.391) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.393) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.393) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.393) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 713 [DEBUG] (2017-11-20 10:30:14.394) MainWindow.cpp:3844::drawKeypoints() source time = 0,000374 s [DEBUG] (2017-11-20 10:30:14.394) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.394) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.394) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.394) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.394) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.396) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.396) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.396) MainWindow.cpp:1971::updateMapCloud() posesIn=26 constraints=25 mapIdsIn=26 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.396) MainWindow.cpp:2065::updateMapCloud() Update map with 26 locations [DEBUG] (2017-11-20 10:30:14.396) SensorData.cpp:557::uncompressData() 89 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.396) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.396) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.396) Camera.cpp:103::takeImage() Time capturing image = 0,001609s [DEBUG] (2017-11-20 10:30:14.396) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.396) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.396) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.396) RtabmapThread.cpp:628::addData() Added data 90 [ INFO] (2017-11-20 10:30:14.396) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.396) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:14.396) util3d.cpp:585::cloudFromDepthRGB() [ INFO] (2017-11-20 10:30:14.396) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.396) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7365)... [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.396) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.396) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.396) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.396) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 315 words... [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.396) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.397) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 315 words... done! [DEBUG] (2017-11-20 10:30:14.397) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=315 removed=0) [DEBUG] (2017-11-20 10:30:14.397) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:3676::createSignature() id 90 is a bad signature [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:3999::createSignature() time compressing data (id=90) 0,001952s [DEBUG] (2017-11-20 10:30:14.398) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:639::update() time creating signature=1,981974 ms [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:724::addSignatureToStm() adding 90 [DEBUG] (2017-11-20 10:30:14.398) Signature.cpp:121::addLink() Add link 90 to 89 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.398) Signature.cpp:121::addLink() Add link 89 to 90 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:752::addSignatureToStm() Min STM id = 53 [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 90 [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:660::update() time rehearsal=0,043869 ms [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:713::update() totalTimer = 0,002049s [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1016::process() Processing signature 90 w=-1 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,002085s [DEBUG] (2017-11-20 10:30:14.398) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,108588,-0,426386,-0,084538 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,108588,-0,426386,-0,084538) [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000021s [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:14.398) Graph.cpp:1898::getNodesInRadius() found nodes=26 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1750::process() near nodes=26, max local immunized=13, ratio=0,250000 WM=53 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1836::process() timeReactivations=0,000106s [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,108588,-0,426386,-0,084538 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,108588,-0,426386,-0,084538 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:2219::removeRawData() id=90 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.398) Memory.cpp:2137::saveLocationData() Saving location data 90 [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000027s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2537::process() Total time processing = 0,002309s... [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:14.398) Rtabmap.cpp:2661::process() Adding data 90 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.398) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.398) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.399) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.399) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 90 [DEBUG] (2017-11-20 10:30:14.399) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000166s [DEBUG] (2017-11-20 10:30:14.399) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.399) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.399) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.399) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.399) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.399) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.399) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.399) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.401) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000203s [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.402) MainWindow.cpp:1853::processStats() time= 6 ms [DEBUG] (2017-11-20 10:30:14.403) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.403) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.403) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:14.404) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.404) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.405) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,108588,-0,426386,-0,084538 [DEBUG] (2017-11-20 10:30:14.407) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.407) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.407) SensorData.cpp:557::uncompressData() 90 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.407) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.409) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:1971::updateMapCloud() posesIn=27 constraints=26 mapIdsIn=27 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2065::updateMapCloud() Update map with 27 locations [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000193s [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.411) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.412) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.412) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.412) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:14.427) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.429) Camera.cpp:103::takeImage() Time capturing image = 0,001119s [DEBUG] (2017-11-20 10:30:14.429) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.429) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.429) RtabmapThread.cpp:628::addData() Added data 91 [ INFO] (2017-11-20 10:30:14.429) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.429) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.429) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.429) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7365)... [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.429) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.429) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.429) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3676::createSignature() id 91 is a bad signature [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:3999::createSignature() time compressing data (id=91) 0,000104s [DEBUG] (2017-11-20 10:30:14.429) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:639::update() time creating signature=0,138044 ms [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:724::addSignatureToStm() adding 91 [DEBUG] (2017-11-20 10:30:14.429) Signature.cpp:121::addLink() Add link 91 to 90 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.429) Signature.cpp:121::addLink() Add link 90 to 91 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:752::addSignatureToStm() Min STM id = 53 [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 91 [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:794::addSignatureToStm() time = 0,000105s [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:660::update() time rehearsal=0,119925 ms [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:713::update() totalTimer = 0,000289s [DEBUG] (2017-11-20 10:30:14.429) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.429) Rtabmap.cpp:1016::process() Processing signature 91 w=-1 [ INFO] (2017-11-20 10:30:14.429) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000468s [DEBUG] (2017-11-20 10:30:14.429) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,113535,-0,431342,-0,087871 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,113535,-0,431342,-0,087871) [DEBUG] (2017-11-20 10:30:14.429) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.430) MainWindow.cpp:985::processOdometry() odom ok [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000055s [DEBUG] (2017-11-20 10:30:14.430) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.430) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000046s [DEBUG] (2017-11-20 10:30:14.430) Graph.cpp:1898::getNodesInRadius() found nodes=26 [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:1750::process() near nodes=26, max local immunized=13, ratio=0,250000 WM=53 [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:1836::process() timeReactivations=0,000166s [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000009s [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000007s [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,113535,-0,431342,-0,087871 [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,113535,-0,431342,-0,087871 [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2463::process() Time creating stats = 0,000072... [DEBUG] (2017-11-20 10:30:14.430) Memory.cpp:2219::removeRawData() id=91 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.430) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.430) Memory.cpp:2137::saveLocationData() Saving location data 91 [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000044s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2537::process() Total time processing = 0,000882s... [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000014... [ INFO] (2017-11-20 10:30:14.430) Rtabmap.cpp:2661::process() Adding data 91 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.430) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.430) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.430) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,113535,-0,431342,-0,087871 [DEBUG] (2017-11-20 10:30:14.430) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.430) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 91 [DEBUG] (2017-11-20 10:30:14.430) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.430) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.430) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000242s [DEBUG] (2017-11-20 10:30:14.430) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.430) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.430) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.430) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.430) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.431) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.431) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.431) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.435) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.435) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.435) SensorData.cpp:557::uncompressData() 91 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.435) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.437) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.438) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.438) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.438) MainWindow.cpp:1971::updateMapCloud() posesIn=27 constraints=26 mapIdsIn=27 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.438) MainWindow.cpp:2065::updateMapCloud() Update map with 27 locations [DEBUG] (2017-11-20 10:30:14.438) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000194s [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.439) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.439) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.461) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.462) Camera.cpp:103::takeImage() Time capturing image = 0,001042s [DEBUG] (2017-11-20 10:30:14.462) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.462) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.462) RtabmapThread.cpp:628::addData() Added data 92 [ INFO] (2017-11-20 10:30:14.462) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.462) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.462) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.462) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7365)... [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:621::update() time preUpdate=0,007868 ms [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.462) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.462) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.462) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3676::createSignature() id 92 is a bad signature [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:3999::createSignature() time compressing data (id=92) 0,000152s [DEBUG] (2017-11-20 10:30:14.462) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:639::update() time creating signature=0,174046 ms [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:724::addSignatureToStm() adding 92 [DEBUG] (2017-11-20 10:30:14.462) Signature.cpp:121::addLink() Add link 92 to 91 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.462) Signature.cpp:121::addLink() Add link 91 to 92 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:752::addSignatureToStm() Min STM id = 53 [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 92 [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:660::update() time rehearsal=0,039101 ms [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:713::update() totalTimer = 0,000233s [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.462) Rtabmap.cpp:1016::process() Processing signature 92 w=-1 [ INFO] (2017-11-20 10:30:14.462) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000266s [DEBUG] (2017-11-20 10:30:14.462) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,116504,-0,437262,-0,091553 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,116504,-0,437262,-0,091553) [ INFO] (2017-11-20 10:30:14.462) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.462) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.462) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:14.462) Graph.cpp:1898::getNodesInRadius() found nodes=26 [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:1750::process() near nodes=26, max local immunized=13, ratio=0,250000 WM=53 [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:1836::process() timeReactivations=0,000111s [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,116504,-0,437262,-0,091553 [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,116504,-0,437262,-0,091553 [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2463::process() Time creating stats = 0,000083... [DEBUG] (2017-11-20 10:30:14.463) Memory.cpp:2219::removeRawData() id=92 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.463) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.463) Memory.cpp:2137::saveLocationData() Saving location data 92 [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000027s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2537::process() Total time processing = 0,000542s... [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.463) Rtabmap.cpp:2661::process() Adding data 92 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.463) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.463) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.463) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.463) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.463) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.463) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 92 [DEBUG] (2017-11-20 10:30:14.463) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000166s [DEBUG] (2017-11-20 10:30:14.463) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.463) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.463) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,116504,-0,437262,-0,091553 [DEBUG] (2017-11-20 10:30:14.463) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.463) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000020s... [DEBUG] (2017-11-20 10:30:14.463) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.463) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.463) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.463) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.463) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.463) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.469) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.469) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.469) SensorData.cpp:557::uncompressData() 92 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.469) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.470) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.471) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.472) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.472) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.472) MainWindow.cpp:1971::updateMapCloud() posesIn=27 constraints=26 mapIdsIn=27 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.472) MainWindow.cpp:2065::updateMapCloud() Update map with 27 locations [DEBUG] (2017-11-20 10:30:14.472) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000218s [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.473) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.473) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.494) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.495) Camera.cpp:103::takeImage() Time capturing image = 0,001069s [DEBUG] (2017-11-20 10:30:14.495) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.495) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.495) RtabmapThread.cpp:628::addData() Added data 93 [ INFO] (2017-11-20 10:30:14.495) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.495) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.495) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.495) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7365)... [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.495) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.496) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.496) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.496) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.496) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.496) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.496) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.497) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,117525,-0,440349,-0,091122 [DEBUG] (2017-11-20 10:30:14.497) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.497) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.497) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.498) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.498) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.498) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.501) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003037 s, keypoints extracted = 724 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.501) Memory.cpp:3482::createSignature() time keypoints (724) = 0,005565s [DEBUG] (2017-11-20 10:30:14.505) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 724, remaining kpts=724 [DEBUG] (2017-11-20 10:30:14.505) Memory.cpp:3487::createSignature() time descriptors (724) = 0,003568s [DEBUG] (2017-11-20 10:30:14.505) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=189 [DEBUG] (2017-11-20 10:30:14.505) Memory.cpp:3500::createSignature() time keypoints 3D (724) = 0,000114s [DEBUG] (2017-11-20 10:30:14.505) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.505) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.505) Memory.cpp:3612::createSignature() time descriptor and memory update (724 of size=32) = 0,000021s [DEBUG] (2017-11-20 10:30:14.505) VWDictionary.cpp:593::addNewWords() id=93 descriptors=724 [DEBUG] (2017-11-20 10:30:14.505) VWDictionary.cpp:686::addNewWords() newPts.total()=724 [DEBUG] (2017-11-20 10:30:14.512) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007023 s [DEBUG] (2017-11-20 10:30:14.515) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003567 s [DEBUG] (2017-11-20 10:30:14.515) VWDictionary.cpp:874::addNewWords() 356 new words added... [DEBUG] (2017-11-20 10:30:14.515) VWDictionary.cpp:876::addNewWords() 368 duplicated words added (from current image = 8)... [DEBUG] (2017-11-20 10:30:14.515) VWDictionary.cpp:877::addNewWords() total time 0,010625s [DEBUG] (2017-11-20 10:30:14.515) Memory.cpp:3672::createSignature() time addNewWords 0,010643s indexed=7365 not=356 [DEBUG] (2017-11-20 10:30:14.516) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:3999::createSignature() time compressing data (id=93) 0,002155s [DEBUG] (2017-11-20 10:30:14.518) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:639::update() time creating signature=22,185087 ms [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:724::addSignatureToStm() adding 93 [DEBUG] (2017-11-20 10:30:14.518) Signature.cpp:121::addLink() Add link 93 to 92 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.518) Signature.cpp:121::addLink() Add link 92 to 93 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:752::addSignatureToStm() Min STM id = 53 [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:786::addSignatureToStm() 724 words ref for the signature 93 [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:794::addSignatureToStm() time = 0,000029s [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:2882::rehearsal() Comparing with signature (89)... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:2905::rehearsal() merged=0, sim=0,129834 t=0,000103s [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:660::update() time rehearsal=0,156879 ms [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 53 from STM in WM... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 54 from STM in WM... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 55 from STM in WM... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 56 from STM in WM... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:713::update() totalTimer = 0,022374s [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.518) Rtabmap.cpp:1016::process() Processing signature 93 w=0 [ INFO] (2017-11-20 10:30:14.518) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,022400s [DEBUG] (2017-11-20 10:30:14.518) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,117525,-0,440349,-0,091122 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,117525,-0,440349,-0,091122) [ INFO] (2017-11-20 10:30:14.518) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000073s [ INFO] (2017-11-20 10:30:14.518) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.518) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000367 s [DEBUG] (2017-11-20 10:30:14.518) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=18 [DEBUG] (2017-11-20 10:30:14.518) Rtabmap.cpp:3272::adjustLikelihood() values.size=17 [DEBUG] (2017-11-20 10:30:14.518) Rtabmap.cpp:3319::adjustLikelihood() mean=0,069709, stdDev=0,010322, max=0,083543, maxId=49, time=0,000004s [ INFO] (2017-11-20 10:30:14.518) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000414s [ INFO] (2017-11-20 10:30:14.518) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.518) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.518) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.518) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000021s [DEBUG] (2017-11-20 10:30:14.518) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:14.518) BayesFilter.cpp:495::updatePrediction() From added id 56, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:14.518) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000057s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000325s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:575::updatePrediction() time copying = 0,000006s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=0 [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000429s, rows=18, cols=18 [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=18, _posterior size=18 [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000019s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:208::computePosterior() sum=6,987694 [DEBUG] (2017-11-20 10:30:14.519) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000478s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1400::process() Highest hypothesis=49, value=0,016287, timeHypothesesCreation=0,000015s [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000020s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1489::process() Retrieving locations... around id=49 [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1511::process() neighbors of 49 in time = 33 [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1566::process() neighbors of 49 in space = 33 [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=24, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000043s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.519) Graph.cpp:1898::getNodesInRadius() found nodes=26 [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1750::process() near nodes=26, max local immunized=14, ratio=0,250000 WM=57 [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.519) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.519) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000003s [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:4252::reactivateSignatures() time = 0,000027s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000012s) [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000012s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1836::process() timeReactivations=0,000192s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1929::process() nearestIds=1/27 [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000023s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,117525,-0,440349,-0,091122 [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,117525,-0,440349,-0,091122 [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2463::process() Time creating stats = 0,000123... [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:2219::removeRawData() id=93 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.519) Memory.cpp:2137::saveLocationData() Saving location data 93 [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000105s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2537::process() Total time processing = 0,023847s... [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.519) Rtabmap.cpp:2661::process() Adding data 93 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.519) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.520) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.520) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.520) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 93 [DEBUG] (2017-11-20 10:30:14.520) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000178s [DEBUG] (2017-11-20 10:30:14.520) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.520) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.520) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.520) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:14.520) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.520) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.520) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.520) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.521) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.521) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.521) SensorData.cpp:557::uncompressData() 93 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.521) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.522) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 724 [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:3844::drawKeypoints() source time = 0,000365 s [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.523) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.525) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.525) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.525) MainWindow.cpp:1971::updateMapCloud() posesIn=27 constraints=26 mapIdsIn=27 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.525) MainWindow.cpp:2065::updateMapCloud() Update map with 27 locations [DEBUG] (2017-11-20 10:30:14.525) SensorData.cpp:557::uncompressData() 93 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.525) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.525) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.525) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.525) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.527) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.528) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.529) Camera.cpp:103::takeImage() Time capturing image = 0,001086s [DEBUG] (2017-11-20 10:30:14.529) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000160s [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.529) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.529) RtabmapThread.cpp:628::addData() Added data 94 [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:1853::processStats() time= 4 ms [ INFO] (2017-11-20 10:30:14.529) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.529) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.529) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.529) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7721)... [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:621::update() time preUpdate=0,006199 ms [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.529) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.529) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.529) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.529) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 356 words... [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.529) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.529) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.529) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:14.530) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 356 words... done! [DEBUG] (2017-11-20 10:30:14.530) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=356 removed=0) [DEBUG] (2017-11-20 10:30:14.530) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:3676::createSignature() id 94 is a bad signature [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:3999::createSignature() time compressing data (id=94) 0,001108s [DEBUG] (2017-11-20 10:30:14.530) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:639::update() time creating signature=1,133919 ms [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:724::addSignatureToStm() adding 94 [DEBUG] (2017-11-20 10:30:14.530) Signature.cpp:121::addLink() Add link 94 to 93 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.530) Signature.cpp:121::addLink() Add link 93 to 94 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:752::addSignatureToStm() Min STM id = 57 [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 94 [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:794::addSignatureToStm() time = 0,000039s [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:713::update() totalTimer = 0,001208s [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1016::process() Processing signature 94 w=-1 [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001235s [DEBUG] (2017-11-20 10:30:14.530) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,119391,-0,442088,-0,093288 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,119391,-0,442088,-0,093288) [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000025s [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:14.530) Graph.cpp:1898::getNodesInRadius() found nodes=27 [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1750::process() near nodes=27, max local immunized=14, ratio=0,250000 WM=57 [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1836::process() timeReactivations=0,000119s [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,119391,-0,442088,-0,093288 [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,119391,-0,442088,-0,093288 [DEBUG] (2017-11-20 10:30:14.530) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.530) MainWindow.cpp:985::processOdometry() odom ok [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2463::process() Time creating stats = 0,000059... [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:2219::removeRawData() id=94 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.530) Memory.cpp:2137::saveLocationData() Saving location data 94 [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000049s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.530) Rtabmap.cpp:2537::process() Total time processing = 0,001526s... [ INFO] (2017-11-20 10:30:14.531) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.531) Rtabmap.cpp:2661::process() Adding data 94 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.531) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.531) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.531) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.531) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 94 [DEBUG] (2017-11-20 10:30:14.531) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,119391,-0,442088,-0,093288 [DEBUG] (2017-11-20 10:30:14.531) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000169s [DEBUG] (2017-11-20 10:30:14.531) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.531) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.531) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.531) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.531) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.531) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.531) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.531) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.555) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.555) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.555) SensorData.cpp:557::uncompressData() 94 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.556) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.557) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.558) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.560) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.560) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.560) MainWindow.cpp:1971::updateMapCloud() posesIn=28 constraints=27 mapIdsIn=28 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.560) MainWindow.cpp:2065::updateMapCloud() Update map with 28 locations [DEBUG] (2017-11-20 10:30:14.560) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000277s [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.561) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.561) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.562) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.562) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.562) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:14.562) Camera.cpp:103::takeImage() Time capturing image = 0,001453s [DEBUG] (2017-11-20 10:30:14.562) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.562) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.562) RtabmapThread.cpp:628::addData() Added data 95 [ INFO] (2017-11-20 10:30:14.562) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.562) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7721)... [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.563) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.563) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.563) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3676::createSignature() id 95 is a bad signature [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:3999::createSignature() time compressing data (id=95) 0,000347s [DEBUG] (2017-11-20 10:30:14.563) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:639::update() time creating signature=0,383854 ms [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:724::addSignatureToStm() adding 95 [DEBUG] (2017-11-20 10:30:14.563) Signature.cpp:121::addLink() Add link 95 to 94 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.563) Signature.cpp:121::addLink() Add link 94 to 95 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:752::addSignatureToStm() Min STM id = 57 [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 95 [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:794::addSignatureToStm() time = 0,000062s [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:660::update() time rehearsal=0,077009 ms [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:713::update() totalTimer = 0,000509s [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1016::process() Processing signature 95 w=-1 [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000552s [DEBUG] (2017-11-20 10:30:14.563) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,122710,-0,447028,-0,094474 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,122710,-0,447028,-0,094474) [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000083s [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.563) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:14.563) Graph.cpp:1898::getNodesInRadius() found nodes=27 [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1750::process() near nodes=27, max local immunized=14, ratio=0,250000 WM=57 [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1836::process() timeReactivations=0,000249s [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.563) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,122710,-0,447028,-0,094474 [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,122710,-0,447028,-0,094474 [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2463::process() Time creating stats = 0,000070... [DEBUG] (2017-11-20 10:30:14.564) Memory.cpp:2219::removeRawData() id=95 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.564) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.564) Memory.cpp:2137::saveLocationData() Saving location data 95 [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000045s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2537::process() Total time processing = 0,001042s... [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:14.564) Rtabmap.cpp:2661::process() Adding data 95 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.564) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.564) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.564) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.564) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 95 [DEBUG] (2017-11-20 10:30:14.564) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000300s [DEBUG] (2017-11-20 10:30:14.564) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.564) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.564) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.564) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000025s... [DEBUG] (2017-11-20 10:30:14.564) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.565) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.565) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.565) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.570) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.570) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.571) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,122710,-0,447028,-0,094474 [DEBUG] (2017-11-20 10:30:14.571) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.571) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.575) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.575) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.575) SensorData.cpp:557::uncompressData() 95 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.575) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.577) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.578) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.578) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.578) MainWindow.cpp:1971::updateMapCloud() posesIn=28 constraints=27 mapIdsIn=28 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.578) MainWindow.cpp:2065::updateMapCloud() Update map with 28 locations [DEBUG] (2017-11-20 10:30:14.578) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000181s [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.579) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.579) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.594) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.595) Camera.cpp:103::takeImage() Time capturing image = 0,001063s [DEBUG] (2017-11-20 10:30:14.595) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.595) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.595) RtabmapThread.cpp:628::addData() Added data 96 [ INFO] (2017-11-20 10:30:14.595) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.595) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.595) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.595) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7721)... [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.595) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.595) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.596) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.596) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:3676::createSignature() id 96 is a bad signature [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:3999::createSignature() time compressing data (id=96) 0,000097s [DEBUG] (2017-11-20 10:30:14.596) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:639::update() time creating signature=0,124216 ms [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:724::addSignatureToStm() adding 96 [DEBUG] (2017-11-20 10:30:14.596) Signature.cpp:121::addLink() Add link 96 to 95 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.596) Signature.cpp:121::addLink() Add link 95 to 96 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:752::addSignatureToStm() Min STM id = 57 [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 96 [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:660::update() time rehearsal=0,050783 ms [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:713::update() totalTimer = 0,000197s [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1016::process() Processing signature 96 w=-1 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000230s [DEBUG] (2017-11-20 10:30:14.596) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,123365,-0,452506,-0,096121 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,123365,-0,452506,-0,096121) [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000025s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:14.596) Graph.cpp:1898::getNodesInRadius() found nodes=27 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1750::process() near nodes=27, max local immunized=14, ratio=0,250000 WM=57 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1836::process() timeReactivations=0,000120s [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,123365,-0,452506,-0,096121 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,123365,-0,452506,-0,096121 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:2219::removeRawData() id=96 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.596) Memory.cpp:2137::saveLocationData() Saving location data 96 [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2537::process() Total time processing = 0,000497s... [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:14.596) Rtabmap.cpp:2661::process() Adding data 96 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.596) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.596) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.596) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.596) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 96 [DEBUG] (2017-11-20 10:30:14.596) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.596) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.596) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:14.596) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.596) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.596) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.596) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.596) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:14.596) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.596) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.596) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.597) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,123365,-0,452506,-0,096121 [DEBUG] (2017-11-20 10:30:14.597) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.597) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.603) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.603) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.603) SensorData.cpp:557::uncompressData() 96 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.603) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.604) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.605) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.606) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.606) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.606) MainWindow.cpp:1971::updateMapCloud() posesIn=28 constraints=27 mapIdsIn=28 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.606) MainWindow.cpp:2065::updateMapCloud() Update map with 28 locations [DEBUG] (2017-11-20 10:30:14.606) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000192s [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.607) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.607) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.627) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.629) Camera.cpp:103::takeImage() Time capturing image = 0,001095s [DEBUG] (2017-11-20 10:30:14.629) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.629) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.629) RtabmapThread.cpp:628::addData() Added data 97 [ INFO] (2017-11-20 10:30:14.629) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.629) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.629) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.629) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=7721)... [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.629) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.629) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.629) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.629) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.629) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.629) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.629) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.630) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,123296,-0,460842,-0,096289 [DEBUG] (2017-11-20 10:30:14.630) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.630) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.631) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.631) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.631) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.631) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.635) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003923 s, keypoints extracted = 729 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.635) Memory.cpp:3482::createSignature() time keypoints (729) = 0,006481s [DEBUG] (2017-11-20 10:30:14.640) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 729, remaining kpts=729 [DEBUG] (2017-11-20 10:30:14.640) Memory.cpp:3487::createSignature() time descriptors (729) = 0,004921s [DEBUG] (2017-11-20 10:30:14.640) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=189 [DEBUG] (2017-11-20 10:30:14.640) Memory.cpp:3500::createSignature() time keypoints 3D (729) = 0,000124s [DEBUG] (2017-11-20 10:30:14.640) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.640) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.640) Memory.cpp:3612::createSignature() time descriptor and memory update (729 of size=32) = 0,000027s [DEBUG] (2017-11-20 10:30:14.640) VWDictionary.cpp:593::addNewWords() id=97 descriptors=729 [DEBUG] (2017-11-20 10:30:14.640) VWDictionary.cpp:686::addNewWords() newPts.total()=729 [DEBUG] (2017-11-20 10:30:14.648) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007429 s [DEBUG] (2017-11-20 10:30:14.651) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003612 s [DEBUG] (2017-11-20 10:30:14.651) VWDictionary.cpp:874::addNewWords() 356 new words added... [DEBUG] (2017-11-20 10:30:14.651) VWDictionary.cpp:876::addNewWords() 373 duplicated words added (from current image = 7)... [DEBUG] (2017-11-20 10:30:14.651) VWDictionary.cpp:877::addNewWords() total time 0,011069s [DEBUG] (2017-11-20 10:30:14.652) Memory.cpp:3672::createSignature() time addNewWords 0,011089s indexed=7721 not=356 [DEBUG] (2017-11-20 10:30:14.652) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:3999::createSignature() time compressing data (id=97) 0,002077s [DEBUG] (2017-11-20 10:30:14.654) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:639::update() time creating signature=24,819851 ms [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:724::addSignatureToStm() adding 97 [DEBUG] (2017-11-20 10:30:14.654) Signature.cpp:121::addLink() Add link 97 to 96 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.654) Signature.cpp:121::addLink() Add link 96 to 97 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:752::addSignatureToStm() Min STM id = 57 [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:786::addSignatureToStm() 729 words ref for the signature 97 [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:2882::rehearsal() Comparing with signature (93)... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:2905::rehearsal() merged=0, sim=0,145405 t=0,000106s [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:660::update() time rehearsal=0,164032 ms [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 57 from STM in WM... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 58 from STM in WM... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 59 from STM in WM... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 60 from STM in WM... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:713::update() totalTimer = 0,025027s [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.654) Rtabmap.cpp:1016::process() Processing signature 97 w=0 [ INFO] (2017-11-20 10:30:14.654) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025060s [DEBUG] (2017-11-20 10:30:14.654) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,123296,-0,460842,-0,096289 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,123296,-0,460842,-0,096289) [ INFO] (2017-11-20 10:30:14.654) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000075s [ INFO] (2017-11-20 10:30:14.654) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.654) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000289 s [DEBUG] (2017-11-20 10:30:14.654) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=19 [DEBUG] (2017-11-20 10:30:14.654) Rtabmap.cpp:3272::adjustLikelihood() values.size=18 [DEBUG] (2017-11-20 10:30:14.654) Rtabmap.cpp:3319::adjustLikelihood() mean=0,051146, stdDev=0,015270, max=0,094187, maxId=60, time=0,000006s [ INFO] (2017-11-20 10:30:14.654) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000345s [ INFO] (2017-11-20 10:30:14.654) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.654) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.654) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.654) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000023s [DEBUG] (2017-11-20 10:30:14.654) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000009s [DEBUG] (2017-11-20 10:30:14.654) BayesFilter.cpp:495::updatePrediction() From added id 60, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:14.654) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000076s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000457s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:575::updatePrediction() time copying = 0,000010s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=1 [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000591s, rows=19, cols=19 [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=19, _posterior size=19 [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000018s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:208::computePosterior() sum=3,974715 [DEBUG] (2017-11-20 10:30:14.655) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000644s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1400::process() Highest hypothesis=60, value=0,029413, timeHypothesesCreation=0,000015s [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000011s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1489::process() Retrieving locations... around id=60 [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1511::process() neighbors of 60 in time = 33 [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1566::process() neighbors of 60 in space = 33 [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000041s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.655) Graph.cpp:1898::getNodesInRadius() found nodes=27 [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1750::process() near nodes=27, max local immunized=15, ratio=0,250000 WM=61 [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.655) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.655) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:4252::reactivateSignatures() time = 0,000027s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1836::process() timeReactivations=0,000197s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1929::process() nearestIds=1/28 [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.655) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000028s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,123296,-0,460842,-0,096289 [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,123296,-0,460842,-0,096289 [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2463::process() Time creating stats = 0,000126... [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:2219::removeRawData() id=97 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.655) Memory.cpp:2137::saveLocationData() Saving location data 97 [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000117s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2537::process() Total time processing = 0,026630s... [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:14.655) Rtabmap.cpp:2661::process() Adding data 97 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.656) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.656) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.656) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.656) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 97 [DEBUG] (2017-11-20 10:30:14.656) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000178s [DEBUG] (2017-11-20 10:30:14.656) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.656) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.656) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.656) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.656) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.656) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.656) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.656) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.657) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.657) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.657) SensorData.cpp:557::uncompressData() 97 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.657) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.658) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 729 [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:3844::drawKeypoints() source time = 0,000376 s [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.659) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.661) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.661) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.661) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.661) MainWindow.cpp:1971::updateMapCloud() posesIn=28 constraints=27 mapIdsIn=28 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.661) MainWindow.cpp:2065::updateMapCloud() Update map with 28 locations [DEBUG] (2017-11-20 10:30:14.661) SensorData.cpp:557::uncompressData() 97 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.661) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.661) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.661) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.661) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.662) Camera.cpp:103::takeImage() Time capturing image = 0,001068s [DEBUG] (2017-11-20 10:30:14.662) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.662) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.662) RtabmapThread.cpp:628::addData() Added data 98 [ INFO] (2017-11-20 10:30:14.662) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.662) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.662) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.662) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8077)... [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:621::update() time preUpdate=0,013828 ms [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.662) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.663) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.663) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.663) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.663) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.663) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.663) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 356 words... [DEBUG] (2017-11-20 10:30:14.664) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 356 words... done! [DEBUG] (2017-11-20 10:30:14.664) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=356 removed=0) [DEBUG] (2017-11-20 10:30:14.664) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:3676::createSignature() id 98 is a bad signature [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:3999::createSignature() time compressing data (id=98) 0,001959s [DEBUG] (2017-11-20 10:30:14.664) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:639::update() time creating signature=1,991987 ms [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:724::addSignatureToStm() adding 98 [DEBUG] (2017-11-20 10:30:14.664) Signature.cpp:121::addLink() Add link 98 to 97 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.664) Signature.cpp:121::addLink() Add link 97 to 98 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:752::addSignatureToStm() Min STM id = 61 [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 98 [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:794::addSignatureToStm() time = 0,000049s [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:660::update() time rehearsal=0,063181 ms [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:713::update() totalTimer = 0,002084s [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1016::process() Processing signature 98 w=-1 [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,002127s [DEBUG] (2017-11-20 10:30:14.664) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,126630,-0,465922,-0,097961 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,126630,-0,465922,-0,097961) [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000027s [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.664) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:14.664) Graph.cpp:1898::getNodesInRadius() found nodes=28 [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1750::process() near nodes=28, max local immunized=15, ratio=0,250000 WM=61 [DEBUG] (2017-11-20 10:30:14.664) MainWindow.cpp:2278::updateMapCloud() [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1836::process() timeReactivations=0,000134s [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.664) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,126630,-0,465922,-0,097961 [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,126630,-0,465922,-0,097961 [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:14.665) Memory.cpp:2219::removeRawData() id=98 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.665) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.665) Memory.cpp:2137::saveLocationData() Saving location data 98 [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000039s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2537::process() Total time processing = 0,002431s... [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:14.665) Rtabmap.cpp:2661::process() Adding data 98 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.665) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.665) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.665) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.665) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 98 [DEBUG] (2017-11-20 10:30:14.665) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000158s [DEBUG] (2017-11-20 10:30:14.665) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.665) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000167s [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.665) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.665) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.665) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000063s... [DEBUG] (2017-11-20 10:30:14.665) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:14.665) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.665) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.665) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.666) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.666) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.666) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:14.667) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.667) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.667) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,126630,-0,465922,-0,097961 [DEBUG] (2017-11-20 10:30:14.671) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.671) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.671) SensorData.cpp:557::uncompressData() 98 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.672) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.673) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.674) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.675) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.675) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.675) MainWindow.cpp:1971::updateMapCloud() posesIn=29 constraints=28 mapIdsIn=29 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.675) MainWindow.cpp:2065::updateMapCloud() Update map with 29 locations [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000253s [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.676) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.677) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.677) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.677) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:14.694) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.696) Camera.cpp:103::takeImage() Time capturing image = 0,001688s [DEBUG] (2017-11-20 10:30:14.696) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.696) RtabmapThread.cpp:628::addData() Added data 99 [DEBUG] (2017-11-20 10:30:14.696) CameraThread.cpp:132::mainLoop() [ INFO] (2017-11-20 10:30:14.696) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.696) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.696) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.696) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8077)... [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.696) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.697) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.697) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.698) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,132529,-0,469405,-0,104907 [DEBUG] (2017-11-20 10:30:14.698) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.698) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.699) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.699) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.699) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.699) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.699) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.699) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.699) Memory.cpp:3676::createSignature() id 99 is a bad signature [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:3999::createSignature() time compressing data (id=99) 0,003371s [DEBUG] (2017-11-20 10:30:14.700) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:639::update() time creating signature=3,424168 ms [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:724::addSignatureToStm() adding 99 [DEBUG] (2017-11-20 10:30:14.700) Signature.cpp:121::addLink() Add link 99 to 98 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.700) Signature.cpp:121::addLink() Add link 98 to 99 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:752::addSignatureToStm() Min STM id = 61 [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 99 [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:794::addSignatureToStm() time = 0,000067s [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:660::update() time rehearsal=0,083923 ms [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:713::update() totalTimer = 0,003553s [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1016::process() Processing signature 99 w=-1 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,003598s [DEBUG] (2017-11-20 10:30:14.700) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,132529,-0,469405,-0,104907 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,132529,-0,469405,-0,104907) [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000068s [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000063s, joining (actual overhead) = 0,000020s [DEBUG] (2017-11-20 10:30:14.700) Graph.cpp:1898::getNodesInRadius() found nodes=28 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1750::process() near nodes=28, max local immunized=15, ratio=0,250000 WM=61 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1836::process() timeReactivations=0,000274s [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,132529,-0,469405,-0,104907 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,132529,-0,469405,-0,104907 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2463::process() Time creating stats = 0,000088... [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:2219::removeRawData() id=99 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.700) Memory.cpp:2137::saveLocationData() Saving location data 99 [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000070s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2537::process() Total time processing = 0,004145s... [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:14.700) Rtabmap.cpp:2661::process() Adding data 99 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.700) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.700) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.701) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.701) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 99 [DEBUG] (2017-11-20 10:30:14.701) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000337s [DEBUG] (2017-11-20 10:30:14.701) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.701) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.701) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.701) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000025s... [DEBUG] (2017-11-20 10:30:14.701) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.702) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.702) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.702) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.710) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.710) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.710) SensorData.cpp:557::uncompressData() 99 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.710) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.713) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.715) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.715) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.715) MainWindow.cpp:1971::updateMapCloud() posesIn=29 constraints=28 mapIdsIn=29 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.715) MainWindow.cpp:2065::updateMapCloud() Update map with 29 locations [DEBUG] (2017-11-20 10:30:14.715) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000295s [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.716) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.717) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.717) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.717) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:14.727) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.729) Camera.cpp:103::takeImage() Time capturing image = 0,001330s [DEBUG] (2017-11-20 10:30:14.729) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.729) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.729) RtabmapThread.cpp:628::addData() Added data 100 [ INFO] (2017-11-20 10:30:14.729) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.729) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.729) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.729) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8077)... [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.729) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.729) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.729) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.729) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.729) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.730) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.730) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.730) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,137199,-0,472871,-0,108699 [DEBUG] (2017-11-20 10:30:14.731) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.731) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.732) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.733) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.733) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.733) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.738) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004761 s, keypoints extracted = 735 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.738) Memory.cpp:3482::createSignature() time keypoints (735) = 0,008717s [DEBUG] (2017-11-20 10:30:14.742) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 735, remaining kpts=735 [DEBUG] (2017-11-20 10:30:14.742) Memory.cpp:3487::createSignature() time descriptors (735) = 0,004008s [DEBUG] (2017-11-20 10:30:14.742) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=190 [DEBUG] (2017-11-20 10:30:14.742) Memory.cpp:3500::createSignature() time keypoints 3D (735) = 0,000095s [DEBUG] (2017-11-20 10:30:14.742) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.742) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.742) Memory.cpp:3612::createSignature() time descriptor and memory update (735 of size=32) = 0,000024s [DEBUG] (2017-11-20 10:30:14.742) VWDictionary.cpp:593::addNewWords() id=100 descriptors=735 [DEBUG] (2017-11-20 10:30:14.742) VWDictionary.cpp:686::addNewWords() newPts.total()=735 [DEBUG] (2017-11-20 10:30:14.752) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,009688 s [DEBUG] (2017-11-20 10:30:14.758) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,006248 s [DEBUG] (2017-11-20 10:30:14.758) VWDictionary.cpp:874::addNewWords() 379 new words added... [DEBUG] (2017-11-20 10:30:14.758) VWDictionary.cpp:876::addNewWords() 356 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:14.758) VWDictionary.cpp:877::addNewWords() total time 0,016034s [DEBUG] (2017-11-20 10:30:14.758) Memory.cpp:3672::createSignature() time addNewWords 0,016061s indexed=8077 not=379 [DEBUG] (2017-11-20 10:30:14.759) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.761) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:3999::createSignature() time compressing data (id=100) 0,003059s [DEBUG] (2017-11-20 10:30:14.761) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:639::update() time creating signature=32,177208 ms [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:724::addSignatureToStm() adding 100 [DEBUG] (2017-11-20 10:30:14.761) Signature.cpp:121::addLink() Add link 100 to 99 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.761) Signature.cpp:121::addLink() Add link 99 to 100 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:752::addSignatureToStm() Min STM id = 61 [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:786::addSignatureToStm() 735 words ref for the signature 100 [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:794::addSignatureToStm() time = 0,000047s [DEBUG] (2017-11-20 10:30:14.761) Memory.cpp:2882::rehearsal() Comparing with signature (97)... [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:2905::rehearsal() merged=0, sim=0,145578 t=0,000185s [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:660::update() time rehearsal=0,279903 ms [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 61 from STM in WM... [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 62 from STM in WM... [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 63 from STM in WM... [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:713::update() totalTimer = 0,032506s [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.762) Rtabmap.cpp:1016::process() Processing signature 100 w=0 [ INFO] (2017-11-20 10:30:14.762) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,032547s [DEBUG] (2017-11-20 10:30:14.762) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,137199,-0,472871,-0,108699 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,137199,-0,472871,-0,108699) [ INFO] (2017-11-20 10:30:14.762) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000066s [ INFO] (2017-11-20 10:30:14.762) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.762) Camera.cpp:103::takeImage() Time capturing image = 0,001098s [DEBUG] (2017-11-20 10:30:14.762) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.762) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.762) RtabmapThread.cpp:628::addData() Added data 101 [DEBUG] (2017-11-20 10:30:14.762) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000493 s [DEBUG] (2017-11-20 10:30:14.762) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=20 [DEBUG] (2017-11-20 10:30:14.762) Rtabmap.cpp:3272::adjustLikelihood() values.size=19 [DEBUG] (2017-11-20 10:30:14.762) Rtabmap.cpp:3319::adjustLikelihood() mean=0,046961, stdDev=0,008310, max=0,061202, maxId=34, time=0,000006s [ INFO] (2017-11-20 10:30:14.762) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000573s [ INFO] (2017-11-20 10:30:14.762) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.762) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.762) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.762) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000034s [DEBUG] (2017-11-20 10:30:14.762) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000008s [DEBUG] (2017-11-20 10:30:14.762) BayesFilter.cpp:495::updatePrediction() From added id 63, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:14.762) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000080s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000508s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:575::updatePrediction() time copying = 0,000012s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000007s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=2 [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000667s, rows=20, cols=20 [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=20, _posterior size=20 [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000028s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000007s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000008s [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:208::computePosterior() sum=5,954961 [DEBUG] (2017-11-20 10:30:14.763) BayesFilter.cpp:216::computePosterior() normalize time=0,000014s [DEBUG] (2017-11-20 10:30:14.763) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.763) MainWindow.cpp:985::processOdometry() odom ok [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000749s [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1400::process() Highest hypothesis=34, value=0,021077, timeHypothesesCreation=0,000053s [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000025s, joining (actual overhead) = 0,000021s [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1489::process() Retrieving locations... around id=34 [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1511::process() neighbors of 34 in time = 33 [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1566::process() neighbors of 34 in space = 33 [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=33, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000072s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.763) Graph.cpp:1898::getNodesInRadius() found nodes=28 [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1750::process() near nodes=28, max local immunized=16, ratio=0,250000 WM=64 [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.763) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.763) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000007s... [DEBUG] (2017-11-20 10:30:14.763) Memory.cpp:4252::reactivateSignatures() time = 0,000046s [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000020s) [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000020s [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1836::process() timeReactivations=0,000320s [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1929::process() nearestIds=1/29 [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.763) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000037s [ INFO] (2017-11-20 10:30:14.763) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [DEBUG] (2017-11-20 10:30:14.763) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,140651,-0,475100,-0,110381 [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,137199,-0,472871,-0,108699 [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,137199,-0,472871,-0,108699 [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2463::process() Time creating stats = 0,000212... [DEBUG] (2017-11-20 10:30:14.764) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.764) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.764) Memory.cpp:2219::removeRawData() id=100 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.764) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.764) Memory.cpp:2137::saveLocationData() Saving location data 100 [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000218s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2537::process() Total time processing = 0,034816s... [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:14.764) Rtabmap.cpp:2661::process() Adding data 100 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.764) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.764) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.764) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.765) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 100 [DEBUG] (2017-11-20 10:30:14.765) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000239s [DEBUG] (2017-11-20 10:30:14.765) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.765) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.765) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.765) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.765) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.765) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.765) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.765) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:14.765) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.765) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.765) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.765) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8456)... [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:621::update() time preUpdate=0,012159 ms [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.765) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.765) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.765) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.765) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.765) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 379 words... [DEBUG] (2017-11-20 10:30:14.766) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.766) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.766) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 4095 -> 8191 [DEBUG] (2017-11-20 10:30:14.770) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.771) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.771) SensorData.cpp:557::uncompressData() 100 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.771) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.774) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.774) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.774) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 735 [DEBUG] (2017-11-20 10:30:14.775) MainWindow.cpp:3844::drawKeypoints() source time = 0,000582 s [DEBUG] (2017-11-20 10:30:14.775) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.775) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.775) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.775) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.777) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.777) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.777) MainWindow.cpp:1971::updateMapCloud() posesIn=29 constraints=28 mapIdsIn=29 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.778) MainWindow.cpp:2065::updateMapCloud() Update map with 29 locations [DEBUG] (2017-11-20 10:30:14.778) SensorData.cpp:557::uncompressData() 100 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.778) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.778) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.778) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.778) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.784) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000220s [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:1853::processStats() time= 8 ms [DEBUG] (2017-11-20 10:30:14.785) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 379 words... done! [DEBUG] (2017-11-20 10:30:14.785) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=379 removed=0) [DEBUG] (2017-11-20 10:30:14.785) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:3676::createSignature() id 101 is a bad signature [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:3999::createSignature() time compressing data (id=101) 0,019943s [DEBUG] (2017-11-20 10:30:14.785) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:639::update() time creating signature=19,973993 ms [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:724::addSignatureToStm() adding 101 [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.785) Signature.cpp:121::addLink() Add link 101 to 100 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.785) MainWindow.cpp:1919::processStats() [DEBUG] (2017-11-20 10:30:14.785) Signature.cpp:121::addLink() Add link 100 to 101 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:752::addSignatureToStm() Min STM id = 64 [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 101 [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:794::addSignatureToStm() time = 0,000060s [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:660::update() time rehearsal=0,069857 ms [DEBUG] (2017-11-20 10:30:14.785) Memory.cpp:713::update() totalTimer = 0,020069s [DEBUG] (2017-11-20 10:30:14.786) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1016::process() Processing signature 101 w=-1 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,020107s [DEBUG] (2017-11-20 10:30:14.786) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,140651,-0,475100,-0,110381 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,140651,-0,475100,-0,110381) [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000023s [DEBUG] (2017-11-20 10:30:14.786) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.786) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000014s [ INFO] (2017-11-20 10:30:14.786) MainWindow.cpp:1931::processStats() Updating GUI time = 0,016000s [DEBUG] (2017-11-20 10:30:14.786) Graph.cpp:1898::getNodesInRadius() found nodes=29 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1750::process() near nodes=29, max local immunized=16, ratio=0,250000 WM=64 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1836::process() timeReactivations=0,000114s [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,140651,-0,475100,-0,110381 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,140651,-0,475100,-0,110381 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2463::process() Time creating stats = 0,000048... [DEBUG] (2017-11-20 10:30:14.786) Memory.cpp:2219::removeRawData() id=101 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.786) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.786) Memory.cpp:2137::saveLocationData() Saving location data 101 [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2537::process() Total time processing = 0,020354s... [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:14.786) Rtabmap.cpp:2661::process() Adding data 101 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.786) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.786) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.786) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.786) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 101 [DEBUG] (2017-11-20 10:30:14.786) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000165s [DEBUG] (2017-11-20 10:30:14.786) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.786) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.786) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.786) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.786) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.786) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.786) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.786) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.794) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.795) Camera.cpp:103::takeImage() Time capturing image = 0,001027s [DEBUG] (2017-11-20 10:30:14.795) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.795) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.795) RtabmapThread.cpp:628::addData() Added data 102 [ INFO] (2017-11-20 10:30:14.795) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.795) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.795) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.795) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8456)... [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.795) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.795) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.795) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3676::createSignature() id 102 is a bad signature [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.795) Memory.cpp:3999::createSignature() time compressing data (id=102) 0,000119s [DEBUG] (2017-11-20 10:30:14.796) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:639::update() time creating signature=0,144005 ms [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:724::addSignatureToStm() adding 102 [DEBUG] (2017-11-20 10:30:14.796) Signature.cpp:121::addLink() Add link 102 to 101 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.796) Signature.cpp:121::addLink() Add link 101 to 102 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:752::addSignatureToStm() Min STM id = 64 [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 102 [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:660::update() time rehearsal=0,039101 ms [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:713::update() totalTimer = 0,000203s [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1016::process() Processing signature 102 w=-1 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000231s [DEBUG] (2017-11-20 10:30:14.796) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,148922,-0,477893,-0,113660 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,148922,-0,477893,-0,113660) [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:14.796) Graph.cpp:1898::getNodesInRadius() found nodes=29 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1750::process() near nodes=29, max local immunized=16, ratio=0,250000 WM=64 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1836::process() timeReactivations=0,000149s [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,148922,-0,477893,-0,113660 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,148922,-0,477893,-0,113660 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:2219::removeRawData() id=102 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.796) Memory.cpp:2137::saveLocationData() Saving location data 102 [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000024s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2537::process() Total time processing = 0,000503s... [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.796) Rtabmap.cpp:2661::process() Adding data 102 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.796) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.796) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.796) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.796) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 102 [DEBUG] (2017-11-20 10:30:14.796) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000166s [DEBUG] (2017-11-20 10:30:14.796) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.796) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.796) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.796) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:14.796) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.796) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.796) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.796) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.807) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.807) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.807) SensorData.cpp:557::uncompressData() 101 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.808) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.820) MainWindow.cpp:1689::processStats() time= 12 ms [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:3844::drawKeypoints() source time = 0,000008 s [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.821) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.823) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.823) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.823) MainWindow.cpp:1971::updateMapCloud() posesIn=30 constraints=29 mapIdsIn=30 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.823) MainWindow.cpp:2065::updateMapCloud() Update map with 30 locations [DEBUG] (2017-11-20 10:30:14.823) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000168s [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.824) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.824) MainWindow.cpp:1931::processStats() Updating GUI time = 0,017000s [DEBUG] (2017-11-20 10:30:14.825) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.825) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.825) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,148922,-0,477893,-0,113660 [DEBUG] (2017-11-20 10:30:14.827) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.828) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.828) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.828) SensorData.cpp:557::uncompressData() 102 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.828) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.829) Camera.cpp:103::takeImage() Time capturing image = 0,001564s [DEBUG] (2017-11-20 10:30:14.829) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.829) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.829) RtabmapThread.cpp:628::addData() Added data 103 [ INFO] (2017-11-20 10:30:14.829) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.829) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.829) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.829) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8456)... [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.829) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:1689::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:14.833) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.833) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.833) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.833) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:3844::drawKeypoints() source time = 0,000007 s [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.833) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.835) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.836) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.836) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.836) MainWindow.cpp:1971::updateMapCloud() posesIn=30 constraints=29 mapIdsIn=30 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.836) MainWindow.cpp:2065::updateMapCloud() Update map with 30 locations [DEBUG] (2017-11-20 10:30:14.836) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.836) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.836) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.836) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000530s [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.837) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.840) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.840) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.840) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:14.841) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.841) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.842) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,158132,-0,480084,-0,120280 [DEBUG] (2017-11-20 10:30:14.843) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,006395 s, keypoints extracted = 721 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.843) Memory.cpp:3482::createSignature() time keypoints (721) = 0,013473s [DEBUG] (2017-11-20 10:30:14.850) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 721, remaining kpts=721 [DEBUG] (2017-11-20 10:30:14.850) Memory.cpp:3487::createSignature() time descriptors (721) = 0,007228s [DEBUG] (2017-11-20 10:30:14.850) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=192 [DEBUG] (2017-11-20 10:30:14.850) Memory.cpp:3500::createSignature() time keypoints 3D (721) = 0,000202s [DEBUG] (2017-11-20 10:30:14.850) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.850) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.850) Memory.cpp:3612::createSignature() time descriptor and memory update (721 of size=32) = 0,000039s [DEBUG] (2017-11-20 10:30:14.850) VWDictionary.cpp:593::addNewWords() id=103 descriptors=721 [DEBUG] (2017-11-20 10:30:14.850) VWDictionary.cpp:686::addNewWords() newPts.total()=721 [DEBUG] (2017-11-20 10:30:14.861) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,010482 s [DEBUG] (2017-11-20 10:30:14.861) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.862) Camera.cpp:103::takeImage() Time capturing image = 0,001016s [DEBUG] (2017-11-20 10:30:14.862) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.862) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.862) RtabmapThread.cpp:628::addData() Added data 104 [DEBUG] (2017-11-20 10:30:14.863) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.863) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.863) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,160722,-0,481694,-0,121922 [DEBUG] (2017-11-20 10:30:14.863) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.863) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.865) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004417 s [DEBUG] (2017-11-20 10:30:14.865) VWDictionary.cpp:874::addNewWords() 370 new words added... [DEBUG] (2017-11-20 10:30:14.865) VWDictionary.cpp:876::addNewWords() 351 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:14.865) VWDictionary.cpp:877::addNewWords() total time 0,014953s [DEBUG] (2017-11-20 10:30:14.865) Memory.cpp:3672::createSignature() time addNewWords 0,014982s indexed=8456 not=370 [DEBUG] (2017-11-20 10:30:14.866) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:3999::createSignature() time compressing data (id=103) 0,003266s [DEBUG] (2017-11-20 10:30:14.869) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:639::update() time creating signature=39,520027 ms [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:724::addSignatureToStm() adding 103 [DEBUG] (2017-11-20 10:30:14.869) Signature.cpp:121::addLink() Add link 103 to 102 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.869) Signature.cpp:121::addLink() Add link 102 to 103 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:752::addSignatureToStm() Min STM id = 64 [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:786::addSignatureToStm() 721 words ref for the signature 103 [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:794::addSignatureToStm() time = 0,000061s [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:2882::rehearsal() Comparing with signature (100)... [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:2905::rehearsal() merged=0, sim=0,142857 t=0,000262s [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:660::update() time rehearsal=0,380993 ms [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 64 from STM in WM... [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 65 from STM in WM... [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 66 from STM in WM... [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 67 from STM in WM... [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:713::update() totalTimer = 0,039945s [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.869) Rtabmap.cpp:1016::process() Processing signature 103 w=0 [ INFO] (2017-11-20 10:30:14.869) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,039971s [DEBUG] (2017-11-20 10:30:14.869) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,158132,-0,480084,-0,120280 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,158132,-0,480084,-0,120280) [ INFO] (2017-11-20 10:30:14.869) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000074s [ INFO] (2017-11-20 10:30:14.869) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.869) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.870) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000665 s [DEBUG] (2017-11-20 10:30:14.870) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=21 [DEBUG] (2017-11-20 10:30:14.870) Rtabmap.cpp:3272::adjustLikelihood() values.size=20 [DEBUG] (2017-11-20 10:30:14.870) Rtabmap.cpp:3319::adjustLikelihood() mean=0,044008, stdDev=0,009947, max=0,064549, maxId=67, time=0,000005s [ INFO] (2017-11-20 10:30:14.870) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000761s [ INFO] (2017-11-20 10:30:14.870) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.870) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.870) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.870) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000028s [DEBUG] (2017-11-20 10:30:14.870) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:14.870) BayesFilter.cpp:495::updatePrediction() From added id 67, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:14.870) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000075s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000375s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:575::updatePrediction() time copying = 0,000007s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=3 [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000507s, rows=21, cols=21 [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=21, _posterior size=21 [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000020s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000004s [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:208::computePosterior() sum=4,909492 [DEBUG] (2017-11-20 10:30:14.871) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000558s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1400::process() Highest hypothesis=67, value=0,024297, timeHypothesesCreation=0,000017s [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1489::process() Retrieving locations... around id=67 [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1511::process() neighbors of 67 in time = 33 [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1566::process() neighbors of 67 in space = 33 [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000038s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.871) Graph.cpp:1898::getNodesInRadius() found nodes=29 [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1750::process() near nodes=29, max local immunized=17, ratio=0,250000 WM=68 [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.871) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.871) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:4252::reactivateSignatures() time = 0,000042s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000018s) [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000018s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1836::process() timeReactivations=0,000251s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1929::process() nearestIds=1/30 [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.871) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000036s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,158132,-0,480084,-0,120280 [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,158132,-0,480084,-0,120280 [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2463::process() Time creating stats = 0,000293... [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:2219::removeRawData() id=103 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.871) Memory.cpp:2137::saveLocationData() Saving location data 103 [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000161s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2537::process() Total time processing = 0,042150s... [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.871) Rtabmap.cpp:2661::process() Adding data 103 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.872) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.872) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.872) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.872) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 103 [DEBUG] (2017-11-20 10:30:14.872) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000205s [DEBUG] (2017-11-20 10:30:14.872) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.872) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.872) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.872) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000017s... [DEBUG] (2017-11-20 10:30:14.872) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.872) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.873) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.873) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:14.873) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.873) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.873) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.873) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8826)... [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.873) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.873) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.873) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.873) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 370 words... [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.873) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.873) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.874) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.874) SensorData.cpp:557::uncompressData() 103 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.874) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.874) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 370 words... done! [DEBUG] (2017-11-20 10:30:14.874) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=370 removed=0) [DEBUG] (2017-11-20 10:30:14.874) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:3676::createSignature() id 104 is a bad signature [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:3999::createSignature() time compressing data (id=104) 0,001285s [DEBUG] (2017-11-20 10:30:14.874) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:639::update() time creating signature=1,329184 ms [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:724::addSignatureToStm() adding 104 [DEBUG] (2017-11-20 10:30:14.874) Signature.cpp:121::addLink() Add link 104 to 103 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.874) Signature.cpp:121::addLink() Add link 103 to 104 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:752::addSignatureToStm() Min STM id = 68 [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 104 [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:794::addSignatureToStm() time = 0,000046s [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:660::update() time rehearsal=0,061035 ms [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:713::update() totalTimer = 0,001416s [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.874) Rtabmap.cpp:1016::process() Processing signature 104 w=-1 [ INFO] (2017-11-20 10:30:14.874) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001452s [DEBUG] (2017-11-20 10:30:14.874) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,160722,-0,481694,-0,121922 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,160722,-0,481694,-0,121922) [ INFO] (2017-11-20 10:30:14.874) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000028s [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.874) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.874) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000017s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:14.875) Graph.cpp:1898::getNodesInRadius() found nodes=30 [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:1750::process() near nodes=30, max local immunized=17, ratio=0,250000 WM=68 [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:1836::process() timeReactivations=0,000153s [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,160722,-0,481694,-0,121922 [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,160722,-0,481694,-0,121922 [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:14.875) Memory.cpp:2219::removeRawData() id=104 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.875) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.875) Memory.cpp:2137::saveLocationData() Saving location data 104 [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2537::process() Total time processing = 0,001773s... [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.875) Rtabmap.cpp:2661::process() Adding data 104 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.875) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.875) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.875) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.875) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 104 [DEBUG] (2017-11-20 10:30:14.875) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000239s [DEBUG] (2017-11-20 10:30:14.875) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.875) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.875) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.875) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:14.875) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.876) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.876) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.876) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.876) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 721 [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:3844::drawKeypoints() source time = 0,000616 s [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000007 s [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.877) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.880) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.880) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.880) MainWindow.cpp:1971::updateMapCloud() posesIn=30 constraints=29 mapIdsIn=30 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.880) MainWindow.cpp:2065::updateMapCloud() Update map with 30 locations [DEBUG] (2017-11-20 10:30:14.880) SensorData.cpp:557::uncompressData() 103 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.880) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.880) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.880) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.880) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000187s [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.884) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:14.885) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.885) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.885) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:14.886) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.886) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.886) SensorData.cpp:557::uncompressData() 104 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.886) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.887) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.888) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.889) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.889) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:1971::updateMapCloud() posesIn=31 constraints=30 mapIdsIn=31 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2065::updateMapCloud() Update map with 31 locations [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000143s [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.890) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.890) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.894) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.895) Camera.cpp:103::takeImage() Time capturing image = 0,001308s [DEBUG] (2017-11-20 10:30:14.895) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.896) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.896) RtabmapThread.cpp:628::addData() Added data 105 [ INFO] (2017-11-20 10:30:14.896) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.896) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8826)... [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.896) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.896) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.896) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3676::createSignature() id 105 is a bad signature [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:3999::createSignature() time compressing data (id=105) 0,000093s [DEBUG] (2017-11-20 10:30:14.896) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:639::update() time creating signature=0,117064 ms [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:724::addSignatureToStm() adding 105 [DEBUG] (2017-11-20 10:30:14.896) Signature.cpp:121::addLink() Add link 105 to 104 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.896) Signature.cpp:121::addLink() Add link 104 to 105 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:752::addSignatureToStm() Min STM id = 68 [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 105 [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:660::update() time rehearsal=0,041962 ms [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:713::update() totalTimer = 0,000184s [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1016::process() Processing signature 105 w=-1 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000216s [DEBUG] (2017-11-20 10:30:14.896) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,166549,-0,484957,-0,125251 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,166549,-0,484957,-0,125251) [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:14.896) Graph.cpp:1898::getNodesInRadius() found nodes=30 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1750::process() near nodes=30, max local immunized=17, ratio=0,250000 WM=68 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1836::process() timeReactivations=0,000124s [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,166549,-0,484957,-0,125251 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,166549,-0,484957,-0,125251 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2463::process() Time creating stats = 0,000045... [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:2219::removeRawData() id=105 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.896) Memory.cpp:2137::saveLocationData() Saving location data 105 [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2537::process() Total time processing = 0,000468s... [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.896) Rtabmap.cpp:2661::process() Adding data 105 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.896) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.896) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.896) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.896) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 105 [DEBUG] (2017-11-20 10:30:14.897) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000173s [DEBUG] (2017-11-20 10:30:14.897) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.897) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.897) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.897) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:14.897) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.897) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.897) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.897) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.897) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.898) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.898) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,166549,-0,484957,-0,125251 [DEBUG] (2017-11-20 10:30:14.898) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.898) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.903) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.903) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.903) SensorData.cpp:557::uncompressData() 105 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.903) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.904) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.905) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.906) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.906) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.906) MainWindow.cpp:1971::updateMapCloud() posesIn=31 constraints=30 mapIdsIn=31 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.906) MainWindow.cpp:2065::updateMapCloud() Update map with 31 locations [DEBUG] (2017-11-20 10:30:14.906) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000182s [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.907) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.907) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:14.927) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.929) Camera.cpp:103::takeImage() Time capturing image = 0,001040s [DEBUG] (2017-11-20 10:30:14.929) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.929) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.929) RtabmapThread.cpp:628::addData() Added data 106 [ INFO] (2017-11-20 10:30:14.929) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.929) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8826)... [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:621::update() time preUpdate=0,007153 ms [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.929) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.929) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.929) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3676::createSignature() id 106 is a bad signature [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:3999::createSignature() time compressing data (id=106) 0,000091s [DEBUG] (2017-11-20 10:30:14.929) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:639::update() time creating signature=0,110865 ms [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:724::addSignatureToStm() adding 106 [DEBUG] (2017-11-20 10:30:14.929) Signature.cpp:121::addLink() Add link 106 to 105 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.929) Signature.cpp:121::addLink() Add link 105 to 106 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:752::addSignatureToStm() Min STM id = 68 [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 106 [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:713::update() totalTimer = 0,000170s [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1016::process() Processing signature 106 w=-1 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000194s [DEBUG] (2017-11-20 10:30:14.929) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,181784,-0,490572,-0,132036 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,181784,-0,490572,-0,132036) [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000032s [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:14.929) Graph.cpp:1898::getNodesInRadius() found nodes=30 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1750::process() near nodes=30, max local immunized=17, ratio=0,250000 WM=68 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1836::process() timeReactivations=0,000119s [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,181784,-0,490572,-0,132036 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,181784,-0,490572,-0,132036 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:2219::removeRawData() id=106 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.929) Memory.cpp:2137::saveLocationData() Saving location data 106 [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2537::process() Total time processing = 0,000441s... [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:14.929) Rtabmap.cpp:2661::process() Adding data 106 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.929) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.929) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.929) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.929) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.929) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.929) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 106 [DEBUG] (2017-11-20 10:30:14.930) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000163s [DEBUG] (2017-11-20 10:30:14.930) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.930) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.930) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.930) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:14.930) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.930) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,181784,-0,490572,-0,132036 [DEBUG] (2017-11-20 10:30:14.930) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.930) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.930) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.930) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.930) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.934) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.935) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.935) SensorData.cpp:557::uncompressData() 106 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:14.935) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.936) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.937) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.939) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.939) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.939) MainWindow.cpp:1971::updateMapCloud() posesIn=31 constraints=30 mapIdsIn=31 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.939) MainWindow.cpp:2065::updateMapCloud() Update map with 31 locations [DEBUG] (2017-11-20 10:30:14.939) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000259s [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.940) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.940) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:14.961) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.962) Camera.cpp:103::takeImage() Time capturing image = 0,001036s [DEBUG] (2017-11-20 10:30:14.962) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.962) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:14.962) RtabmapThread.cpp:628::addData() Added data 107 [ INFO] (2017-11-20 10:30:14.962) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.962) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.962) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.962) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=8826)... [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.962) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.962) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.962) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:14.962) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:14.962) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:14.963) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.963) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:14.963) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,199640,-0,495815,-0,139790 [DEBUG] (2017-11-20 10:30:14.963) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:14.963) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:14.964) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:14.965) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:14.965) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.965) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:14.968) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003215 s, keypoints extracted = 768 (mask empty=0) [DEBUG] (2017-11-20 10:30:14.968) Memory.cpp:3482::createSignature() time keypoints (768) = 0,005857s [DEBUG] (2017-11-20 10:30:14.971) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 768, remaining kpts=768 [DEBUG] (2017-11-20 10:30:14.971) Memory.cpp:3487::createSignature() time descriptors (768) = 0,003485s [DEBUG] (2017-11-20 10:30:14.971) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=191 [DEBUG] (2017-11-20 10:30:14.971) Memory.cpp:3500::createSignature() time keypoints 3D (768) = 0,000087s [DEBUG] (2017-11-20 10:30:14.972) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.972) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.972) Memory.cpp:3612::createSignature() time descriptor and memory update (768 of size=32) = 0,000016s [DEBUG] (2017-11-20 10:30:14.972) VWDictionary.cpp:593::addNewWords() id=107 descriptors=768 [DEBUG] (2017-11-20 10:30:14.972) VWDictionary.cpp:686::addNewWords() newPts.total()=768 [DEBUG] (2017-11-20 10:30:14.979) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007415 s [DEBUG] (2017-11-20 10:30:14.983) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004186 s [DEBUG] (2017-11-20 10:30:14.983) VWDictionary.cpp:874::addNewWords() 423 new words added... [DEBUG] (2017-11-20 10:30:14.983) VWDictionary.cpp:876::addNewWords() 345 duplicated words added (from current image = 11)... [DEBUG] (2017-11-20 10:30:14.983) VWDictionary.cpp:877::addNewWords() total time 0,011631s [DEBUG] (2017-11-20 10:30:14.983) Memory.cpp:3672::createSignature() time addNewWords 0,011646s indexed=8826 not=423 [DEBUG] (2017-11-20 10:30:14.983) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:3999::createSignature() time compressing data (id=107) 0,002092s [DEBUG] (2017-11-20 10:30:14.985) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:639::update() time creating signature=23,309946 ms [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:724::addSignatureToStm() adding 107 [DEBUG] (2017-11-20 10:30:14.985) Signature.cpp:121::addLink() Add link 107 to 106 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.985) Signature.cpp:121::addLink() Add link 106 to 107 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:752::addSignatureToStm() Min STM id = 68 [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:786::addSignatureToStm() 768 words ref for the signature 107 [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:14.985) Memory.cpp:2882::rehearsal() Comparing with signature (103)... [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:2905::rehearsal() merged=0, sim=0,111979 t=0,000130s [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:660::update() time rehearsal=0,195026 ms [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 68 from STM in WM... [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 69 from STM in WM... [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 70 from STM in WM... [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:713::update() totalTimer = 0,023534s [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.986) Rtabmap.cpp:1016::process() Processing signature 107 w=0 [ INFO] (2017-11-20 10:30:14.986) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023557s [DEBUG] (2017-11-20 10:30:14.986) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,199640,-0,495815,-0,139790 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,199640,-0,495815,-0,139790) [ INFO] (2017-11-20 10:30:14.986) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000046s [ INFO] (2017-11-20 10:30:14.986) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:14.986) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000328 s [DEBUG] (2017-11-20 10:30:14.986) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=22 [DEBUG] (2017-11-20 10:30:14.986) Rtabmap.cpp:3272::adjustLikelihood() values.size=21 [DEBUG] (2017-11-20 10:30:14.986) Rtabmap.cpp:3319::adjustLikelihood() mean=0,035187, stdDev=0,010702, max=0,058446, maxId=67, time=0,000004s [ INFO] (2017-11-20 10:30:14.986) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000377s [ INFO] (2017-11-20 10:30:14.986) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000021s [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:495::updatePrediction() From added id 70, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000056s [DEBUG] (2017-11-20 10:30:14.986) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000382s [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:575::updatePrediction() time copying = 0,000008s [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=4 [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000487s, rows=22, cols=22 [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=22, _posterior size=22 [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000017s [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000003s [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:208::computePosterior() sum=3,899133 [DEBUG] (2017-11-20 10:30:14.987) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000535s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1400::process() Highest hypothesis=67, value=0,031678, timeHypothesesCreation=0,000016s [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1489::process() Retrieving locations... around id=67 [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1511::process() neighbors of 67 in time = 33 [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1566::process() neighbors of 67 in space = 33 [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=20, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000040s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:14.987) Graph.cpp:1898::getNodesInRadius() found nodes=30 [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1750::process() near nodes=30, max local immunized=17, ratio=0,250000 WM=71 [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:14.987) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:14.987) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000003s... [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1836::process() timeReactivations=0,000192s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1929::process() nearestIds=1/31 [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,199640,-0,495815,-0,139790 [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,199640,-0,495815,-0,139790 [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2463::process() Time creating stats = 0,000098... [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:2219::removeRawData() id=107 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.987) Memory.cpp:2137::saveLocationData() Saving location data 107 [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000101s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2537::process() Total time processing = 0,024967s... [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:14.987) Rtabmap.cpp:2661::process() Adding data 107 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.987) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.987) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 107 [DEBUG] (2017-11-20 10:30:14.988) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000187s [DEBUG] (2017-11-20 10:30:14.988) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.988) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.988) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.988) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:14.988) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.988) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.988) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.988) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:14.988) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:14.989) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:14.989) SensorData.cpp:557::uncompressData() 107 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.989) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.990) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 768 [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:3844::drawKeypoints() source time = 0,000416 s [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:14.991) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.993) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:14.993) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:14.993) MainWindow.cpp:1971::updateMapCloud() posesIn=31 constraints=30 mapIdsIn=31 labelsIn=1 [DEBUG] (2017-11-20 10:30:14.993) MainWindow.cpp:2065::updateMapCloud() Update map with 31 locations [DEBUG] (2017-11-20 10:30:14.993) SensorData.cpp:557::uncompressData() 107 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:14.993) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:14.993) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.993) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:14.993) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:14.994) Camera.cpp:90::takeImage() slept=0,033706s vs target=0,033333s [DEBUG] (2017-11-20 10:30:14.995) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.996) Camera.cpp:103::takeImage() Time capturing image = 0,001440s [DEBUG] (2017-11-20 10:30:14.996) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:14.996) RtabmapThread.cpp:321::handleEvent() CameraEvent [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000191s [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:2604::updateMapCloud() [ INFO] (2017-11-20 10:30:14.996) RtabmapThread.cpp:628::addData() Added data 108 [ INFO] (2017-11-20 10:30:14.996) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:14.996) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:14.996) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:14.996) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.996) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=9249)... [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:14.996) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:14.996) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:14.996) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:14.996) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 423 words... [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:14.996) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:14.997) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:14.997) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:14.997) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:14.997) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 423 words... done! [DEBUG] (2017-11-20 10:30:14.997) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=423 removed=0) [DEBUG] (2017-11-20 10:30:14.998) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:3676::createSignature() id 108 is a bad signature [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:3999::createSignature() time compressing data (id=108) 0,001266s [DEBUG] (2017-11-20 10:30:14.998) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:639::update() time creating signature=1,295090 ms [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:724::addSignatureToStm() adding 108 [DEBUG] (2017-11-20 10:30:14.998) Signature.cpp:121::addLink() Add link 108 to 107 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.998) Signature.cpp:121::addLink() Add link 107 to 108 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:752::addSignatureToStm() Min STM id = 71 [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 108 [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:794::addSignatureToStm() time = 0,000049s [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:660::update() time rehearsal=0,063896 ms [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:713::update() totalTimer = 0,001383s [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1016::process() Processing signature 108 w=-1 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001416s [DEBUG] (2017-11-20 10:30:14.998) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,207419,-0,504434,-0,143966 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,207419,-0,504434,-0,143966) [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:14.998) Graph.cpp:1898::getNodesInRadius() found nodes=31 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1750::process() near nodes=31, max local immunized=17, ratio=0,250000 WM=71 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1836::process() timeReactivations=0,000163s [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2373::process() send all stats... [DEBUG] (2017-11-20 10:30:14.998) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:14.998) MainWindow.cpp:985::processOdometry() odom ok [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,207419,-0,504434,-0,143966 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,207419,-0,504434,-0,143966 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2463::process() Time creating stats = 0,000077... [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:2219::removeRawData() id=108 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:14.998) Memory.cpp:2137::saveLocationData() Saving location data 108 [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2537::process() Total time processing = 0,001765s... [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:14.998) Rtabmap.cpp:2661::process() Adding data 108 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:14.998) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:14.998) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:14.998) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:14.998) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 108 [DEBUG] (2017-11-20 10:30:14.998) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,207419,-0,504434,-0,143966 [DEBUG] (2017-11-20 10:30:14.999) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000216s [DEBUG] (2017-11-20 10:30:14.999) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:14.999) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:14.999) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:14.999) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:14.999) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:14.999) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:14.999) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:14.999) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.021) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.021) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.021) SensorData.cpp:557::uncompressData() 108 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.021) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.023) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.024) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.026) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.026) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.026) MainWindow.cpp:1971::updateMapCloud() posesIn=32 constraints=31 mapIdsIn=32 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.026) MainWindow.cpp:2065::updateMapCloud() Update map with 32 locations [DEBUG] (2017-11-20 10:30:15.026) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000231s [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.027) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.027) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:15.028) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.029) Camera.cpp:103::takeImage() Time capturing image = 0,001140s [DEBUG] (2017-11-20 10:30:15.029) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.029) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.029) RtabmapThread.cpp:628::addData() Added data 109 [ INFO] (2017-11-20 10:30:15.029) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.029) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.029) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.029) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=9249)... [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:621::update() time preUpdate=0,014067 ms [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.029) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.029) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.029) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3676::createSignature() id 109 is a bad signature [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:3999::createSignature() time compressing data (id=109) 0,000132s [DEBUG] (2017-11-20 10:30:15.029) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:639::update() time creating signature=0,163078 ms [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:724::addSignatureToStm() adding 109 [DEBUG] (2017-11-20 10:30:15.029) Signature.cpp:121::addLink() Add link 109 to 108 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.029) Signature.cpp:121::addLink() Add link 108 to 109 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:752::addSignatureToStm() Min STM id = 71 [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 109 [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:794::addSignatureToStm() time = 0,000052s [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:660::update() time rehearsal=0,061989 ms [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:713::update() totalTimer = 0,000261s [DEBUG] (2017-11-20 10:30:15.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.029) Rtabmap.cpp:1016::process() Processing signature 109 w=-1 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000299s [DEBUG] (2017-11-20 10:30:15.030) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,213903,-0,505822,-0,145870 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,213903,-0,505822,-0,145870) [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000042s [DEBUG] (2017-11-20 10:30:15.030) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.030) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:15.030) Graph.cpp:1898::getNodesInRadius() found nodes=31 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:1750::process() near nodes=31, max local immunized=17, ratio=0,250000 WM=71 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:1836::process() timeReactivations=0,000211s [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,213903,-0,505822,-0,145870 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,213903,-0,505822,-0,145870 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:15.030) Memory.cpp:2219::removeRawData() id=109 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.030) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.030) Memory.cpp:2137::saveLocationData() Saving location data 109 [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2537::process() Total time processing = 0,000688s... [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:15.030) Rtabmap.cpp:2661::process() Adding data 109 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.030) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.030) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.030) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.030) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 109 [DEBUG] (2017-11-20 10:30:15.030) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000177s [DEBUG] (2017-11-20 10:30:15.030) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.030) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.030) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.030) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:15.030) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.030) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.031) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.031) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.035) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.035) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.035) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,213903,-0,505822,-0,145870 [DEBUG] (2017-11-20 10:30:15.035) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.035) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.039) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.039) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.039) SensorData.cpp:557::uncompressData() 109 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.039) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.041) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.042) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.042) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.042) MainWindow.cpp:1971::updateMapCloud() posesIn=32 constraints=31 mapIdsIn=32 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2065::updateMapCloud() Update map with 32 locations [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000170s [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.043) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.044) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.044) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.044) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.061) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.062) Camera.cpp:103::takeImage() Time capturing image = 0,000984s [DEBUG] (2017-11-20 10:30:15.062) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.062) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.062) RtabmapThread.cpp:628::addData() Added data 110 [ INFO] (2017-11-20 10:30:15.062) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.062) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.062) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.062) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=9249)... [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:621::update() time preUpdate=0,007153 ms [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.062) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.062) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.062) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.062) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.062) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.063) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.063) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.063) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,225351,-0,507419,-0,150451 [DEBUG] (2017-11-20 10:30:15.064) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.064) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.064) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.065) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.065) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.065) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.068) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003620 s, keypoints extracted = 727 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.068) Memory.cpp:3482::createSignature() time keypoints (727) = 0,006109s [DEBUG] (2017-11-20 10:30:15.072) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 727, remaining kpts=727 [DEBUG] (2017-11-20 10:30:15.072) Memory.cpp:3487::createSignature() time descriptors (727) = 0,003896s [DEBUG] (2017-11-20 10:30:15.072) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=193 [DEBUG] (2017-11-20 10:30:15.072) Memory.cpp:3500::createSignature() time keypoints 3D (727) = 0,000087s [DEBUG] (2017-11-20 10:30:15.072) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.072) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.072) Memory.cpp:3612::createSignature() time descriptor and memory update (727 of size=32) = 0,000018s [DEBUG] (2017-11-20 10:30:15.073) VWDictionary.cpp:593::addNewWords() id=110 descriptors=727 [DEBUG] (2017-11-20 10:30:15.073) VWDictionary.cpp:686::addNewWords() newPts.total()=727 [DEBUG] (2017-11-20 10:30:15.081) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008284 s [DEBUG] (2017-11-20 10:30:15.085) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003987 s [DEBUG] (2017-11-20 10:30:15.085) VWDictionary.cpp:874::addNewWords() 391 new words added... [DEBUG] (2017-11-20 10:30:15.085) VWDictionary.cpp:876::addNewWords() 336 duplicated words added (from current image = 5)... [DEBUG] (2017-11-20 10:30:15.085) VWDictionary.cpp:877::addNewWords() total time 0,012316s [DEBUG] (2017-11-20 10:30:15.085) Memory.cpp:3672::createSignature() time addNewWords 0,012359s indexed=9249 not=391 [DEBUG] (2017-11-20 10:30:15.085) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:3999::createSignature() time compressing data (id=110) 0,003128s [DEBUG] (2017-11-20 10:30:15.088) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:639::update() time creating signature=25,750875 ms [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:724::addSignatureToStm() adding 110 [DEBUG] (2017-11-20 10:30:15.088) Signature.cpp:121::addLink() Add link 110 to 109 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.088) Signature.cpp:121::addLink() Add link 109 to 110 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:752::addSignatureToStm() Min STM id = 71 [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:786::addSignatureToStm() 727 words ref for the signature 110 [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:2882::rehearsal() Comparing with signature (107)... [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:2905::rehearsal() merged=0, sim=0,138021 t=0,000128s [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:660::update() time rehearsal=0,195026 ms [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 71 from STM in WM... [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 72 from STM in WM... [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 73 from STM in WM... [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:713::update() totalTimer = 0,025978s [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.088) Rtabmap.cpp:1016::process() Processing signature 110 w=0 [ INFO] (2017-11-20 10:30:15.088) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,026001s [DEBUG] (2017-11-20 10:30:15.088) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,225351,-0,507419,-0,150451 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,225351,-0,507419,-0,150451) [ INFO] (2017-11-20 10:30:15.088) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000081s [ INFO] (2017-11-20 10:30:15.088) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.088) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.089) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000405 s [DEBUG] (2017-11-20 10:30:15.089) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=23 [DEBUG] (2017-11-20 10:30:15.089) Rtabmap.cpp:3272::adjustLikelihood() values.size=22 [DEBUG] (2017-11-20 10:30:15.089) Rtabmap.cpp:3319::adjustLikelihood() mean=0,029111, stdDev=0,010128, max=0,051754, maxId=73, time=0,000004s [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000463s [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000022s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:495::updatePrediction() From added id 73, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000059s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000404s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:575::updatePrediction() time copying = 0,000008s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=5 [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000516s, rows=23, cols=23 [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=23, _posterior size=23 [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000020s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:208::computePosterior() sum=3,518077 [DEBUG] (2017-11-20 10:30:15.089) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000567s [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1400::process() Highest hypothesis=73, value=0,036793, timeHypothesesCreation=0,000019s [DEBUG] (2017-11-20 10:30:15.089) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.089) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:15.089) Rtabmap.cpp:1489::process() Retrieving locations... around id=73 [DEBUG] (2017-11-20 10:30:15.089) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.089) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.089) Rtabmap.cpp:1511::process() neighbors of 73 in time = 33 [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:1566::process() neighbors of 73 in space = 33 [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000038s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.090) Graph.cpp:1898::getNodesInRadius() found nodes=31 [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:1750::process() near nodes=31, max local immunized=18, ratio=0,250000 WM=74 [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.090) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.090) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:1836::process() timeReactivations=0,000200s [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:1929::process() nearestIds=1/32 [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000023s [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,225351,-0,507419,-0,150451 [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,225351,-0,507419,-0,150451 [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2463::process() Time creating stats = 0,000132... [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:2219::removeRawData() id=110 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.090) Memory.cpp:2137::saveLocationData() Saving location data 110 [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000107s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2537::process() Total time processing = 0,027617s... [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:15.090) Rtabmap.cpp:2661::process() Adding data 110 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.090) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.090) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 110 [DEBUG] (2017-11-20 10:30:15.091) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:15.091) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.091) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.092) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.092) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:15.092) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.092) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.093) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.093) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.093) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.093) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.093) SensorData.cpp:557::uncompressData() 110 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.093) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.094) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.096) Camera.cpp:103::takeImage() Time capturing image = 0,001025s [DEBUG] (2017-11-20 10:30:15.096) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.096) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.096) RtabmapThread.cpp:628::addData() Added data 111 [ INFO] (2017-11-20 10:30:15.096) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.096) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.096) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.096) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=9640)... [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.096) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.096) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.096) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.096) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 391 words... [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.096) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.096) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:15.097) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 391 words... done! [DEBUG] (2017-11-20 10:30:15.097) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=391 removed=0) [DEBUG] (2017-11-20 10:30:15.097) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:3676::createSignature() id 111 is a bad signature [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:3999::createSignature() time compressing data (id=111) 0,001168s [DEBUG] (2017-11-20 10:30:15.097) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:639::update() time creating signature=1,197100 ms [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:724::addSignatureToStm() adding 111 [DEBUG] (2017-11-20 10:30:15.097) Signature.cpp:121::addLink() Add link 111 to 110 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.097) Signature.cpp:121::addLink() Add link 110 to 111 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:752::addSignatureToStm() Min STM id = 74 [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 111 [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:660::update() time rehearsal=0,055075 ms [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:713::update() totalTimer = 0,001277s [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1016::process() Processing signature 111 w=-1 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001309s [DEBUG] (2017-11-20 10:30:15.097) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,238467,-0,509922,-0,159304 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,238467,-0,509922,-0,159304) [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000026s [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000023s [DEBUG] (2017-11-20 10:30:15.097) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.097) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 727 [DEBUG] (2017-11-20 10:30:15.097) Graph.cpp:1898::getNodesInRadius() found nodes=32 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1750::process() near nodes=32, max local immunized=18, ratio=0,250000 WM=74 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1836::process() timeReactivations=0,000139s [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,238467,-0,509922,-0,159304 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,238467,-0,509922,-0,159304 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:2219::removeRawData() id=111 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.097) Memory.cpp:2137::saveLocationData() Saving location data 111 [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2537::process() Total time processing = 0,001613s... [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:15.097) Rtabmap.cpp:2661::process() Adding data 111 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.097) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.097) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.098) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.098) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 111 [DEBUG] (2017-11-20 10:30:15.098) MainWindow.cpp:3844::drawKeypoints() source time = 0,000618 s [DEBUG] (2017-11-20 10:30:15.098) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.098) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000007 s [DEBUG] (2017-11-20 10:30:15.098) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000179s [DEBUG] (2017-11-20 10:30:15.098) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.098) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.098) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.098) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:15.098) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.098) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.098) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.098) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.098) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.098) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.100) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.100) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.100) MainWindow.cpp:1971::updateMapCloud() posesIn=32 constraints=31 mapIdsIn=32 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.100) MainWindow.cpp:2065::updateMapCloud() Update map with 32 locations [DEBUG] (2017-11-20 10:30:15.101) SensorData.cpp:557::uncompressData() 110 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.101) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.101) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.101) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.101) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.104) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000180s [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.105) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:15.106) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.106) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.106) MainWindow.cpp:1931::processStats() Updating GUI time = 0,013000s [DEBUG] (2017-11-20 10:30:15.107) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.107) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.107) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,238467,-0,509922,-0,159304 [DEBUG] (2017-11-20 10:30:15.109) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.109) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.109) SensorData.cpp:557::uncompressData() 111 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.109) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.111) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.112) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.112) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.112) MainWindow.cpp:1971::updateMapCloud() posesIn=33 constraints=32 mapIdsIn=33 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.112) MainWindow.cpp:2065::updateMapCloud() Update map with 33 locations [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000159s [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.113) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.113) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:15.128) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.129) Camera.cpp:103::takeImage() Time capturing image = 0,001003s [DEBUG] (2017-11-20 10:30:15.129) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.129) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.129) RtabmapThread.cpp:628::addData() Added data 112 [ INFO] (2017-11-20 10:30:15.129) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.129) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=9640)... [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.129) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.129) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.129) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3676::createSignature() id 112 is a bad signature [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:3999::createSignature() time compressing data (id=112) 0,000129s [DEBUG] (2017-11-20 10:30:15.129) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:639::update() time creating signature=0,151873 ms [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:724::addSignatureToStm() adding 112 [DEBUG] (2017-11-20 10:30:15.129) Signature.cpp:121::addLink() Add link 112 to 111 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.129) Signature.cpp:121::addLink() Add link 111 to 112 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:752::addSignatureToStm() Min STM id = 74 [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 112 [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:713::update() totalTimer = 0,000210s [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:1016::process() Processing signature 112 w=-1 [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000233s [DEBUG] (2017-11-20 10:30:15.129) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,245956,-0,510033,-0,162923 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,245956,-0,510033,-0,162923) [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.129) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:15.129) Graph.cpp:1898::getNodesInRadius() found nodes=32 [ INFO] (2017-11-20 10:30:15.129) Rtabmap.cpp:1750::process() near nodes=32, max local immunized=18, ratio=0,250000 WM=74 [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:1836::process() timeReactivations=0,000140s [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000009s [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,245956,-0,510033,-0,162923 [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,245956,-0,510033,-0,162923 [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2463::process() Time creating stats = 0,000047... [DEBUG] (2017-11-20 10:30:15.130) Memory.cpp:2219::removeRawData() id=112 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.130) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.130) Memory.cpp:2137::saveLocationData() Saving location data 112 [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2537::process() Total time processing = 0,000511s... [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:15.130) Rtabmap.cpp:2661::process() Adding data 112 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.130) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.130) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.130) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.130) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.130) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.130) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 112 [DEBUG] (2017-11-20 10:30:15.130) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000163s [DEBUG] (2017-11-20 10:30:15.130) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.130) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.130) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,245956,-0,510033,-0,162923 [DEBUG] (2017-11-20 10:30:15.130) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.130) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000018s... [DEBUG] (2017-11-20 10:30:15.130) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.130) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.130) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.130) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.130) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.130) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.135) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.135) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.135) SensorData.cpp:557::uncompressData() 112 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.135) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.136) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.137) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.139) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.139) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.139) MainWindow.cpp:1971::updateMapCloud() posesIn=33 constraints=32 mapIdsIn=33 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.139) MainWindow.cpp:2065::updateMapCloud() Update map with 33 locations [DEBUG] (2017-11-20 10:30:15.139) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000274s [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.140) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.141) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.141) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.141) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:15.161) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.162) Camera.cpp:103::takeImage() Time capturing image = 0,001091s [DEBUG] (2017-11-20 10:30:15.162) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.162) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.162) RtabmapThread.cpp:628::addData() Added data 113 [ INFO] (2017-11-20 10:30:15.162) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.162) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.163) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.163) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=9640)... [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:621::update() time preUpdate=0,013828 ms [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.163) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.163) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.163) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.163) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.163) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.165) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.165) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.165) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.165) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,251031,-0,511932,-0,164668 [DEBUG] (2017-11-20 10:30:15.166) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.166) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.166) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.166) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.166) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.172) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,006024 s, keypoints extracted = 746 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.172) Memory.cpp:3482::createSignature() time keypoints (746) = 0,008963s [DEBUG] (2017-11-20 10:30:15.176) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 746, remaining kpts=746 [DEBUG] (2017-11-20 10:30:15.176) Memory.cpp:3487::createSignature() time descriptors (746) = 0,004021s [DEBUG] (2017-11-20 10:30:15.176) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=194 [DEBUG] (2017-11-20 10:30:15.176) Memory.cpp:3500::createSignature() time keypoints 3D (746) = 0,000090s [DEBUG] (2017-11-20 10:30:15.176) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.176) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.176) Memory.cpp:3612::createSignature() time descriptor and memory update (746 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:15.176) VWDictionary.cpp:593::addNewWords() id=113 descriptors=746 [DEBUG] (2017-11-20 10:30:15.176) VWDictionary.cpp:686::addNewWords() newPts.total()=746 [DEBUG] (2017-11-20 10:30:15.184) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007832 s [DEBUG] (2017-11-20 10:30:15.188) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004152 s [DEBUG] (2017-11-20 10:30:15.188) VWDictionary.cpp:874::addNewWords() 381 new words added... [DEBUG] (2017-11-20 10:30:15.188) VWDictionary.cpp:876::addNewWords() 365 duplicated words added (from current image = 9)... [DEBUG] (2017-11-20 10:30:15.188) VWDictionary.cpp:877::addNewWords() total time 0,012017s [DEBUG] (2017-11-20 10:30:15.188) Memory.cpp:3672::createSignature() time addNewWords 0,012032s indexed=9640 not=381 [DEBUG] (2017-11-20 10:30:15.188) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:3999::createSignature() time compressing data (id=113) 0,002167s [DEBUG] (2017-11-20 10:30:15.190) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:639::update() time creating signature=27,436018 ms [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:724::addSignatureToStm() adding 113 [DEBUG] (2017-11-20 10:30:15.190) Signature.cpp:121::addLink() Add link 113 to 112 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.190) Signature.cpp:121::addLink() Add link 112 to 113 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:752::addSignatureToStm() Min STM id = 74 [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:786::addSignatureToStm() 746 words ref for the signature 113 [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:794::addSignatureToStm() time = 0,000038s [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:2882::rehearsal() Comparing with signature (110)... [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:2905::rehearsal() merged=0, sim=0,115281 t=0,000134s [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:660::update() time rehearsal=0,210047 ms [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 74 from STM in WM... [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 75 from STM in WM... [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 76 from STM in WM... [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 77 from STM in WM... [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:713::update() totalTimer = 0,027692s [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.190) Rtabmap.cpp:1016::process() Processing signature 113 w=0 [ INFO] (2017-11-20 10:30:15.190) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,027726s [DEBUG] (2017-11-20 10:30:15.190) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,251031,-0,511932,-0,164668 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,251031,-0,511932,-0,164668) [ INFO] (2017-11-20 10:30:15.190) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000053s [ INFO] (2017-11-20 10:30:15.190) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.190) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.191) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000333 s [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=24 [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:3272::adjustLikelihood() values.size=23 [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:3319::adjustLikelihood() mean=0,032672, stdDev=0,012188, max=0,066810, maxId=77, time=0,000006s [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000396s [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000025s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:495::updatePrediction() From added id 77, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000057s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000412s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:575::updatePrediction() time copying = 0,000010s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=6 [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000529s, rows=24, cols=24 [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=24, _posterior size=24 [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000021s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000007s [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:208::computePosterior() sum=3,340275 [DEBUG] (2017-11-20 10:30:15.191) BayesFilter.cpp:216::computePosterior() normalize time=0,000009s [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000589s [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1400::process() Highest hypothesis=77, value=0,040699, timeHypothesesCreation=0,000018s [DEBUG] (2017-11-20 10:30:15.191) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.191) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000018s, joining (actual overhead) = 0,000015s [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1489::process() Retrieving locations... around id=77 [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:1511::process() neighbors of 77 in time = 33 [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.191) Rtabmap.cpp:1566::process() neighbors of 77 in space = 33 [ INFO] (2017-11-20 10:30:15.191) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000043s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.192) Graph.cpp:1898::getNodesInRadius() found nodes=32 [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:1750::process() near nodes=32, max local immunized=19, ratio=0,250000 WM=78 [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.192) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.192) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:4252::reactivateSignatures() time = 0,000032s [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000017s) [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000017s [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:1836::process() timeReactivations=0,000222s [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:1929::process() nearestIds=1/33 [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000024s [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,251031,-0,511932,-0,164668 [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,251031,-0,511932,-0,164668 [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2463::process() Time creating stats = 0,000114... [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:2219::removeRawData() id=113 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.192) Memory.cpp:2137::saveLocationData() Saving location data 113 [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000114s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2537::process() Total time processing = 0,029284s... [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.192) Rtabmap.cpp:2661::process() Adding data 113 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.192) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.192) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 113 [DEBUG] (2017-11-20 10:30:15.193) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000181s [DEBUG] (2017-11-20 10:30:15.193) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.193) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.193) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.193) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000007s... [DEBUG] (2017-11-20 10:30:15.193) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.193) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.193) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.193) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.193) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.194) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.194) SensorData.cpp:557::uncompressData() 113 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.194) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.194) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.196) Camera.cpp:103::takeImage() Time capturing image = 0,001318s [DEBUG] (2017-11-20 10:30:15.196) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.196) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.196) RtabmapThread.cpp:628::addData() Added data 114 [ INFO] (2017-11-20 10:30:15.196) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.196) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:15.196) MainWindow.cpp:1689::processStats() time= 2 ms [ INFO] (2017-11-20 10:30:15.196) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.196) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10021)... [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.196) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.196) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.196) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.196) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 381 words... [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.196) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.196) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.196) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 746 [DEBUG] (2017-11-20 10:30:15.197) MainWindow.cpp:3844::drawKeypoints() source time = 0,000434 s [DEBUG] (2017-11-20 10:30:15.197) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.197) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.197) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.197) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.197) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 381 words... done! [DEBUG] (2017-11-20 10:30:15.197) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=381 removed=0) [DEBUG] (2017-11-20 10:30:15.197) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:3676::createSignature() id 114 is a bad signature [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:3999::createSignature() time compressing data (id=114) 0,001131s [DEBUG] (2017-11-20 10:30:15.197) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:639::update() time creating signature=1,155138 ms [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:724::addSignatureToStm() adding 114 [DEBUG] (2017-11-20 10:30:15.197) Signature.cpp:121::addLink() Add link 114 to 113 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.197) Signature.cpp:121::addLink() Add link 113 to 114 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:752::addSignatureToStm() Min STM id = 78 [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 114 [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:660::update() time rehearsal=0,041962 ms [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:713::update() totalTimer = 0,001217s [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1016::process() Processing signature 114 w=-1 [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001248s [DEBUG] (2017-11-20 10:30:15.197) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,256744,-0,513613,-0,166394 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,256744,-0,513613,-0,166394) [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000019s [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.197) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000007s, joining (actual overhead) = 0,000010s [DEBUG] (2017-11-20 10:30:15.197) Graph.cpp:1898::getNodesInRadius() found nodes=33 [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1750::process() near nodes=33, max local immunized=19, ratio=0,250000 WM=78 [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1836::process() timeReactivations=0,000125s [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,256744,-0,513613,-0,166394 [ INFO] (2017-11-20 10:30:15.197) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,256744,-0,513613,-0,166394 [ INFO] (2017-11-20 10:30:15.198) Rtabmap.cpp:2463::process() Time creating stats = 0,000041... [DEBUG] (2017-11-20 10:30:15.198) Memory.cpp:2219::removeRawData() id=114 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.198) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.198) Memory.cpp:2137::saveLocationData() Saving location data 114 [ INFO] (2017-11-20 10:30:15.198) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.198) Rtabmap.cpp:2537::process() Total time processing = 0,001484s... [ INFO] (2017-11-20 10:30:15.198) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.198) Rtabmap.cpp:2661::process() Adding data 114 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.198) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.198) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.198) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.198) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 114 [DEBUG] (2017-11-20 10:30:15.198) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000237s [DEBUG] (2017-11-20 10:30:15.198) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.198) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.198) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.198) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:15.198) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.198) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.198) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.198) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.199) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.199) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.199) MainWindow.cpp:1971::updateMapCloud() posesIn=33 constraints=32 mapIdsIn=33 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.199) MainWindow.cpp:2065::updateMapCloud() Update map with 33 locations [DEBUG] (2017-11-20 10:30:15.199) SensorData.cpp:557::uncompressData() 113 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.199) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.199) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.199) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.199) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000170s [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.204) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:15.205) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.205) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.205) MainWindow.cpp:1931::processStats() Updating GUI time = 0,012000s [DEBUG] (2017-11-20 10:30:15.206) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.206) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.206) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,256744,-0,513613,-0,166394 [DEBUG] (2017-11-20 10:30:15.208) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.208) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.208) SensorData.cpp:557::uncompressData() 114 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.209) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.210) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.211) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.212) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.212) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.212) MainWindow.cpp:1971::updateMapCloud() posesIn=34 constraints=33 mapIdsIn=34 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.212) MainWindow.cpp:2065::updateMapCloud() Update map with 34 locations [DEBUG] (2017-11-20 10:30:15.212) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000212s [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.213) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.213) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.228) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.229) Camera.cpp:103::takeImage() Time capturing image = 0,001011s [DEBUG] (2017-11-20 10:30:15.229) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.229) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.229) RtabmapThread.cpp:628::addData() Added data 115 [ INFO] (2017-11-20 10:30:15.229) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.229) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10021)... [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:621::update() time preUpdate=0,007153 ms [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.229) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.229) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.229) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3676::createSignature() id 115 is a bad signature [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:3999::createSignature() time compressing data (id=115) 0,000120s [DEBUG] (2017-11-20 10:30:15.229) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:639::update() time creating signature=0,142813 ms [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:724::addSignatureToStm() adding 115 [DEBUG] (2017-11-20 10:30:15.229) Signature.cpp:121::addLink() Add link 115 to 114 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.229) Signature.cpp:121::addLink() Add link 114 to 115 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:752::addSignatureToStm() Min STM id = 78 [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 115 [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:713::update() totalTimer = 0,000202s [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:1016::process() Processing signature 115 w=-1 [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000226s [DEBUG] (2017-11-20 10:30:15.229) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,267164,-0,516858,-0,169554 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,267164,-0,516858,-0,169554) [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.229) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:15.229) Graph.cpp:1898::getNodesInRadius() found nodes=33 [ INFO] (2017-11-20 10:30:15.229) Rtabmap.cpp:1750::process() near nodes=33, max local immunized=19, ratio=0,250000 WM=78 [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:1836::process() timeReactivations=0,000137s [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,267164,-0,516858,-0,169554 [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,267164,-0,516858,-0,169554 [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:15.230) Memory.cpp:2219::removeRawData() id=115 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.230) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.230) Memory.cpp:2137::saveLocationData() Saving location data 115 [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2537::process() Total time processing = 0,000509s... [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:15.230) Rtabmap.cpp:2661::process() Adding data 115 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.230) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.230) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.230) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.230) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.230) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.230) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 115 [DEBUG] (2017-11-20 10:30:15.230) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000224s [DEBUG] (2017-11-20 10:30:15.230) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.230) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.230) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.230) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:15.230) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.230) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,267164,-0,516858,-0,169554 [DEBUG] (2017-11-20 10:30:15.230) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.230) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.230) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.230) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.230) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.235) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.235) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.235) SensorData.cpp:557::uncompressData() 115 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.235) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.236) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.237) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.238) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.238) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.238) MainWindow.cpp:1971::updateMapCloud() posesIn=34 constraints=33 mapIdsIn=34 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.238) MainWindow.cpp:2065::updateMapCloud() Update map with 34 locations [DEBUG] (2017-11-20 10:30:15.238) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000172s [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.239) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.239) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:15.261) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.262) Camera.cpp:103::takeImage() Time capturing image = 0,000981s [DEBUG] (2017-11-20 10:30:15.262) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.262) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.262) RtabmapThread.cpp:628::addData() Added data 116 [ INFO] (2017-11-20 10:30:15.262) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.262) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.262) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.262) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10021)... [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.262) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.262) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.262) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3676::createSignature() id 116 is a bad signature [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.262) Memory.cpp:3999::createSignature() time compressing data (id=116) 0,000087s [DEBUG] (2017-11-20 10:30:15.263) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:639::update() time creating signature=0,108957 ms [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:724::addSignatureToStm() adding 116 [DEBUG] (2017-11-20 10:30:15.263) Signature.cpp:121::addLink() Add link 116 to 115 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.263) Signature.cpp:121::addLink() Add link 115 to 116 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:752::addSignatureToStm() Min STM id = 78 [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 116 [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:660::update() time rehearsal=0,038147 ms [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:713::update() totalTimer = 0,000167s [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1016::process() Processing signature 116 w=-1 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000193s [DEBUG] (2017-11-20 10:30:15.263) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,281552,-0,515841,-0,176507 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,281552,-0,515841,-0,176507) [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:15.263) Graph.cpp:1898::getNodesInRadius() found nodes=33 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1750::process() near nodes=33, max local immunized=19, ratio=0,250000 WM=78 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1836::process() timeReactivations=0,000137s [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,281552,-0,515841,-0,176507 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,281552,-0,515841,-0,176507 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:2219::removeRawData() id=116 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.263) Memory.cpp:2137::saveLocationData() Saving location data 116 [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000024s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2537::process() Total time processing = 0,000453s... [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.263) Rtabmap.cpp:2661::process() Adding data 116 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.263) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.263) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.263) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.263) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 116 [DEBUG] (2017-11-20 10:30:15.263) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.263) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.263) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000162s [DEBUG] (2017-11-20 10:30:15.263) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.263) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.263) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.263) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:15.263) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.263) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.263) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.263) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.263) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,281552,-0,515841,-0,176507 [DEBUG] (2017-11-20 10:30:15.264) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.264) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.269) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.269) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.269) SensorData.cpp:557::uncompressData() 116 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.269) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.271) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:1971::updateMapCloud() posesIn=34 constraints=33 mapIdsIn=34 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2065::updateMapCloud() Update map with 34 locations [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000178s [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.273) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.274) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.274) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.274) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.294) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.296) Camera.cpp:103::takeImage() Time capturing image = 0,001077s [DEBUG] (2017-11-20 10:30:15.296) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.296) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.296) RtabmapThread.cpp:628::addData() Added data 117 [ INFO] (2017-11-20 10:30:15.296) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.296) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.296) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.296) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10021)... [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:621::update() time preUpdate=0,007153 ms [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.296) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.296) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.296) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.296) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.296) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.296) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.296) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.297) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,285852,-0,517696,-0,176254 [DEBUG] (2017-11-20 10:30:15.297) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.297) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.298) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.298) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.298) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.298) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.302) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003446 s, keypoints extracted = 772 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.302) Memory.cpp:3482::createSignature() time keypoints (772) = 0,005852s [DEBUG] (2017-11-20 10:30:15.306) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 772, remaining kpts=772 [DEBUG] (2017-11-20 10:30:15.306) Memory.cpp:3487::createSignature() time descriptors (772) = 0,003943s [DEBUG] (2017-11-20 10:30:15.306) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=194 [DEBUG] (2017-11-20 10:30:15.306) Memory.cpp:3500::createSignature() time keypoints 3D (772) = 0,000092s [DEBUG] (2017-11-20 10:30:15.306) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.306) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.306) Memory.cpp:3612::createSignature() time descriptor and memory update (772 of size=32) = 0,000020s [DEBUG] (2017-11-20 10:30:15.306) VWDictionary.cpp:593::addNewWords() id=117 descriptors=772 [DEBUG] (2017-11-20 10:30:15.306) VWDictionary.cpp:686::addNewWords() newPts.total()=772 [DEBUG] (2017-11-20 10:30:15.314) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007722 s [DEBUG] (2017-11-20 10:30:15.318) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004249 s [DEBUG] (2017-11-20 10:30:15.318) VWDictionary.cpp:874::addNewWords() 424 new words added... [DEBUG] (2017-11-20 10:30:15.318) VWDictionary.cpp:876::addNewWords() 348 duplicated words added (from current image = 6)... [DEBUG] (2017-11-20 10:30:15.318) VWDictionary.cpp:877::addNewWords() total time 0,012024s [DEBUG] (2017-11-20 10:30:15.318) Memory.cpp:3672::createSignature() time addNewWords 0,012044s indexed=10021 not=424 [DEBUG] (2017-11-20 10:30:15.318) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:3999::createSignature() time compressing data (id=117) 0,002247s [DEBUG] (2017-11-20 10:30:15.320) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:639::update() time creating signature=24,376869 ms [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:724::addSignatureToStm() adding 117 [DEBUG] (2017-11-20 10:30:15.320) Signature.cpp:121::addLink() Add link 117 to 116 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.320) Signature.cpp:121::addLink() Add link 116 to 117 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:752::addSignatureToStm() Min STM id = 78 [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:786::addSignatureToStm() 772 words ref for the signature 117 [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:794::addSignatureToStm() time = 0,000066s [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:2882::rehearsal() Comparing with signature (113)... [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:2905::rehearsal() merged=0, sim=0,123057 t=0,000145s [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:660::update() time rehearsal=0,248194 ms [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 78 from STM in WM... [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 79 from STM in WM... [DEBUG] (2017-11-20 10:30:15.320) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 80 from STM in WM... [DEBUG] (2017-11-20 10:30:15.321) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 81 from STM in WM... [DEBUG] (2017-11-20 10:30:15.321) Memory.cpp:713::update() totalTimer = 0,024675s [DEBUG] (2017-11-20 10:30:15.321) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.321) Rtabmap.cpp:1016::process() Processing signature 117 w=0 [ INFO] (2017-11-20 10:30:15.321) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,024702s [DEBUG] (2017-11-20 10:30:15.321) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,285852,-0,517696,-0,176254 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,285852,-0,517696,-0,176254) [ INFO] (2017-11-20 10:30:15.321) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000059s [ INFO] (2017-11-20 10:30:15.321) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.321) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.321) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000413 s [DEBUG] (2017-11-20 10:30:15.321) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=25 [DEBUG] (2017-11-20 10:30:15.321) Rtabmap.cpp:3272::adjustLikelihood() values.size=24 [DEBUG] (2017-11-20 10:30:15.321) Rtabmap.cpp:3319::adjustLikelihood() mean=0,027827, stdDev=0,009166, max=0,052138, maxId=70, time=0,000006s [ INFO] (2017-11-20 10:30:15.321) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000488s [ INFO] (2017-11-20 10:30:15.321) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.321) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.321) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.321) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000026s [DEBUG] (2017-11-20 10:30:15.321) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000013s [DEBUG] (2017-11-20 10:30:15.321) BayesFilter.cpp:495::updatePrediction() From added id 81, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.321) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000061s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000432s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:575::updatePrediction() time copying = 0,000012s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=7 [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000565s, rows=25, cols=25 [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=25, _posterior size=25 [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:208::computePosterior() sum=3,638959 [DEBUG] (2017-11-20 10:30:15.322) BayesFilter.cpp:216::computePosterior() normalize time=0,000010s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000635s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1400::process() Highest hypothesis=70, value=0,037900, timeHypothesesCreation=0,000021s [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000016s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1489::process() Retrieving locations... around id=70 [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1511::process() neighbors of 70 in time = 33 [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1566::process() neighbors of 70 in space = 33 [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=28, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000050s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.322) Graph.cpp:1898::getNodesInRadius() found nodes=33 [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1750::process() near nodes=33, max local immunized=20, ratio=0,250000 WM=82 [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.322) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.322) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000005s [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000005s... [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:4252::reactivateSignatures() time = 0,000036s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000015s) [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000015s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1836::process() timeReactivations=0,000230s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1929::process() nearestIds=1/34 [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000029s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,285852,-0,517696,-0,176254 [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,285852,-0,517696,-0,176254 [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2463::process() Time creating stats = 0,000128... [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:2219::removeRawData() id=117 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.322) Memory.cpp:2137::saveLocationData() Saving location data 117 [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000120s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2537::process() Total time processing = 0,026443s... [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:15.322) Rtabmap.cpp:2661::process() Adding data 117 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.322) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.323) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.323) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.323) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 117 [DEBUG] (2017-11-20 10:30:15.323) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000184s [DEBUG] (2017-11-20 10:30:15.323) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.323) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.323) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.323) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:15.323) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.323) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.323) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.323) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.324) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.324) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.324) SensorData.cpp:557::uncompressData() 117 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.324) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 772 [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:3844::drawKeypoints() source time = 0,000416 s [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.326) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.328) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.328) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.328) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.328) MainWindow.cpp:1971::updateMapCloud() posesIn=34 constraints=33 mapIdsIn=34 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.328) MainWindow.cpp:2065::updateMapCloud() Update map with 34 locations [DEBUG] (2017-11-20 10:30:15.329) SensorData.cpp:557::uncompressData() 117 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.329) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.329) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.329) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.329) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.329) Camera.cpp:103::takeImage() Time capturing image = 0,001437s [DEBUG] (2017-11-20 10:30:15.329) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.329) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.329) RtabmapThread.cpp:628::addData() Added data 118 [ INFO] (2017-11-20 10:30:15.329) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.329) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.331) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.331) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10445)... [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.331) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.333) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.333) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.333) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.333) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.333) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.333) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 424 words... [DEBUG] (2017-11-20 10:30:15.334) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 424 words... done! [DEBUG] (2017-11-20 10:30:15.334) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=424 removed=0) [DEBUG] (2017-11-20 10:30:15.334) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:3676::createSignature() id 118 is a bad signature [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:3999::createSignature() time compressing data (id=118) 0,003117s [DEBUG] (2017-11-20 10:30:15.334) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:639::update() time creating signature=3,152132 ms [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:724::addSignatureToStm() adding 118 [DEBUG] (2017-11-20 10:30:15.334) Signature.cpp:121::addLink() Add link 118 to 117 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.334) Signature.cpp:121::addLink() Add link 117 to 118 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:752::addSignatureToStm() Min STM id = 82 [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 118 [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:794::addSignatureToStm() time = 0,000055s [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:660::update() time rehearsal=0,067949 ms [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:713::update() totalTimer = 0,003256s [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1016::process() Processing signature 118 w=-1 [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,003296s [DEBUG] (2017-11-20 10:30:15.334) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,288722,-0,522638,-0,172457 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,288722,-0,522638,-0,172457) [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000032s [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.334) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:15.334) Graph.cpp:1898::getNodesInRadius() found nodes=34 [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1750::process() near nodes=34, max local immunized=20, ratio=0,250000 WM=82 [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1836::process() timeReactivations=0,000184s [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.334) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,288722,-0,522638,-0,172457 [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,288722,-0,522638,-0,172457 [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2463::process() Time creating stats = 0,000056... [DEBUG] (2017-11-20 10:30:15.335) Memory.cpp:2219::removeRawData() id=118 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.335) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.335) Memory.cpp:2137::saveLocationData() Saving location data 118 [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000039s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2537::process() Total time processing = 0,003644s... [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:15.335) Rtabmap.cpp:2661::process() Adding data 118 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.335) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.335) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.335) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.335) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 118 [DEBUG] (2017-11-20 10:30:15.335) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000261s [DEBUG] (2017-11-20 10:30:15.335) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.335) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.335) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000237s [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.336) MainWindow.cpp:1853::processStats() time= 8 ms [DEBUG] (2017-11-20 10:30:15.337) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.337) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.337) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:15.337) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.337) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.337) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.338) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.338) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.338) MainWindow.cpp:1931::processStats() Updating GUI time = 0,014000s [DEBUG] (2017-11-20 10:30:15.339) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.339) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.340) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,288722,-0,522638,-0,172457 [DEBUG] (2017-11-20 10:30:15.347) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.347) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.347) SensorData.cpp:557::uncompressData() 118 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.348) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.350) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.352) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.352) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.352) MainWindow.cpp:1971::updateMapCloud() posesIn=35 constraints=34 mapIdsIn=35 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.352) MainWindow.cpp:2065::updateMapCloud() Update map with 35 locations [DEBUG] (2017-11-20 10:30:15.352) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000211s [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.353) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.353) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:15.361) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.362) Camera.cpp:103::takeImage() Time capturing image = 0,001048s [DEBUG] (2017-11-20 10:30:15.362) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.362) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.362) RtabmapThread.cpp:628::addData() Added data 119 [ INFO] (2017-11-20 10:30:15.362) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.362) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.362) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.362) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.362) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.362) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10445)... [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.363) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.363) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.363) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3676::createSignature() id 119 is a bad signature [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:3999::createSignature() time compressing data (id=119) 0,000130s [DEBUG] (2017-11-20 10:30:15.363) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:639::update() time creating signature=0,159979 ms [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:724::addSignatureToStm() adding 119 [DEBUG] (2017-11-20 10:30:15.363) Signature.cpp:121::addLink() Add link 119 to 118 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.363) Signature.cpp:121::addLink() Add link 118 to 119 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:752::addSignatureToStm() Min STM id = 82 [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 119 [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:660::update() time rehearsal=0,053883 ms [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:713::update() totalTimer = 0,000241s [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1016::process() Processing signature 119 w=-1 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000276s [DEBUG] (2017-11-20 10:30:15.363) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,297699,-0,521322,-0,174634 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,297699,-0,521322,-0,174634) [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000041s [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:15.363) Graph.cpp:1898::getNodesInRadius() found nodes=34 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1750::process() near nodes=34, max local immunized=20, ratio=0,250000 WM=82 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1836::process() timeReactivations=0,000179s [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,297699,-0,521322,-0,174634 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,297699,-0,521322,-0,174634 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2463::process() Time creating stats = 0,000058... [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:2219::removeRawData() id=119 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.363) Memory.cpp:2137::saveLocationData() Saving location data 119 [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2537::process() Total time processing = 0,000630s... [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:15.363) Rtabmap.cpp:2661::process() Adding data 119 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.363) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.363) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.363) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.363) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 119 [DEBUG] (2017-11-20 10:30:15.364) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000223s [DEBUG] (2017-11-20 10:30:15.364) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.364) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.364) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.364) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:15.364) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.364) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.364) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.364) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.365) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.365) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.365) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,297699,-0,521322,-0,174634 [DEBUG] (2017-11-20 10:30:15.365) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.365) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.370) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.370) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.370) SensorData.cpp:557::uncompressData() 119 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.370) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.372) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:1971::updateMapCloud() posesIn=35 constraints=34 mapIdsIn=35 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2065::updateMapCloud() Update map with 35 locations [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000196s [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.374) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.375) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.375) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.375) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.394) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.395) Camera.cpp:103::takeImage() Time capturing image = 0,000966s [DEBUG] (2017-11-20 10:30:15.395) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.396) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.396) RtabmapThread.cpp:628::addData() Added data 120 [ INFO] (2017-11-20 10:30:15.396) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.396) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10445)... [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.396) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.396) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.396) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3676::createSignature() id 120 is a bad signature [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:3999::createSignature() time compressing data (id=120) 0,000109s [DEBUG] (2017-11-20 10:30:15.396) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:639::update() time creating signature=0,136137 ms [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:724::addSignatureToStm() adding 120 [DEBUG] (2017-11-20 10:30:15.396) Signature.cpp:121::addLink() Add link 120 to 119 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.396) Signature.cpp:121::addLink() Add link 119 to 120 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:752::addSignatureToStm() Min STM id = 82 [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 120 [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:713::update() totalTimer = 0,000213s [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1016::process() Processing signature 120 w=-1 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000245s [DEBUG] (2017-11-20 10:30:15.396) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,300609,-0,523563,-0,172811 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,300609,-0,523563,-0,172811) [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:15.396) Graph.cpp:1898::getNodesInRadius() found nodes=34 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1750::process() near nodes=34, max local immunized=20, ratio=0,250000 WM=82 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1836::process() timeReactivations=0,000178s [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,300609,-0,523563,-0,172811 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,300609,-0,523563,-0,172811 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2463::process() Time creating stats = 0,000066... [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:2219::removeRawData() id=120 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.396) Memory.cpp:2137::saveLocationData() Saving location data 120 [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2537::process() Total time processing = 0,000606s... [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:15.396) Rtabmap.cpp:2661::process() Adding data 120 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.396) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.396) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.396) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.396) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.397) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.397) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 120 [DEBUG] (2017-11-20 10:30:15.397) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000252s [DEBUG] (2017-11-20 10:30:15.397) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.397) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.397) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.397) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000017s... [DEBUG] (2017-11-20 10:30:15.397) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.397) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,300609,-0,523563,-0,172811 [DEBUG] (2017-11-20 10:30:15.397) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.397) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.397) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.397) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.397) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.402) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.402) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.402) SensorData.cpp:557::uncompressData() 120 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.402) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.404) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.406) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.406) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.406) MainWindow.cpp:1971::updateMapCloud() posesIn=35 constraints=34 mapIdsIn=35 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.406) MainWindow.cpp:2065::updateMapCloud() Update map with 35 locations [DEBUG] (2017-11-20 10:30:15.406) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000179s [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.407) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.407) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.428) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.429) Camera.cpp:103::takeImage() Time capturing image = 0,001034s [DEBUG] (2017-11-20 10:30:15.429) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.429) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.429) RtabmapThread.cpp:628::addData() Added data 121 [ INFO] (2017-11-20 10:30:15.429) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.429) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.429) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.429) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10445)... [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:621::update() time preUpdate=0,009775 ms [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.429) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.429) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.429) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.429) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.429) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.430) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.430) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.430) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,300859,-0,531451,-0,167708 [DEBUG] (2017-11-20 10:30:15.431) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.431) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.432) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.433) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.433) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.433) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.436) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003243 s, keypoints extracted = 755 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.436) Memory.cpp:3482::createSignature() time keypoints (755) = 0,006994s [DEBUG] (2017-11-20 10:30:15.440) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 755, remaining kpts=755 [DEBUG] (2017-11-20 10:30:15.440) Memory.cpp:3487::createSignature() time descriptors (755) = 0,003573s [DEBUG] (2017-11-20 10:30:15.440) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=194 [DEBUG] (2017-11-20 10:30:15.440) Memory.cpp:3500::createSignature() time keypoints 3D (755) = 0,000087s [DEBUG] (2017-11-20 10:30:15.440) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.440) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.440) Memory.cpp:3612::createSignature() time descriptor and memory update (755 of size=32) = 0,000016s [DEBUG] (2017-11-20 10:30:15.440) VWDictionary.cpp:593::addNewWords() id=121 descriptors=755 [DEBUG] (2017-11-20 10:30:15.440) VWDictionary.cpp:686::addNewWords() newPts.total()=755 [DEBUG] (2017-11-20 10:30:15.448) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007810 s [DEBUG] (2017-11-20 10:30:15.452) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003966 s [DEBUG] (2017-11-20 10:30:15.452) VWDictionary.cpp:874::addNewWords() 393 new words added... [DEBUG] (2017-11-20 10:30:15.452) VWDictionary.cpp:876::addNewWords() 362 duplicated words added (from current image = 8)... [DEBUG] (2017-11-20 10:30:15.452) VWDictionary.cpp:877::addNewWords() total time 0,011807s [DEBUG] (2017-11-20 10:30:15.452) Memory.cpp:3672::createSignature() time addNewWords 0,011822s indexed=10445 not=393 [DEBUG] (2017-11-20 10:30:15.452) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:3999::createSignature() time compressing data (id=121) 0,002212s [DEBUG] (2017-11-20 10:30:15.454) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:639::update() time creating signature=24,852991 ms [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:724::addSignatureToStm() adding 121 [DEBUG] (2017-11-20 10:30:15.454) Signature.cpp:121::addLink() Add link 121 to 120 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.454) Signature.cpp:121::addLink() Add link 120 to 121 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:752::addSignatureToStm() Min STM id = 82 [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:786::addSignatureToStm() 755 words ref for the signature 121 [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:794::addSignatureToStm() time = 0,000033s [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:2882::rehearsal() Comparing with signature (117)... [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:2905::rehearsal() merged=0, sim=0,120466 t=0,000150s [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:660::update() time rehearsal=0,221014 ms [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 82 from STM in WM... [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 83 from STM in WM... [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 84 from STM in WM... [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 85 from STM in WM... [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:713::update() totalTimer = 0,025109s [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.454) Rtabmap.cpp:1016::process() Processing signature 121 w=0 [ INFO] (2017-11-20 10:30:15.454) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025139s [DEBUG] (2017-11-20 10:30:15.454) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,300859,-0,531451,-0,167708 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,300859,-0,531451,-0,167708) [ INFO] (2017-11-20 10:30:15.454) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000051s [ INFO] (2017-11-20 10:30:15.454) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.454) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.455) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000342 s [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=26 [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:3272::adjustLikelihood() values.size=25 [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:3319::adjustLikelihood() mean=0,026476, stdDev=0,010298, max=0,052945, maxId=85, time=0,000005s [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000400s [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000023s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:495::updatePrediction() From added id 85, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000058s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000437s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:575::updatePrediction() time copying = 0,000010s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=8 [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000549s, rows=26, cols=26 [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=26, _posterior size=26 [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000020s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:208::computePosterior() sum=3,242588 [DEBUG] (2017-11-20 10:30:15.455) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000601s [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1400::process() Highest hypothesis=70, value=0,042207, timeHypothesesCreation=0,000016s [DEBUG] (2017-11-20 10:30:15.455) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.455) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000017s, joining (actual overhead) = 0,000011s [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1489::process() Retrieving locations... around id=70 [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:1511::process() neighbors of 70 in time = 33 [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.455) Rtabmap.cpp:1566::process() neighbors of 70 in space = 33 [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=32, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000044s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.455) Graph.cpp:1898::getNodesInRadius() found nodes=34 [ INFO] (2017-11-20 10:30:15.455) Rtabmap.cpp:1750::process() near nodes=34, max local immunized=21, ratio=0,250000 WM=86 [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.456) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.456) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:4252::reactivateSignatures() time = 0,000027s [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000012s) [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000012s [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:1836::process() timeReactivations=0,000209s [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:1929::process() nearestIds=1/35 [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,300859,-0,531451,-0,167708 [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,300859,-0,531451,-0,167708 [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2463::process() Time creating stats = 0,000112... [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:2219::removeRawData() id=121 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.456) Memory.cpp:2137::saveLocationData() Saving location data 121 [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000112s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2537::process() Total time processing = 0,026687s... [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.456) Rtabmap.cpp:2661::process() Adding data 121 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.456) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.456) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 121 [DEBUG] (2017-11-20 10:30:15.457) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000180s [DEBUG] (2017-11-20 10:30:15.457) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.457) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.457) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.457) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:15.457) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.457) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.457) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.457) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.457) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.457) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.457) SensorData.cpp:557::uncompressData() 121 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.458) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.459) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 755 [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:3844::drawKeypoints() source time = 0,000528 s [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.460) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.461) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.462) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.462) Camera.cpp:103::takeImage() Time capturing image = 0,001268s [DEBUG] (2017-11-20 10:30:15.462) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.462) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.462) MainWindow.cpp:1971::updateMapCloud() posesIn=35 constraints=34 mapIdsIn=35 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.462) RtabmapThread.cpp:321::handleEvent() CameraEvent [DEBUG] (2017-11-20 10:30:15.463) MainWindow.cpp:2065::updateMapCloud() Update map with 35 locations [ INFO] (2017-11-20 10:30:15.463) RtabmapThread.cpp:628::addData() Added data 122 [ INFO] (2017-11-20 10:30:15.463) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.463) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:15.463) SensorData.cpp:557::uncompressData() 121 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.463) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.463) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.463) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [ INFO] (2017-11-20 10:30:15.463) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.463) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10838)... [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.463) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.463) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.463) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.463) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 393 words... [DEBUG] (2017-11-20 10:30:15.463) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.463) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.464) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 393 words... done! [DEBUG] (2017-11-20 10:30:15.464) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=393 removed=0) [DEBUG] (2017-11-20 10:30:15.464) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:3676::createSignature() id 122 is a bad signature [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:3999::createSignature() time compressing data (id=122) 0,001782s [DEBUG] (2017-11-20 10:30:15.465) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:639::update() time creating signature=1,815796 ms [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:724::addSignatureToStm() adding 122 [DEBUG] (2017-11-20 10:30:15.465) Signature.cpp:121::addLink() Add link 122 to 121 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.465) Signature.cpp:121::addLink() Add link 121 to 122 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:752::addSignatureToStm() Min STM id = 86 [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 122 [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:794::addSignatureToStm() time = 0,000065s [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:660::update() time rehearsal=0,078201 ms [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:713::update() totalTimer = 0,001921s [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1016::process() Processing signature 122 w=-1 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001958s [DEBUG] (2017-11-20 10:30:15.465) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,309418,-0,536580,-0,166267 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,309418,-0,536580,-0,166267) [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000025s [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:15.465) Graph.cpp:1898::getNodesInRadius() found nodes=35 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1750::process() near nodes=35, max local immunized=21, ratio=0,250000 WM=86 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1836::process() timeReactivations=0,000128s [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,309418,-0,536580,-0,166267 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,309418,-0,536580,-0,166267 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:2219::removeRawData() id=122 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.465) Memory.cpp:2137::saveLocationData() Saving location data 122 [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000027s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2537::process() Total time processing = 0,002213s... [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.465) Rtabmap.cpp:2661::process() Adding data 122 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.465) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.465) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.465) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.465) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 122 [DEBUG] (2017-11-20 10:30:15.465) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000158s [DEBUG] (2017-11-20 10:30:15.465) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.465) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.465) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.465) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:15.465) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.465) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.465) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.465) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.466) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000163s [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.467) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:15.468) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.468) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.468) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:15.469) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.469) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.470) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,309418,-0,536580,-0,166267 [DEBUG] (2017-11-20 10:30:15.472) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.472) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.472) SensorData.cpp:557::uncompressData() 122 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.472) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.474) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:1971::updateMapCloud() posesIn=36 constraints=35 mapIdsIn=36 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2065::updateMapCloud() Update map with 36 locations [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000184s [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.476) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.477) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.477) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.477) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.494) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.496) Camera.cpp:103::takeImage() Time capturing image = 0,001305s [DEBUG] (2017-11-20 10:30:15.496) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.496) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.496) RtabmapThread.cpp:628::addData() Added data 123 [ INFO] (2017-11-20 10:30:15.496) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.496) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.496) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.496) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10838)... [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.496) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.496) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.496) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3676::createSignature() id 123 is a bad signature [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:3999::createSignature() time compressing data (id=123) 0,000129s [DEBUG] (2017-11-20 10:30:15.496) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:639::update() time creating signature=0,158072 ms [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:724::addSignatureToStm() adding 123 [DEBUG] (2017-11-20 10:30:15.496) Signature.cpp:121::addLink() Add link 123 to 122 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.496) Signature.cpp:121::addLink() Add link 122 to 123 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:752::addSignatureToStm() Min STM id = 86 [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 123 [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:660::update() time rehearsal=0,051975 ms [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:713::update() totalTimer = 0,000235s [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.496) Rtabmap.cpp:1016::process() Processing signature 123 w=-1 [ INFO] (2017-11-20 10:30:15.496) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000265s [DEBUG] (2017-11-20 10:30:15.496) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,317567,-0,536137,-0,161592 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,317567,-0,536137,-0,161592) [ INFO] (2017-11-20 10:30:15.496) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.496) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.496) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:15.497) Graph.cpp:1898::getNodesInRadius() found nodes=35 [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:1750::process() near nodes=35, max local immunized=21, ratio=0,250000 WM=86 [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:1836::process() timeReactivations=0,000171s [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,317567,-0,536137,-0,161592 [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,317567,-0,536137,-0,161592 [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2463::process() Time creating stats = 0,000084... [DEBUG] (2017-11-20 10:30:15.497) Memory.cpp:2219::removeRawData() id=123 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.497) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.497) Memory.cpp:2137::saveLocationData() Saving location data 123 [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000036s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2537::process() Total time processing = 0,000635s... [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:15.497) Rtabmap.cpp:2661::process() Adding data 123 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.497) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.497) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.497) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.497) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 123 [DEBUG] (2017-11-20 10:30:15.497) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.497) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.497) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000223s [DEBUG] (2017-11-20 10:30:15.497) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.497) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.497) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.497) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:15.497) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.497) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.498) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.498) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.498) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,317567,-0,536137,-0,161592 [DEBUG] (2017-11-20 10:30:15.498) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.498) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.502) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.502) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.502) SensorData.cpp:557::uncompressData() 123 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.502) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.504) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.505) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.505) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.505) MainWindow.cpp:1971::updateMapCloud() posesIn=36 constraints=35 mapIdsIn=36 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.505) MainWindow.cpp:2065::updateMapCloud() Update map with 36 locations [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000181s [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.506) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.507) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.507) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.507) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.528) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.529) Camera.cpp:103::takeImage() Time capturing image = 0,001033s [DEBUG] (2017-11-20 10:30:15.529) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.529) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.529) RtabmapThread.cpp:628::addData() Added data 124 [ INFO] (2017-11-20 10:30:15.529) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.529) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.529) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.529) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10838)... [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:621::update() time preUpdate=0,015020 ms [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.529) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.529) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.530) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.530) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:3676::createSignature() id 124 is a bad signature [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:3999::createSignature() time compressing data (id=124) 0,001171s [DEBUG] (2017-11-20 10:30:15.531) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.531) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.531) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:639::update() time creating signature=1,225948 ms [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:724::addSignatureToStm() adding 124 [DEBUG] (2017-11-20 10:30:15.531) Signature.cpp:121::addLink() Add link 124 to 123 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.531) Signature.cpp:121::addLink() Add link 123 to 124 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:752::addSignatureToStm() Min STM id = 86 [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 124 [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:794::addSignatureToStm() time = 0,000058s [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:660::update() time rehearsal=0,097990 ms [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:713::update() totalTimer = 0,001357s [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1016::process() Processing signature 124 w=-1 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001410s [DEBUG] (2017-11-20 10:30:15.531) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,318405,-0,541768,-0,157996 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,318405,-0,541768,-0,157996) [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000045s [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000024s [DEBUG] (2017-11-20 10:30:15.531) Graph.cpp:1898::getNodesInRadius() found nodes=35 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1750::process() near nodes=35, max local immunized=21, ratio=0,250000 WM=86 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1836::process() timeReactivations=0,000186s [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000008s [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2336::process() timeMapOptimization=0,000019s [DEBUG] (2017-11-20 10:30:15.531) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,318405,-0,541768,-0,157996 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,318405,-0,541768,-0,157996 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,318405,-0,541768,-0,157996 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2463::process() Time creating stats = 0,000099... [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:2219::removeRawData() id=124 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.531) Memory.cpp:2137::saveLocationData() Saving location data 124 [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000053s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2537::process() Total time processing = 0,001861s... [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000017... [ INFO] (2017-11-20 10:30:15.531) Rtabmap.cpp:2661::process() Adding data 124 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.531) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.531) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.532) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.532) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.532) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.532) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 124 [DEBUG] (2017-11-20 10:30:15.532) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000256s [DEBUG] (2017-11-20 10:30:15.532) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.532) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.533) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.533) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.533) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:15.533) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.533) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.533) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.539) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.539) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.539) SensorData.cpp:557::uncompressData() 124 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.539) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:1689::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:3844::drawKeypoints() source time = 0,000007 s [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.544) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.547) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:15.547) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.547) MainWindow.cpp:1971::updateMapCloud() posesIn=36 constraints=35 mapIdsIn=36 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.547) MainWindow.cpp:2065::updateMapCloud() Update map with 36 locations [DEBUG] (2017-11-20 10:30:15.547) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000370s [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.548) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.549) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.549) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.549) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:15.561) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.562) Camera.cpp:103::takeImage() Time capturing image = 0,001148s [DEBUG] (2017-11-20 10:30:15.562) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.562) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.562) RtabmapThread.cpp:628::addData() Added data 125 [ INFO] (2017-11-20 10:30:15.562) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.562) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.563) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.563) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=10838)... [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.563) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.563) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.563) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.563) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.563) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.564) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.564) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.564) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,314081,-0,543076,-0,154929 [DEBUG] (2017-11-20 10:30:15.564) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.564) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.565) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.566) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.566) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.566) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.570) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003596 s, keypoints extracted = 749 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.570) Memory.cpp:3482::createSignature() time keypoints (749) = 0,007384s [DEBUG] (2017-11-20 10:30:15.574) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 749, remaining kpts=749 [DEBUG] (2017-11-20 10:30:15.574) Memory.cpp:3487::createSignature() time descriptors (749) = 0,004005s [DEBUG] (2017-11-20 10:30:15.574) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=194 [DEBUG] (2017-11-20 10:30:15.574) Memory.cpp:3500::createSignature() time keypoints 3D (749) = 0,000091s [DEBUG] (2017-11-20 10:30:15.574) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.574) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.574) Memory.cpp:3612::createSignature() time descriptor and memory update (749 of size=32) = 0,000019s [DEBUG] (2017-11-20 10:30:15.574) VWDictionary.cpp:593::addNewWords() id=125 descriptors=749 [DEBUG] (2017-11-20 10:30:15.574) VWDictionary.cpp:686::addNewWords() newPts.total()=749 [DEBUG] (2017-11-20 10:30:15.584) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,009939 s [DEBUG] (2017-11-20 10:30:15.588) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003986 s [DEBUG] (2017-11-20 10:30:15.588) VWDictionary.cpp:874::addNewWords() 376 new words added... [DEBUG] (2017-11-20 10:30:15.588) VWDictionary.cpp:876::addNewWords() 373 duplicated words added (from current image = 5)... [DEBUG] (2017-11-20 10:30:15.588) VWDictionary.cpp:877::addNewWords() total time 0,013966s [DEBUG] (2017-11-20 10:30:15.588) Memory.cpp:3672::createSignature() time addNewWords 0,013985s indexed=10838 not=376 [DEBUG] (2017-11-20 10:30:15.589) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:3999::createSignature() time compressing data (id=125) 0,002493s [DEBUG] (2017-11-20 10:30:15.591) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:639::update() time creating signature=28,146029 ms [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:724::addSignatureToStm() adding 125 [DEBUG] (2017-11-20 10:30:15.591) Signature.cpp:121::addLink() Add link 125 to 124 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.591) Signature.cpp:121::addLink() Add link 124 to 125 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:752::addSignatureToStm() Min STM id = 86 [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:786::addSignatureToStm() 749 words ref for the signature 125 [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:794::addSignatureToStm() time = 0,000039s [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:2882::rehearsal() Comparing with signature (121)... [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:2905::rehearsal() merged=0, sim=0,123179 t=0,000146s [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:660::update() time rehearsal=0,224113 ms [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 86 from STM in WM... [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 87 from STM in WM... [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 88 from STM in WM... [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 89 from STM in WM... [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:713::update() totalTimer = 0,028414s [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.591) Rtabmap.cpp:1016::process() Processing signature 125 w=0 [ INFO] (2017-11-20 10:30:15.591) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,028447s [DEBUG] (2017-11-20 10:30:15.591) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,314081,-0,543076,-0,154929 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,314081,-0,543076,-0,154929) [ INFO] (2017-11-20 10:30:15.591) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000055s [ INFO] (2017-11-20 10:30:15.591) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.591) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.592) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000380 s [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=27 [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:3272::adjustLikelihood() values.size=26 [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:3319::adjustLikelihood() mean=0,027236, stdDev=0,011609, max=0,053821, maxId=85, time=0,000006s [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000446s [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000025s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:495::updatePrediction() From added id 89, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000071s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000526s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:575::updatePrediction() time copying = 0,000014s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=9 [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000662s, rows=27, cols=27 [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=27, _posterior size=27 [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000021s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:208::computePosterior() sum=3,039333 [DEBUG] (2017-11-20 10:30:15.592) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000718s [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1400::process() Highest hypothesis=85, value=0,046355, timeHypothesesCreation=0,000022s [DEBUG] (2017-11-20 10:30:15.592) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.592) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000014s [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1489::process() Retrieving locations... around id=85 [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:1511::process() neighbors of 85 in time = 33 [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.592) Rtabmap.cpp:1566::process() neighbors of 85 in space = 33 [ INFO] (2017-11-20 10:30:15.592) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=21, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000044s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.593) Graph.cpp:1898::getNodesInRadius() found nodes=35 [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:1750::process() near nodes=35, max local immunized=22, ratio=0,250000 WM=90 [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.593) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.593) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:4252::reactivateSignatures() time = 0,000039s [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000016s) [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000016s [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:1836::process() timeReactivations=0,000278s [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:1929::process() nearestIds=1/36 [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000033s [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,314081,-0,543076,-0,154929 [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,314081,-0,543076,-0,154929 [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2463::process() Time creating stats = 0,000174... [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:2219::removeRawData() id=125 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.593) Memory.cpp:2137::saveLocationData() Saving location data 125 [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000165s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2537::process() Total time processing = 0,030369s... [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:15.593) Rtabmap.cpp:2661::process() Adding data 125 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.593) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.594) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.594) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 125 [DEBUG] (2017-11-20 10:30:15.594) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000241s [DEBUG] (2017-11-20 10:30:15.594) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.594) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.594) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.595) Camera.cpp:103::takeImage() Time capturing image = 0,000976s [DEBUG] (2017-11-20 10:30:15.595) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.595) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.596) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:15.596) RtabmapThread.cpp:321::handleEvent() CameraEvent [DEBUG] (2017-11-20 10:30:15.596) Rtabmap.cpp:2851::process() End process [ INFO] (2017-11-20 10:30:15.596) RtabmapThread.cpp:628::addData() Added data 126 [DEBUG] (2017-11-20 10:30:15.596) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.596) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.596) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:15.596) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.596) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.596) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.596) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11214)... [DEBUG] (2017-11-20 10:30:15.596) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:621::update() time preUpdate=0,038862 ms [DEBUG] (2017-11-20 10:30:15.596) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.597) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.597) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.597) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.597) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.597) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.597) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 376 words... [DEBUG] (2017-11-20 10:30:15.597) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.597) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.597) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,313598,-0,544884,-0,151263 [DEBUG] (2017-11-20 10:30:15.597) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.597) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.598) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 376 words... done! [DEBUG] (2017-11-20 10:30:15.598) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=376 removed=0) [DEBUG] (2017-11-20 10:30:15.598) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:3676::createSignature() id 126 is a bad signature [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:3999::createSignature() time compressing data (id=126) 0,001263s [DEBUG] (2017-11-20 10:30:15.598) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:639::update() time creating signature=1,335144 ms [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:724::addSignatureToStm() adding 126 [DEBUG] (2017-11-20 10:30:15.598) Signature.cpp:121::addLink() Add link 126 to 125 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.598) Signature.cpp:121::addLink() Add link 125 to 126 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:752::addSignatureToStm() Min STM id = 90 [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 126 [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:794::addSignatureToStm() time = 0,000052s [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:660::update() time rehearsal=0,067949 ms [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:713::update() totalTimer = 0,001459s [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1016::process() Processing signature 126 w=-1 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001515s [DEBUG] (2017-11-20 10:30:15.598) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,313598,-0,544884,-0,151263 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,313598,-0,544884,-0,151263) [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:15.598) Graph.cpp:1898::getNodesInRadius() found nodes=36 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1750::process() near nodes=36, max local immunized=22, ratio=0,250000 WM=90 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1836::process() timeReactivations=0,000196s [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000010s [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000007s [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,313598,-0,544884,-0,151263 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,313598,-0,544884,-0,151263 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2463::process() Time creating stats = 0,000069... [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:2219::removeRawData() id=126 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.598) Memory.cpp:2137::saveLocationData() Saving location data 126 [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000045s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2537::process() Total time processing = 0,001902s... [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:15.598) Rtabmap.cpp:2661::process() Adding data 126 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.598) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.598) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.599) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.599) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 126 [DEBUG] (2017-11-20 10:30:15.599) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000236s [DEBUG] (2017-11-20 10:30:15.599) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.599) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.599) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.599) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:15.599) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.599) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.599) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.599) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.605) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.605) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.605) SensorData.cpp:557::uncompressData() 125 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.606) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.609) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:15.609) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.609) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 749 [DEBUG] (2017-11-20 10:30:15.610) MainWindow.cpp:3844::drawKeypoints() source time = 0,000424 s [DEBUG] (2017-11-20 10:30:15.610) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.610) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.610) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.610) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.611) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.611) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.611) MainWindow.cpp:1971::updateMapCloud() posesIn=36 constraints=35 mapIdsIn=36 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.611) MainWindow.cpp:2065::updateMapCloud() Update map with 36 locations [DEBUG] (2017-11-20 10:30:15.612) SensorData.cpp:557::uncompressData() 125 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.612) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.612) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.612) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.612) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000180s [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.615) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:15.616) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.616) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.616) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:15.617) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.617) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.617) SensorData.cpp:557::uncompressData() 126 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.617) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.620) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.622) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.622) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:1971::updateMapCloud() posesIn=37 constraints=36 mapIdsIn=37 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2065::updateMapCloud() Update map with 37 locations [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000194s [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.623) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.624) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.624) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.624) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:15.628) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.629) Camera.cpp:103::takeImage() Time capturing image = 0,001325s [DEBUG] (2017-11-20 10:30:15.629) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.629) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.629) RtabmapThread.cpp:628::addData() Added data 127 [ INFO] (2017-11-20 10:30:15.629) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.629) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.629) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.629) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.629) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.629) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.629) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.629) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.629) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11214)... [DEBUG] (2017-11-20 10:30:15.629) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:15.630) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.630) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.633) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.633) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.633) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:3676::createSignature() id 127 is a bad signature [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:3999::createSignature() time compressing data (id=127) 0,003236s [DEBUG] (2017-11-20 10:30:15.633) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:639::update() time creating signature=3,278017 ms [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:724::addSignatureToStm() adding 127 [DEBUG] (2017-11-20 10:30:15.633) Signature.cpp:121::addLink() Add link 127 to 126 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.633) Signature.cpp:121::addLink() Add link 126 to 127 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:752::addSignatureToStm() Min STM id = 90 [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 127 [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:794::addSignatureToStm() time = 0,000055s [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:660::update() time rehearsal=0,071049 ms [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:713::update() totalTimer = 0,003381s [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1016::process() Processing signature 127 w=-1 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,003428s [DEBUG] (2017-11-20 10:30:15.633) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,316833,-0,549288,-0,148182 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,316833,-0,549288,-0,148182) [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000047s [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000022s [DEBUG] (2017-11-20 10:30:15.633) Graph.cpp:1898::getNodesInRadius() found nodes=36 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1750::process() near nodes=36, max local immunized=22, ratio=0,250000 WM=90 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1836::process() timeReactivations=0,000217s [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000010s [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,316833,-0,549288,-0,148182 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,316833,-0,549288,-0,148182 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2463::process() Time creating stats = 0,000072... [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:2219::removeRawData() id=127 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.633) Memory.cpp:2137::saveLocationData() Saving location data 127 [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000049s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2537::process() Total time processing = 0,003865s... [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:15.633) Rtabmap.cpp:2661::process() Adding data 127 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.633) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.633) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.634) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.634) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 127 [DEBUG] (2017-11-20 10:30:15.634) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000241s [DEBUG] (2017-11-20 10:30:15.634) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.634) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.636) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.636) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000026s... [DEBUG] (2017-11-20 10:30:15.636) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.636) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.636) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.636) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.636) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.636) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.637) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,316833,-0,549288,-0,148182 [DEBUG] (2017-11-20 10:30:15.637) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.637) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.644) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.644) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.644) SensorData.cpp:557::uncompressData() 127 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.644) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.646) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.648) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.648) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.648) MainWindow.cpp:1971::updateMapCloud() posesIn=37 constraints=36 mapIdsIn=37 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.648) MainWindow.cpp:2065::updateMapCloud() Update map with 37 locations [DEBUG] (2017-11-20 10:30:15.648) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000374s [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.649) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.651) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.651) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.651) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:15.661) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.662) Camera.cpp:103::takeImage() Time capturing image = 0,001213s [DEBUG] (2017-11-20 10:30:15.662) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.662) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.663) RtabmapThread.cpp:628::addData() Added data 128 [ INFO] (2017-11-20 10:30:15.663) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.663) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.663) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.663) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11214)... [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.663) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.663) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.663) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.663) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.663) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.665) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.665) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.665) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.665) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.668) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.668) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.668) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,320527,-0,562382,-0,147259 [DEBUG] (2017-11-20 10:30:15.669) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.669) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.669) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003702 s, keypoints extracted = 708 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.669) Memory.cpp:3482::createSignature() time keypoints (708) = 0,006110s [DEBUG] (2017-11-20 10:30:15.674) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 708, remaining kpts=708 [DEBUG] (2017-11-20 10:30:15.674) Memory.cpp:3487::createSignature() time descriptors (708) = 0,005548s [DEBUG] (2017-11-20 10:30:15.674) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:15.675) Memory.cpp:3500::createSignature() time keypoints 3D (708) = 0,000134s [DEBUG] (2017-11-20 10:30:15.675) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.675) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.675) Memory.cpp:3612::createSignature() time descriptor and memory update (708 of size=32) = 0,000024s [DEBUG] (2017-11-20 10:30:15.675) VWDictionary.cpp:593::addNewWords() id=128 descriptors=708 [DEBUG] (2017-11-20 10:30:15.675) VWDictionary.cpp:686::addNewWords() newPts.total()=708 [DEBUG] (2017-11-20 10:30:15.685) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,010767 s [DEBUG] (2017-11-20 10:30:15.689) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003677 s [DEBUG] (2017-11-20 10:30:15.689) VWDictionary.cpp:874::addNewWords() 354 new words added... [DEBUG] (2017-11-20 10:30:15.689) VWDictionary.cpp:876::addNewWords() 354 duplicated words added (from current image = 7)... [DEBUG] (2017-11-20 10:30:15.689) VWDictionary.cpp:877::addNewWords() total time 0,014483s [DEBUG] (2017-11-20 10:30:15.689) Memory.cpp:3672::createSignature() time addNewWords 0,014502s indexed=11214 not=354 [DEBUG] (2017-11-20 10:30:15.689) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:3999::createSignature() time compressing data (id=128) 0,002080s [DEBUG] (2017-11-20 10:30:15.691) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:639::update() time creating signature=28,520107 ms [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:724::addSignatureToStm() adding 128 [DEBUG] (2017-11-20 10:30:15.691) Signature.cpp:121::addLink() Add link 128 to 127 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.691) Signature.cpp:121::addLink() Add link 127 to 128 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:752::addSignatureToStm() Min STM id = 90 [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:786::addSignatureToStm() 708 words ref for the signature 128 [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:2882::rehearsal() Comparing with signature (125)... [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:2905::rehearsal() merged=0, sim=0,113485 t=0,000123s [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:660::update() time rehearsal=0,181913 ms [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 90 from STM in WM... [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 91 from STM in WM... [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 92 from STM in WM... [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 93 from STM in WM... [DEBUG] (2017-11-20 10:30:15.691) Memory.cpp:713::update() totalTimer = 0,028750s [DEBUG] (2017-11-20 10:30:15.692) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.692) Rtabmap.cpp:1016::process() Processing signature 128 w=0 [ INFO] (2017-11-20 10:30:15.692) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,028797s [DEBUG] (2017-11-20 10:30:15.692) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,320527,-0,562382,-0,147259 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,320527,-0,562382,-0,147259) [ INFO] (2017-11-20 10:30:15.692) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000087s [ INFO] (2017-11-20 10:30:15.692) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.692) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.692) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000382 s [DEBUG] (2017-11-20 10:30:15.692) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=28 [DEBUG] (2017-11-20 10:30:15.692) Rtabmap.cpp:3272::adjustLikelihood() values.size=27 [DEBUG] (2017-11-20 10:30:15.692) Rtabmap.cpp:3319::adjustLikelihood() mean=0,025282, stdDev=0,014329, max=0,070665, maxId=93, time=0,000006s [ INFO] (2017-11-20 10:30:15.692) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000458s [ INFO] (2017-11-20 10:30:15.692) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.692) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.692) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.692) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000028s [DEBUG] (2017-11-20 10:30:15.692) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:15.692) BayesFilter.cpp:495::updatePrediction() From added id 93, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.692) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000060s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000477s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:575::updatePrediction() time copying = 0,000012s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000007s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=10 [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000609s, rows=28, cols=28 [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=28, _posterior size=28 [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000027s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000008s [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:208::computePosterior() sum=2,531527 [DEBUG] (2017-11-20 10:30:15.693) BayesFilter.cpp:216::computePosterior() normalize time=0,000011s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000684s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1400::process() Highest hypothesis=93, value=0,057693, timeHypothesesCreation=0,000025s [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000026s, joining (actual overhead) = 0,000020s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1489::process() Retrieving locations... around id=93 [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1511::process() neighbors of 93 in time = 33 [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1566::process() neighbors of 93 in space = 33 [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000049s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.693) Graph.cpp:1898::getNodesInRadius() found nodes=36 [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1750::process() near nodes=36, max local immunized=23, ratio=0,250000 WM=94 [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.693) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.693) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:4252::reactivateSignatures() time = 0,000042s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000017s) [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000017s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1836::process() timeReactivations=0,000263s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1929::process() nearestIds=1/37 [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.693) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000035s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,320527,-0,562382,-0,147259 [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,320527,-0,562382,-0,147259 [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2463::process() Time creating stats = 0,000150... [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:2219::removeRawData() id=128 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.693) Memory.cpp:2137::saveLocationData() Saving location data 128 [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000122s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2537::process() Total time processing = 0,030659s... [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:15.693) Rtabmap.cpp:2661::process() Adding data 128 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.694) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.694) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.694) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.694) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 128 [DEBUG] (2017-11-20 10:30:15.694) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000179s [DEBUG] (2017-11-20 10:30:15.694) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.694) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.694) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.694) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:15.694) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.694) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.694) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.695) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.695) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.695) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.695) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.695) SensorData.cpp:557::uncompressData() 128 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.695) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.696) Camera.cpp:103::takeImage() Time capturing image = 0,001142s [DEBUG] (2017-11-20 10:30:15.696) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.696) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.696) RtabmapThread.cpp:628::addData() Added data 129 [ INFO] (2017-11-20 10:30:15.696) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.696) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.696) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.696) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11568)... [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.696) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.696) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.696) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.696) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 354 words... [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.696) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.697) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.697) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 354 words... done! [DEBUG] (2017-11-20 10:30:15.697) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=354 removed=0) [DEBUG] (2017-11-20 10:30:15.697) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:3676::createSignature() id 129 is a bad signature [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:3999::createSignature() time compressing data (id=129) 0,001162s [DEBUG] (2017-11-20 10:30:15.697) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:639::update() time creating signature=1,188993 ms [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:724::addSignatureToStm() adding 129 [DEBUG] (2017-11-20 10:30:15.697) Signature.cpp:121::addLink() Add link 129 to 128 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.697) Signature.cpp:121::addLink() Add link 128 to 129 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:752::addSignatureToStm() Min STM id = 94 [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 129 [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:713::update() totalTimer = 0,001253s [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1016::process() Processing signature 129 w=-1 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001303s [DEBUG] (2017-11-20 10:30:15.697) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,321107,-0,570560,-0,144630 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,321107,-0,570560,-0,144630) [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000025s [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:15.697) Graph.cpp:1898::getNodesInRadius() found nodes=37 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1750::process() near nodes=37, max local immunized=23, ratio=0,250000 WM=94 [DEBUG] (2017-11-20 10:30:15.697) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.697) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 708 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1836::process() timeReactivations=0,000153s [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,321107,-0,570560,-0,144630 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,321107,-0,570560,-0,144630 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:2219::removeRawData() id=129 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.697) Memory.cpp:2137::saveLocationData() Saving location data 129 [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000031s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2537::process() Total time processing = 0,001596s... [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:15.697) Rtabmap.cpp:2661::process() Adding data 129 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.697) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.698) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.698) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.698) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 129 [DEBUG] (2017-11-20 10:30:15.698) MainWindow.cpp:3844::drawKeypoints() source time = 0,000476 s [DEBUG] (2017-11-20 10:30:15.698) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.698) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.698) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000178s [DEBUG] (2017-11-20 10:30:15.698) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.698) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.698) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.698) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.698) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.698) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000018s... [DEBUG] (2017-11-20 10:30:15.698) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.698) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.698) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.698) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.700) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.700) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.700) MainWindow.cpp:1971::updateMapCloud() posesIn=37 constraints=36 mapIdsIn=37 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.700) MainWindow.cpp:2065::updateMapCloud() Update map with 37 locations [DEBUG] (2017-11-20 10:30:15.700) SensorData.cpp:557::uncompressData() 128 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.700) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.700) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.700) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.701) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000165s [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.703) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:15.704) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.704) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.704) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:15.705) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.705) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.705) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,321107,-0,570560,-0,144630 [DEBUG] (2017-11-20 10:30:15.707) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.707) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.707) SensorData.cpp:557::uncompressData() 129 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.708) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.709) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:1971::updateMapCloud() posesIn=38 constraints=37 mapIdsIn=38 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2065::updateMapCloud() Update map with 38 locations [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000170s [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.711) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.712) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.712) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.712) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.728) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.729) Camera.cpp:103::takeImage() Time capturing image = 0,001022s [DEBUG] (2017-11-20 10:30:15.729) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.729) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.729) RtabmapThread.cpp:628::addData() Added data 130 [ INFO] (2017-11-20 10:30:15.729) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.729) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.729) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.729) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11568)... [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.729) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.729) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.729) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3676::createSignature() id 130 is a bad signature [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:3999::createSignature() time compressing data (id=130) 0,000120s [DEBUG] (2017-11-20 10:30:15.729) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:639::update() time creating signature=0,143051 ms [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:724::addSignatureToStm() adding 130 [DEBUG] (2017-11-20 10:30:15.729) Signature.cpp:121::addLink() Add link 130 to 129 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.729) Signature.cpp:121::addLink() Add link 129 to 130 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:752::addSignatureToStm() Min STM id = 94 [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 130 [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:660::update() time rehearsal=0,053167 ms [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:713::update() totalTimer = 0,000218s [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.729) Rtabmap.cpp:1016::process() Processing signature 130 w=-1 [ INFO] (2017-11-20 10:30:15.729) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000243s [DEBUG] (2017-11-20 10:30:15.729) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,319915,-0,571025,-0,136347 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,319915,-0,571025,-0,136347) [ INFO] (2017-11-20 10:30:15.729) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.729) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.729) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000018s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:15.730) Graph.cpp:1898::getNodesInRadius() found nodes=37 [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:1750::process() near nodes=37, max local immunized=23, ratio=0,250000 WM=94 [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:1836::process() timeReactivations=0,000135s [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,319915,-0,571025,-0,136347 [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,319915,-0,571025,-0,136347 [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2463::process() Time creating stats = 0,000040... [DEBUG] (2017-11-20 10:30:15.730) Memory.cpp:2219::removeRawData() id=130 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.730) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.730) Memory.cpp:2137::saveLocationData() Saving location data 130 [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000023s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2537::process() Total time processing = 0,000496s... [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.730) Rtabmap.cpp:2661::process() Adding data 130 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.730) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.730) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.730) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.730) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.730) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.730) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 130 [DEBUG] (2017-11-20 10:30:15.730) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000164s [DEBUG] (2017-11-20 10:30:15.730) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.730) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.730) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,319915,-0,571025,-0,136347 [DEBUG] (2017-11-20 10:30:15.730) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.730) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:15.730) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.730) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.730) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.730) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.730) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.730) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.735) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.735) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.735) SensorData.cpp:557::uncompressData() 130 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.735) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.736) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.737) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.739) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.739) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.739) MainWindow.cpp:1971::updateMapCloud() posesIn=38 constraints=37 mapIdsIn=38 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.739) MainWindow.cpp:2065::updateMapCloud() Update map with 38 locations [DEBUG] (2017-11-20 10:30:15.739) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000275s [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.740) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.741) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.741) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:15.761) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.762) Camera.cpp:103::takeImage() Time capturing image = 0,001145s [DEBUG] (2017-11-20 10:30:15.762) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.762) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.762) RtabmapThread.cpp:628::addData() Added data 131 [ INFO] (2017-11-20 10:30:15.763) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.763) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11568)... [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.763) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.763) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.763) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3676::createSignature() id 131 is a bad signature [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:3999::createSignature() time compressing data (id=131) 0,000118s [DEBUG] (2017-11-20 10:30:15.763) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:639::update() time creating signature=0,144958 ms [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:724::addSignatureToStm() adding 131 [DEBUG] (2017-11-20 10:30:15.763) Signature.cpp:121::addLink() Add link 131 to 130 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.763) Signature.cpp:121::addLink() Add link 130 to 131 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:752::addSignatureToStm() Min STM id = 94 [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 131 [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:794::addSignatureToStm() time = 0,000039s [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:660::update() time rehearsal=0,047922 ms [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:713::update() totalTimer = 0,000221s [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1016::process() Processing signature 131 w=-1 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000253s [DEBUG] (2017-11-20 10:30:15.763) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,320240,-0,566352,-0,128859 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,320240,-0,566352,-0,128859) [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000037s [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:15.763) Graph.cpp:1898::getNodesInRadius() found nodes=37 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1750::process() near nodes=37, max local immunized=23, ratio=0,250000 WM=94 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1836::process() timeReactivations=0,000154s [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,320240,-0,566352,-0,128859 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,320240,-0,566352,-0,128859 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2463::process() Time creating stats = 0,000052... [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:2219::removeRawData() id=131 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.763) Memory.cpp:2137::saveLocationData() Saving location data 131 [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2537::process() Total time processing = 0,000557s... [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.763) Rtabmap.cpp:2661::process() Adding data 131 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.763) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.763) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.764) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.764) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 131 [DEBUG] (2017-11-20 10:30:15.764) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.764) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.764) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000174s [DEBUG] (2017-11-20 10:30:15.764) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.764) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.764) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.764) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:15.764) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.764) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.764) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.764) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.764) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,320240,-0,566352,-0,128859 [DEBUG] (2017-11-20 10:30:15.764) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.764) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.769) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.769) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.769) SensorData.cpp:557::uncompressData() 131 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.769) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.770) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.771) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.772) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.772) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.772) MainWindow.cpp:1971::updateMapCloud() posesIn=38 constraints=37 mapIdsIn=38 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.772) MainWindow.cpp:2065::updateMapCloud() Update map with 38 locations [DEBUG] (2017-11-20 10:30:15.772) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000217s [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.773) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.773) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:15.794) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.795) Camera.cpp:103::takeImage() Time capturing image = 0,000967s [DEBUG] (2017-11-20 10:30:15.795) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.796) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.796) RtabmapThread.cpp:628::addData() Added data 132 [ INFO] (2017-11-20 10:30:15.796) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.796) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.796) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.796) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11568)... [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.796) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.796) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.796) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.796) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.796) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.796) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.796) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.797) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,317002,-0,568787,-0,120478 [DEBUG] (2017-11-20 10:30:15.797) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.797) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.797) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.798) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.798) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.798) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.802) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004387 s, keypoints extracted = 721 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.803) Memory.cpp:3482::createSignature() time keypoints (721) = 0,006778s [DEBUG] (2017-11-20 10:30:15.807) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 721, remaining kpts=721 [DEBUG] (2017-11-20 10:30:15.807) Memory.cpp:3487::createSignature() time descriptors (721) = 0,004854s [DEBUG] (2017-11-20 10:30:15.807) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:15.807) Memory.cpp:3500::createSignature() time keypoints 3D (721) = 0,000096s [DEBUG] (2017-11-20 10:30:15.807) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.807) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.807) Memory.cpp:3612::createSignature() time descriptor and memory update (721 of size=32) = 0,000025s [DEBUG] (2017-11-20 10:30:15.808) VWDictionary.cpp:593::addNewWords() id=132 descriptors=721 [DEBUG] (2017-11-20 10:30:15.808) VWDictionary.cpp:686::addNewWords() newPts.total()=721 [DEBUG] (2017-11-20 10:30:15.816) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008847 s [DEBUG] (2017-11-20 10:30:15.820) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003927 s [DEBUG] (2017-11-20 10:30:15.820) VWDictionary.cpp:874::addNewWords() 377 new words added... [DEBUG] (2017-11-20 10:30:15.820) VWDictionary.cpp:876::addNewWords() 344 duplicated words added (from current image = 6)... [DEBUG] (2017-11-20 10:30:15.820) VWDictionary.cpp:877::addNewWords() total time 0,012827s [DEBUG] (2017-11-20 10:30:15.820) Memory.cpp:3672::createSignature() time addNewWords 0,012853s indexed=11568 not=377 [DEBUG] (2017-11-20 10:30:15.821) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.822) Memory.cpp:3999::createSignature() time compressing data (id=132) 0,002110s [DEBUG] (2017-11-20 10:30:15.822) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:639::update() time creating signature=26,849985 ms [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:724::addSignatureToStm() adding 132 [DEBUG] (2017-11-20 10:30:15.823) Signature.cpp:121::addLink() Add link 132 to 131 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.823) Signature.cpp:121::addLink() Add link 131 to 132 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:752::addSignatureToStm() Min STM id = 94 [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:786::addSignatureToStm() 721 words ref for the signature 132 [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:2882::rehearsal() Comparing with signature (128)... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:2905::rehearsal() merged=0, sim=0,130374 t=0,000109s [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:660::update() time rehearsal=0,166893 ms [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 94 from STM in WM... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 95 from STM in WM... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 96 from STM in WM... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 97 from STM in WM... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:713::update() totalTimer = 0,027055s [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.823) Rtabmap.cpp:1016::process() Processing signature 132 w=0 [ INFO] (2017-11-20 10:30:15.823) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,027086s [DEBUG] (2017-11-20 10:30:15.823) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,317002,-0,568787,-0,120478 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,317002,-0,568787,-0,120478) [ INFO] (2017-11-20 10:30:15.823) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000078s [ INFO] (2017-11-20 10:30:15.823) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.823) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000366 s [DEBUG] (2017-11-20 10:30:15.823) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=29 [DEBUG] (2017-11-20 10:30:15.823) Rtabmap.cpp:3272::adjustLikelihood() values.size=28 [DEBUG] (2017-11-20 10:30:15.823) Rtabmap.cpp:3319::adjustLikelihood() mean=0,026189, stdDev=0,014948, max=0,067476, maxId=97, time=0,000005s [ INFO] (2017-11-20 10:30:15.823) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000428s [ INFO] (2017-11-20 10:30:15.823) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.823) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.823) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.823) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000023s [DEBUG] (2017-11-20 10:30:15.823) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:15.823) BayesFilter.cpp:495::updatePrediction() From added id 97, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.823) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000062s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000471s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:575::updatePrediction() time copying = 0,000011s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000007s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=11 [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000597s, rows=29, cols=29 [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=29, _posterior size=29 [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000030s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000008s [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:208::computePosterior() sum=2,507952 [DEBUG] (2017-11-20 10:30:15.824) BayesFilter.cpp:216::computePosterior() normalize time=0,000012s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000669s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1400::process() Highest hypothesis=97, value=0,063050, timeHypothesesCreation=0,000027s [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000017s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1489::process() Retrieving locations... around id=97 [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1511::process() neighbors of 97 in time = 33 [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1566::process() neighbors of 97 in space = 33 [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000049s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.824) Graph.cpp:1898::getNodesInRadius() found nodes=37 [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1750::process() near nodes=37, max local immunized=24, ratio=0,250000 WM=98 [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.824) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.824) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:15.824) Memory.cpp:4252::reactivateSignatures() time = 0,000041s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000017s) [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000017s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1836::process() timeReactivations=0,000256s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1929::process() nearestIds=1/38 [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.824) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000035s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,317002,-0,568787,-0,120478 [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,317002,-0,568787,-0,120478 [ INFO] (2017-11-20 10:30:15.824) Rtabmap.cpp:2463::process() Time creating stats = 0,000151... [DEBUG] (2017-11-20 10:30:15.825) Memory.cpp:2219::removeRawData() id=132 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.825) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.825) Memory.cpp:2137::saveLocationData() Saving location data 132 [ INFO] (2017-11-20 10:30:15.825) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000120s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.825) Rtabmap.cpp:2537::process() Total time processing = 0,028884s... [ INFO] (2017-11-20 10:30:15.825) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:15.825) Rtabmap.cpp:2661::process() Adding data 132 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.825) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.825) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.825) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.825) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 132 [DEBUG] (2017-11-20 10:30:15.825) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000184s [DEBUG] (2017-11-20 10:30:15.825) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.825) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.825) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.825) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:15.825) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.826) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.826) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.826) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.826) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.826) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.826) SensorData.cpp:557::uncompressData() 132 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.827) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.828) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.829) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.829) Camera.cpp:103::takeImage() Time capturing image = 0,001009s [DEBUG] (2017-11-20 10:30:15.829) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.829) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.829) RtabmapThread.cpp:628::addData() Added data 133 [ INFO] (2017-11-20 10:30:15.829) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.829) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.829) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.829) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.829) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.829) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 721 [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11945)... [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:621::update() time preUpdate=0,025988 ms [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.829) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.829) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.829) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.829) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 377 words... [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.829) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.830) MainWindow.cpp:3844::drawKeypoints() source time = 0,000552 s [DEBUG] (2017-11-20 10:30:15.830) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.830) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000007 s [DEBUG] (2017-11-20 10:30:15.830) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.830) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.830) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 377 words... done! [DEBUG] (2017-11-20 10:30:15.830) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=377 removed=0) [DEBUG] (2017-11-20 10:30:15.830) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:3676::createSignature() id 133 is a bad signature [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:3999::createSignature() time compressing data (id=133) 0,001261s [DEBUG] (2017-11-20 10:30:15.830) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:639::update() time creating signature=1,286983 ms [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:724::addSignatureToStm() adding 133 [DEBUG] (2017-11-20 10:30:15.830) Signature.cpp:121::addLink() Add link 133 to 132 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.830) Signature.cpp:121::addLink() Add link 132 to 133 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:752::addSignatureToStm() Min STM id = 98 [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 133 [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:660::update() time rehearsal=0,046015 ms [DEBUG] (2017-11-20 10:30:15.830) Memory.cpp:713::update() totalTimer = 0,001372s [DEBUG] (2017-11-20 10:30:15.831) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1016::process() Processing signature 133 w=-1 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001411s [DEBUG] (2017-11-20 10:30:15.831) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,316600,-0,577683,-0,115022 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,316600,-0,577683,-0,115022) [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000022s [DEBUG] (2017-11-20 10:30:15.831) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.831) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:15.831) Graph.cpp:1898::getNodesInRadius() found nodes=38 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1750::process() near nodes=38, max local immunized=24, ratio=0,250000 WM=98 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1836::process() timeReactivations=0,000136s [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,316600,-0,577683,-0,115022 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,316600,-0,577683,-0,115022 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2463::process() Time creating stats = 0,000048... [DEBUG] (2017-11-20 10:30:15.831) Memory.cpp:2219::removeRawData() id=133 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.831) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.831) Memory.cpp:2137::saveLocationData() Saving location data 133 [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2537::process() Total time processing = 0,001678s... [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:15.831) Rtabmap.cpp:2661::process() Adding data 133 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.831) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.831) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.831) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.831) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 133 [DEBUG] (2017-11-20 10:30:15.831) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000162s [DEBUG] (2017-11-20 10:30:15.831) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.831) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.831) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.831) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000011s... [DEBUG] (2017-11-20 10:30:15.831) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.831) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.831) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.831) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.832) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.832) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.832) MainWindow.cpp:1971::updateMapCloud() posesIn=38 constraints=37 mapIdsIn=38 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.832) MainWindow.cpp:2065::updateMapCloud() Update map with 38 locations [DEBUG] (2017-11-20 10:30:15.832) SensorData.cpp:557::uncompressData() 132 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.832) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.832) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.832) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.832) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.835) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000168s [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.836) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:15.837) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.837) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.837) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:15.838) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.838) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.838) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,316600,-0,577683,-0,115022 [DEBUG] (2017-11-20 10:30:15.840) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.840) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.840) SensorData.cpp:557::uncompressData() 133 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.840) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.842) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:1799::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:1971::updateMapCloud() posesIn=39 constraints=38 mapIdsIn=39 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2065::updateMapCloud() Update map with 39 locations [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000169s [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.844) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.844) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:15.861) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.862) Camera.cpp:103::takeImage() Time capturing image = 0,000998s [DEBUG] (2017-11-20 10:30:15.862) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.862) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.862) RtabmapThread.cpp:628::addData() Added data 134 [ INFO] (2017-11-20 10:30:15.862) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.862) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.862) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.862) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11945)... [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.862) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.863) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.863) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.863) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:3676::createSignature() id 134 is a bad signature [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:3999::createSignature() time compressing data (id=134) 0,000123s [DEBUG] (2017-11-20 10:30:15.863) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:639::update() time creating signature=0,142097 ms [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:724::addSignatureToStm() adding 134 [DEBUG] (2017-11-20 10:30:15.863) Signature.cpp:121::addLink() Add link 134 to 133 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.863) Signature.cpp:121::addLink() Add link 133 to 134 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:752::addSignatureToStm() Min STM id = 98 [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 134 [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:660::update() time rehearsal=0,039816 ms [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:713::update() totalTimer = 0,000200s [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1016::process() Processing signature 134 w=-1 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000223s [DEBUG] (2017-11-20 10:30:15.863) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,314886,-0,579996,-0,110032 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,314886,-0,579996,-0,110032) [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000011s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:15.863) Graph.cpp:1898::getNodesInRadius() found nodes=38 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1750::process() near nodes=38, max local immunized=24, ratio=0,250000 WM=98 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1836::process() timeReactivations=0,000139s [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,314886,-0,579996,-0,110032 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,314886,-0,579996,-0,110032 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2463::process() Time creating stats = 0,000038... [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:2219::removeRawData() id=134 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.863) Memory.cpp:2137::saveLocationData() Saving location data 134 [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000024s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2537::process() Total time processing = 0,000480s... [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:15.863) Rtabmap.cpp:2661::process() Adding data 134 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.863) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.863) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.863) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.863) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.863) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.863) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 134 [DEBUG] (2017-11-20 10:30:15.863) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,314886,-0,579996,-0,110032 [DEBUG] (2017-11-20 10:30:15.863) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000258s [DEBUG] (2017-11-20 10:30:15.863) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.863) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.863) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.863) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:15.864) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.864) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.864) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.864) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.864) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.864) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.869) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.869) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.869) SensorData.cpp:557::uncompressData() 134 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.870) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.871) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.873) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.873) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.873) MainWindow.cpp:1971::updateMapCloud() posesIn=39 constraints=38 mapIdsIn=39 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.873) MainWindow.cpp:2065::updateMapCloud() Update map with 39 locations [DEBUG] (2017-11-20 10:30:15.873) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000190s [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.874) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.874) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.894) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.895) Camera.cpp:103::takeImage() Time capturing image = 0,000971s [DEBUG] (2017-11-20 10:30:15.896) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.896) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.896) RtabmapThread.cpp:628::addData() Added data 135 [ INFO] (2017-11-20 10:30:15.896) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.896) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.896) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.896) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=11945)... [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.896) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.896) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.896) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.896) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:15.896) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:15.896) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.896) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.897) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,313361,-0,578181,-0,101660 [DEBUG] (2017-11-20 10:30:15.898) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.898) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.898) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:15.899) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:15.899) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.899) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:15.903) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003781 s, keypoints extracted = 766 (mask empty=0) [DEBUG] (2017-11-20 10:30:15.903) Memory.cpp:3482::createSignature() time keypoints (766) = 0,007402s [DEBUG] (2017-11-20 10:30:15.907) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 766, remaining kpts=766 [DEBUG] (2017-11-20 10:30:15.907) Memory.cpp:3487::createSignature() time descriptors (766) = 0,004101s [DEBUG] (2017-11-20 10:30:15.907) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:15.907) Memory.cpp:3500::createSignature() time keypoints 3D (766) = 0,000101s [DEBUG] (2017-11-20 10:30:15.907) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.907) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.907) Memory.cpp:3612::createSignature() time descriptor and memory update (766 of size=32) = 0,000023s [DEBUG] (2017-11-20 10:30:15.907) VWDictionary.cpp:593::addNewWords() id=135 descriptors=766 [DEBUG] (2017-11-20 10:30:15.907) VWDictionary.cpp:686::addNewWords() newPts.total()=766 [DEBUG] (2017-11-20 10:30:15.916) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008301 s [DEBUG] (2017-11-20 10:30:15.920) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004149 s [DEBUG] (2017-11-20 10:30:15.920) VWDictionary.cpp:874::addNewWords() 388 new words added... [DEBUG] (2017-11-20 10:30:15.920) VWDictionary.cpp:876::addNewWords() 378 duplicated words added (from current image = 5)... [DEBUG] (2017-11-20 10:30:15.920) VWDictionary.cpp:877::addNewWords() total time 0,012488s [DEBUG] (2017-11-20 10:30:15.920) Memory.cpp:3672::createSignature() time addNewWords 0,012510s indexed=11945 not=388 [DEBUG] (2017-11-20 10:30:15.920) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:3999::createSignature() time compressing data (id=135) 0,002253s [DEBUG] (2017-11-20 10:30:15.922) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:639::update() time creating signature=26,540041 ms [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:724::addSignatureToStm() adding 135 [DEBUG] (2017-11-20 10:30:15.922) Signature.cpp:121::addLink() Add link 135 to 134 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.922) Signature.cpp:121::addLink() Add link 134 to 135 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:752::addSignatureToStm() Min STM id = 98 [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:786::addSignatureToStm() 766 words ref for the signature 135 [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:15.922) Memory.cpp:2882::rehearsal() Comparing with signature (132)... [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:2905::rehearsal() merged=0, sim=0,118799 t=0,000133s [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:660::update() time rehearsal=0,214100 ms [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 98 from STM in WM... [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 99 from STM in WM... [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 100 from STM in WM... [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:713::update() totalTimer = 0,026792s [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.923) Rtabmap.cpp:1016::process() Processing signature 135 w=0 [ INFO] (2017-11-20 10:30:15.923) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,026821s [DEBUG] (2017-11-20 10:30:15.923) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,313361,-0,578181,-0,101660 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,313361,-0,578181,-0,101660) [ INFO] (2017-11-20 10:30:15.923) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000052s [ INFO] (2017-11-20 10:30:15.923) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:15.923) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000361 s [DEBUG] (2017-11-20 10:30:15.923) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=30 [DEBUG] (2017-11-20 10:30:15.923) Rtabmap.cpp:3272::adjustLikelihood() values.size=29 [DEBUG] (2017-11-20 10:30:15.923) Rtabmap.cpp:3319::adjustLikelihood() mean=0,029645, stdDev=0,016453, max=0,075356, maxId=97, time=0,000006s [ INFO] (2017-11-20 10:30:15.923) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000427s [ INFO] (2017-11-20 10:30:15.923) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:15.923) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:15.923) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:15.923) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000026s [DEBUG] (2017-11-20 10:30:15.923) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:15.923) BayesFilter.cpp:495::updatePrediction() From added id 100, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:15.923) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000060s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000471s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:575::updatePrediction() time copying = 0,000012s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=12 [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000596s, rows=30, cols=30 [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=30, _posterior size=30 [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000024s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000007s [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:208::computePosterior() sum=2,542367 [DEBUG] (2017-11-20 10:30:15.924) BayesFilter.cpp:216::computePosterior() normalize time=0,000009s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000660s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1400::process() Highest hypothesis=97, value=0,063760, timeHypothesesCreation=0,000025s [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000015s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1489::process() Retrieving locations... around id=97 [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1511::process() neighbors of 97 in time = 33 [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1566::process() neighbors of 97 in space = 33 [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=20, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000045s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:15.924) Graph.cpp:1898::getNodesInRadius() found nodes=38 [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1750::process() near nodes=38, max local immunized=25, ratio=0,250000 WM=101 [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:15.924) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:15.924) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000001s [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000005s [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000005s... [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:4252::reactivateSignatures() time = 0,000035s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000015s) [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000015s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1836::process() timeReactivations=0,000234s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1929::process() nearestIds=1/39 [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000029s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,313361,-0,578181,-0,101660 [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,313361,-0,578181,-0,101660 [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2463::process() Time creating stats = 0,000130... [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:2219::removeRawData() id=135 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.924) Memory.cpp:2137::saveLocationData() Saving location data 135 [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000107s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2537::process() Total time processing = 0,028517s... [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:15.924) Rtabmap.cpp:2661::process() Adding data 135 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.924) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.925) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.925) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 135 [DEBUG] (2017-11-20 10:30:15.925) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000182s [DEBUG] (2017-11-20 10:30:15.925) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.925) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.925) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.925) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:15.925) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.925) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.925) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.925) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.926) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.926) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.926) SensorData.cpp:557::uncompressData() 135 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.926) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.928) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.928) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.928) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.928) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 766 [DEBUG] (2017-11-20 10:30:15.929) MainWindow.cpp:3844::drawKeypoints() source time = 0,000505 s [DEBUG] (2017-11-20 10:30:15.929) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.929) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.929) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.929) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.929) Camera.cpp:103::takeImage() Time capturing image = 0,001220s [DEBUG] (2017-11-20 10:30:15.929) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.929) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.929) RtabmapThread.cpp:628::addData() Added data 136 [ INFO] (2017-11-20 10:30:15.929) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.929) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.929) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.929) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12333)... [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.929) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.929) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:15.929) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:15.929) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 388 words... [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.929) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.930) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 388 words... done! [DEBUG] (2017-11-20 10:30:15.930) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=388 removed=0) [DEBUG] (2017-11-20 10:30:15.930) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:3676::createSignature() id 136 is a bad signature [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:3999::createSignature() time compressing data (id=136) 0,001024s [DEBUG] (2017-11-20 10:30:15.930) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:639::update() time creating signature=1,046896 ms [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:724::addSignatureToStm() adding 136 [DEBUG] (2017-11-20 10:30:15.930) Signature.cpp:121::addLink() Add link 136 to 135 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.930) Signature.cpp:121::addLink() Add link 135 to 136 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:752::addSignatureToStm() Min STM id = 101 [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 136 [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:660::update() time rehearsal=0,044107 ms [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:713::update() totalTimer = 0,001110s [DEBUG] (2017-11-20 10:30:15.930) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.930) Rtabmap.cpp:1016::process() Processing signature 136 w=-1 [ INFO] (2017-11-20 10:30:15.930) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001139s [DEBUG] (2017-11-20 10:30:15.930) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,314103,-0,580895,-0,094315 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,314103,-0,580895,-0,094315) [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000022s [DEBUG] (2017-11-20 10:30:15.931) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.931) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:15.931) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.931) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.931) MainWindow.cpp:1971::updateMapCloud() posesIn=39 constraints=38 mapIdsIn=39 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.931) Graph.cpp:1898::getNodesInRadius() found nodes=39 [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:1750::process() near nodes=39, max local immunized=25, ratio=0,250000 WM=101 [DEBUG] (2017-11-20 10:30:15.931) MainWindow.cpp:2065::updateMapCloud() Update map with 39 locations [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:1836::process() timeReactivations=0,000143s [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,314103,-0,580895,-0,094315 [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,314103,-0,580895,-0,094315 [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2463::process() Time creating stats = 0,000049... [DEBUG] (2017-11-20 10:30:15.931) Memory.cpp:2219::removeRawData() id=136 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.931) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.931) Memory.cpp:2137::saveLocationData() Saving location data 136 [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2537::process() Total time processing = 0,001413s... [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:15.931) Rtabmap.cpp:2661::process() Adding data 136 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.931) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.931) SensorData.cpp:557::uncompressData() 135 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:15.931) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.931) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:15.931) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.931) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:15.931) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.931) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:15.931) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 136 [DEBUG] (2017-11-20 10:30:15.931) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000163s [DEBUG] (2017-11-20 10:30:15.931) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.931) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.931) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.931) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:15.931) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.931) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.931) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.931) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.934) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000225s [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.935) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:15.936) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.936) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.937) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:15.938) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.938) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.938) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,314103,-0,580895,-0,094315 [DEBUG] (2017-11-20 10:30:15.940) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.940) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.940) SensorData.cpp:557::uncompressData() 136 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.940) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.943) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:1971::updateMapCloud() posesIn=40 constraints=39 mapIdsIn=40 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2065::updateMapCloud() Update map with 40 locations [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000184s [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.945) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.946) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.946) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.946) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:15.961) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.962) Camera.cpp:103::takeImage() Time capturing image = 0,001057s [DEBUG] (2017-11-20 10:30:15.962) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.962) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.962) RtabmapThread.cpp:628::addData() Added data 137 [ INFO] (2017-11-20 10:30:15.962) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.962) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12333)... [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:621::update() time preUpdate=0,018120 ms [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.963) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.963) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.963) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3676::createSignature() id 137 is a bad signature [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:3999::createSignature() time compressing data (id=137) 0,000193s [DEBUG] (2017-11-20 10:30:15.963) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:639::update() time creating signature=0,229836 ms [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:724::addSignatureToStm() adding 137 [DEBUG] (2017-11-20 10:30:15.963) Signature.cpp:121::addLink() Add link 137 to 136 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.963) Signature.cpp:121::addLink() Add link 136 to 137 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:752::addSignatureToStm() Min STM id = 101 [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 137 [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:794::addSignatureToStm() time = 0,000039s [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:660::update() time rehearsal=0,049114 ms [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:713::update() totalTimer = 0,000317s [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1016::process() Processing signature 137 w=-1 [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000362s [DEBUG] (2017-11-20 10:30:15.963) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,313869,-0,584646,-0,088895 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,313869,-0,584646,-0,088895) [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000044s [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.963) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:15.963) Graph.cpp:1898::getNodesInRadius() found nodes=39 [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1750::process() near nodes=39, max local immunized=25, ratio=0,250000 WM=101 [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1836::process() timeReactivations=0,000223s [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,313869,-0,584646,-0,088895 [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,313869,-0,584646,-0,088895 [ INFO] (2017-11-20 10:30:15.963) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:15.964) Memory.cpp:2219::removeRawData() id=137 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.964) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.964) Memory.cpp:2137::saveLocationData() Saving location data 137 [ INFO] (2017-11-20 10:30:15.964) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.964) Rtabmap.cpp:2537::process() Total time processing = 0,000759s... [ INFO] (2017-11-20 10:30:15.964) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:15.964) Rtabmap.cpp:2661::process() Adding data 137 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.964) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.964) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.964) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:15.964) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.964) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.964) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 137 [DEBUG] (2017-11-20 10:30:15.964) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,313869,-0,584646,-0,088895 [DEBUG] (2017-11-20 10:30:15.964) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000287s [DEBUG] (2017-11-20 10:30:15.964) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.964) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.964) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.964) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:15.964) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.965) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.965) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.965) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.965) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.965) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:15.970) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:15.970) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:15.970) SensorData.cpp:557::uncompressData() 137 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:15.970) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.971) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:15.972) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.973) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.973) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:15.973) MainWindow.cpp:1971::updateMapCloud() posesIn=40 constraints=39 mapIdsIn=40 labelsIn=1 [DEBUG] (2017-11-20 10:30:15.973) MainWindow.cpp:2065::updateMapCloud() Update map with 40 locations [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000240s [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:15.974) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:15.975) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:15.975) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:15.975) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:15.994) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:15.995) Camera.cpp:103::takeImage() Time capturing image = 0,000933s [DEBUG] (2017-11-20 10:30:15.995) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:15.995) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:15.996) RtabmapThread.cpp:628::addData() Added data 138 [ INFO] (2017-11-20 10:30:15.996) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:15.996) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12333)... [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:15.996) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:15.996) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:15.996) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3676::createSignature() id 138 is a bad signature [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:3999::createSignature() time compressing data (id=138) 0,000130s [DEBUG] (2017-11-20 10:30:15.996) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:639::update() time creating signature=0,164986 ms [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:724::addSignatureToStm() adding 138 [DEBUG] (2017-11-20 10:30:15.996) Signature.cpp:121::addLink() Add link 138 to 137 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.996) Signature.cpp:121::addLink() Add link 137 to 138 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:752::addSignatureToStm() Min STM id = 101 [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 138 [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:794::addSignatureToStm() time = 0,000048s [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:660::update() time rehearsal=0,061989 ms [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:713::update() totalTimer = 0,000256s [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1016::process() Processing signature 138 w=-1 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000298s [DEBUG] (2017-11-20 10:30:15.996) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,311648,-0,585611,-0,081053 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,311648,-0,585611,-0,081053) [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000046s [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000020s [DEBUG] (2017-11-20 10:30:15.996) Graph.cpp:1898::getNodesInRadius() found nodes=39 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1750::process() near nodes=39, max local immunized=25, ratio=0,250000 WM=101 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1836::process() timeReactivations=0,000195s [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000010s [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2373::process() send all stats... [DEBUG] (2017-11-20 10:30:15.996) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:15.996) MainWindow.cpp:985::processOdometry() odom ok [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,311648,-0,585611,-0,081053 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,311648,-0,585611,-0,081053 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2463::process() Time creating stats = 0,000080... [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:2219::removeRawData() id=138 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:15.996) Memory.cpp:2137::saveLocationData() Saving location data 138 [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000042s... 0 signatures removed [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2537::process() Total time processing = 0,000712s... [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:15.996) Rtabmap.cpp:2661::process() Adding data 138 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:15.996) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:15.996) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:15.997) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,311648,-0,585611,-0,081053 [DEBUG] (2017-11-20 10:30:15.997) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:15.997) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 138 [DEBUG] (2017-11-20 10:30:15.997) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:15.997) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:15.997) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000229s [DEBUG] (2017-11-20 10:30:15.997) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:15.997) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:15.997) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:15.997) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:15.997) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:15.997) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:15.997) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:15.997) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.002) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.002) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.002) SensorData.cpp:557::uncompressData() 138 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.002) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.003) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.004) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.005) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.005) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.005) MainWindow.cpp:1971::updateMapCloud() posesIn=40 constraints=39 mapIdsIn=40 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.005) MainWindow.cpp:2065::updateMapCloud() Update map with 40 locations [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000191s [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.006) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.007) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.007) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.007) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.028) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.029) Camera.cpp:103::takeImage() Time capturing image = 0,000993s [DEBUG] (2017-11-20 10:30:16.029) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.029) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.029) RtabmapThread.cpp:628::addData() Added data 139 [ INFO] (2017-11-20 10:30:16.029) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.029) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.029) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.029) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12333)... [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.029) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.029) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.029) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.029) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.029) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.030) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.030) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.030) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,311759,-0,590568,-0,076002 [DEBUG] (2017-11-20 10:30:16.030) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.030) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.031) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.032) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.032) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.032) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.035) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003296 s, keypoints extracted = 753 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.035) Memory.cpp:3482::createSignature() time keypoints (753) = 0,005960s [DEBUG] (2017-11-20 10:30:16.039) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 753, remaining kpts=753 [DEBUG] (2017-11-20 10:30:16.039) Memory.cpp:3487::createSignature() time descriptors (753) = 0,003681s [DEBUG] (2017-11-20 10:30:16.039) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:16.039) Memory.cpp:3500::createSignature() time keypoints 3D (753) = 0,000090s [DEBUG] (2017-11-20 10:30:16.039) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.039) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.039) Memory.cpp:3612::createSignature() time descriptor and memory update (753 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:16.039) VWDictionary.cpp:593::addNewWords() id=139 descriptors=753 [DEBUG] (2017-11-20 10:30:16.039) VWDictionary.cpp:686::addNewWords() newPts.total()=753 [DEBUG] (2017-11-20 10:30:16.048) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008653 s [DEBUG] (2017-11-20 10:30:16.052) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004154 s [DEBUG] (2017-11-20 10:30:16.052) VWDictionary.cpp:874::addNewWords() 408 new words added... [DEBUG] (2017-11-20 10:30:16.052) VWDictionary.cpp:876::addNewWords() 345 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:16.052) VWDictionary.cpp:877::addNewWords() total time 0,012839s [DEBUG] (2017-11-20 10:30:16.052) Memory.cpp:3672::createSignature() time addNewWords 0,012854s indexed=12333 not=408 [DEBUG] (2017-11-20 10:30:16.052) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:3999::createSignature() time compressing data (id=139) 0,002108s [DEBUG] (2017-11-20 10:30:16.054) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:639::update() time creating signature=24,838924 ms [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:724::addSignatureToStm() adding 139 [DEBUG] (2017-11-20 10:30:16.054) Signature.cpp:121::addLink() Add link 139 to 138 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.054) Signature.cpp:121::addLink() Add link 138 to 139 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:752::addSignatureToStm() Min STM id = 101 [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:786::addSignatureToStm() 753 words ref for the signature 139 [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:2882::rehearsal() Comparing with signature (135)... [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:2905::rehearsal() merged=0, sim=0,144909 t=0,000113s [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:660::update() time rehearsal=0,169039 ms [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 101 from STM in WM... [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 102 from STM in WM... [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 103 from STM in WM... [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:713::update() totalTimer = 0,025044s [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.054) Rtabmap.cpp:1016::process() Processing signature 139 w=0 [ INFO] (2017-11-20 10:30:16.054) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025078s [DEBUG] (2017-11-20 10:30:16.054) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,311759,-0,590568,-0,076002 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,311759,-0,590568,-0,076002) [ INFO] (2017-11-20 10:30:16.054) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000076s [ INFO] (2017-11-20 10:30:16.054) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.054) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.055) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000355 s [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=31 [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:3272::adjustLikelihood() values.size=30 [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:3319::adjustLikelihood() mean=0,030182, stdDev=0,015130, max=0,074340, maxId=103, time=0,000005s [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000416s [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000023s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:495::updatePrediction() From added id 103, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000057s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000472s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:575::updatePrediction() time copying = 0,000011s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=13 [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000586s, rows=31, cols=31 [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=31, _posterior size=31 [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000020s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:208::computePosterior() sum=2,703454 [DEBUG] (2017-11-20 10:30:16.055) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000639s [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1400::process() Highest hypothesis=103, value=0,059494, timeHypothesesCreation=0,000022s [DEBUG] (2017-11-20 10:30:16.055) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.055) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1489::process() Retrieving locations... around id=103 [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:1511::process() neighbors of 103 in time = 33 [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.055) Rtabmap.cpp:1566::process() neighbors of 103 in space = 33 [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000038s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.055) Graph.cpp:1898::getNodesInRadius() found nodes=39 [ INFO] (2017-11-20 10:30:16.055) Rtabmap.cpp:1750::process() near nodes=39, max local immunized=26, ratio=0,250000 WM=104 [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.056) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.056) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:4252::reactivateSignatures() time = 0,000025s [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000010s) [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000010s [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:1836::process() timeReactivations=0,000208s [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:1929::process() nearestIds=1/40 [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,311759,-0,590568,-0,076002 [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,311759,-0,590568,-0,076002 [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2463::process() Time creating stats = 0,000131... [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:2219::removeRawData() id=139 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.056) Memory.cpp:2137::saveLocationData() Saving location data 139 [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000103s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2537::process() Total time processing = 0,026718s... [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:16.056) Rtabmap.cpp:2661::process() Adding data 139 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.056) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 139 [DEBUG] (2017-11-20 10:30:16.056) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000169s [DEBUG] (2017-11-20 10:30:16.056) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.057) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.057) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.057) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.057) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.057) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.057) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.057) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.057) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.057) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.057) SensorData.cpp:557::uncompressData() 139 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.058) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.059) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.059) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.059) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 753 [DEBUG] (2017-11-20 10:30:16.060) MainWindow.cpp:3844::drawKeypoints() source time = 0,000394 s [DEBUG] (2017-11-20 10:30:16.060) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.060) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.060) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.060) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.061) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.062) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.062) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.062) MainWindow.cpp:1971::updateMapCloud() posesIn=40 constraints=39 mapIdsIn=40 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.062) MainWindow.cpp:2065::updateMapCloud() Update map with 40 locations [DEBUG] (2017-11-20 10:30:16.062) SensorData.cpp:557::uncompressData() 139 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.062) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.062) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.062) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.062) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.062) Camera.cpp:103::takeImage() Time capturing image = 0,000970s [DEBUG] (2017-11-20 10:30:16.062) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.062) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.062) RtabmapThread.cpp:628::addData() Added data 140 [ INFO] (2017-11-20 10:30:16.062) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.062) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.062) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.062) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12741)... [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.062) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.063) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.063) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.063) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.063) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 408 words... [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.064) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 408 words... done! [DEBUG] (2017-11-20 10:30:16.064) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=408 removed=0) [DEBUG] (2017-11-20 10:30:16.064) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:3676::createSignature() id 140 is a bad signature [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:3999::createSignature() time compressing data (id=140) 0,001332s [DEBUG] (2017-11-20 10:30:16.064) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:639::update() time creating signature=1,358032 ms [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:724::addSignatureToStm() adding 140 [DEBUG] (2017-11-20 10:30:16.064) Signature.cpp:121::addLink() Add link 140 to 139 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.064) Signature.cpp:121::addLink() Add link 139 to 140 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:752::addSignatureToStm() Min STM id = 104 [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 140 [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:660::update() time rehearsal=0,045061 ms [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:713::update() totalTimer = 0,001421s [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1016::process() Processing signature 140 w=-1 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001445s [DEBUG] (2017-11-20 10:30:16.064) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,313264,-0,595692,-0,072634 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,313264,-0,595692,-0,072634) [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000017s [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000010s [DEBUG] (2017-11-20 10:30:16.064) Graph.cpp:1898::getNodesInRadius() found nodes=40 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1750::process() near nodes=40, max local immunized=26, ratio=0,250000 WM=104 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1836::process() timeReactivations=0,000128s [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,313264,-0,595692,-0,072634 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,313264,-0,595692,-0,072634 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:2219::removeRawData() id=140 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.064) Memory.cpp:2137::saveLocationData() Saving location data 140 [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2537::process() Total time processing = 0,001702s... [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:16.064) Rtabmap.cpp:2661::process() Adding data 140 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.064) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.064) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.064) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.064) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.064) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 140 [DEBUG] (2017-11-20 10:30:16.065) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000187s [DEBUG] (2017-11-20 10:30:16.065) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.065) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.065) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.065) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.065) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000188s [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.065) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.065) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:16.065) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.065) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.066) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.066) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.066) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:16.067) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.067) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.067) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,313264,-0,595692,-0,072634 [DEBUG] (2017-11-20 10:30:16.070) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.070) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.070) SensorData.cpp:557::uncompressData() 140 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.071) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.073) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:16.073) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.073) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.073) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.073) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.073) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.074) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.074) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:1971::updateMapCloud() posesIn=41 constraints=40 mapIdsIn=41 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2065::updateMapCloud() Update map with 41 locations [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000199s [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.075) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.076) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.076) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.076) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:16.094) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.095) Camera.cpp:103::takeImage() Time capturing image = 0,000964s [DEBUG] (2017-11-20 10:30:16.095) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.096) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.096) RtabmapThread.cpp:628::addData() Added data 141 [ INFO] (2017-11-20 10:30:16.096) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.096) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12741)... [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:621::update() time preUpdate=0,007153 ms [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.096) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.096) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.096) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3676::createSignature() id 141 is a bad signature [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:3999::createSignature() time compressing data (id=141) 0,000116s [DEBUG] (2017-11-20 10:30:16.096) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:639::update() time creating signature=0,138998 ms [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:724::addSignatureToStm() adding 141 [DEBUG] (2017-11-20 10:30:16.096) Signature.cpp:121::addLink() Add link 141 to 140 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.096) Signature.cpp:121::addLink() Add link 140 to 141 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:752::addSignatureToStm() Min STM id = 104 [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 141 [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:713::update() totalTimer = 0,000201s [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1016::process() Processing signature 141 w=-1 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000223s [DEBUG] (2017-11-20 10:30:16.096) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,309475,-0,595129,-0,063997 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,309475,-0,595129,-0,063997) [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000031s [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:16.096) Graph.cpp:1898::getNodesInRadius() found nodes=40 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1750::process() near nodes=40, max local immunized=26, ratio=0,250000 WM=104 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1836::process() timeReactivations=0,000155s [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,309475,-0,595129,-0,063997 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,309475,-0,595129,-0,063997 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2463::process() Time creating stats = 0,000052... [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:2219::removeRawData() id=141 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.096) Memory.cpp:2137::saveLocationData() Saving location data 141 [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2537::process() Total time processing = 0,000519s... [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.096) Rtabmap.cpp:2661::process() Adding data 141 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.096) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.096) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.096) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.096) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.096) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.097) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 141 [DEBUG] (2017-11-20 10:30:16.097) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,309475,-0,595129,-0,063997 [DEBUG] (2017-11-20 10:30:16.097) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000188s [DEBUG] (2017-11-20 10:30:16.097) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.097) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.097) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.097) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.097) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.097) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:16.097) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.097) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.097) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.097) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.101) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.101) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.101) SensorData.cpp:557::uncompressData() 141 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.102) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.103) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.105) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.105) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.105) MainWindow.cpp:1971::updateMapCloud() posesIn=41 constraints=40 mapIdsIn=41 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.105) MainWindow.cpp:2065::updateMapCloud() Update map with 41 locations [DEBUG] (2017-11-20 10:30:16.105) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000167s [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.106) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.106) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.128) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.129) Camera.cpp:103::takeImage() Time capturing image = 0,000970s [DEBUG] (2017-11-20 10:30:16.129) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.129) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.129) RtabmapThread.cpp:628::addData() Added data 142 [ INFO] (2017-11-20 10:30:16.129) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.129) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12741)... [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.129) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.129) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.129) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3676::createSignature() id 142 is a bad signature [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:3999::createSignature() time compressing data (id=142) 0,000126s [DEBUG] (2017-11-20 10:30:16.129) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:639::update() time creating signature=0,148058 ms [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:724::addSignatureToStm() adding 142 [DEBUG] (2017-11-20 10:30:16.129) Signature.cpp:121::addLink() Add link 142 to 141 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.129) Signature.cpp:121::addLink() Add link 141 to 142 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:752::addSignatureToStm() Min STM id = 104 [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 142 [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:660::update() time rehearsal=0,037909 ms [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:713::update() totalTimer = 0,000203s [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:1016::process() Processing signature 142 w=-1 [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000227s [DEBUG] (2017-11-20 10:30:16.129) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,308159,-0,597990,-0,053970 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,308159,-0,597990,-0,053970) [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000031s [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.129) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:16.129) Graph.cpp:1898::getNodesInRadius() found nodes=40 [ INFO] (2017-11-20 10:30:16.129) Rtabmap.cpp:1750::process() near nodes=40, max local immunized=26, ratio=0,250000 WM=104 [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:1836::process() timeReactivations=0,000142s [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,308159,-0,597990,-0,053970 [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,308159,-0,597990,-0,053970 [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2463::process() Time creating stats = 0,000043... [DEBUG] (2017-11-20 10:30:16.130) Memory.cpp:2219::removeRawData() id=142 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.130) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.130) Memory.cpp:2137::saveLocationData() Saving location data 142 [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2537::process() Total time processing = 0,000496s... [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:16.130) Rtabmap.cpp:2661::process() Adding data 142 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.130) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.130) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.130) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.130) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.130) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.130) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 142 [DEBUG] (2017-11-20 10:30:16.130) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,308159,-0,597990,-0,053970 [DEBUG] (2017-11-20 10:30:16.130) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000162s [DEBUG] (2017-11-20 10:30:16.130) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.130) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.130) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.130) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:16.130) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.130) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.130) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.130) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.130) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.130) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.135) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.135) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.135) SensorData.cpp:557::uncompressData() 142 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.135) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.137) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.138) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.138) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.138) MainWindow.cpp:1971::updateMapCloud() posesIn=41 constraints=40 mapIdsIn=41 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.138) MainWindow.cpp:2065::updateMapCloud() Update map with 41 locations [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000200s [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.139) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.140) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.140) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.140) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.161) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.162) Camera.cpp:103::takeImage() Time capturing image = 0,001075s [DEBUG] (2017-11-20 10:30:16.162) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.162) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.162) RtabmapThread.cpp:628::addData() Added data 143 [ INFO] (2017-11-20 10:30:16.162) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.162) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.163) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.163) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=12741)... [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.163) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.163) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.163) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.163) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.163) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.164) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.164) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.164) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.164) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,310572,-0,601244,-0,049963 [DEBUG] (2017-11-20 10:30:16.165) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.165) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.165) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.165) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.165) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.169) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003696 s, keypoints extracted = 761 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.169) Memory.cpp:3482::createSignature() time keypoints (761) = 0,006129s [DEBUG] (2017-11-20 10:30:16.173) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 761, remaining kpts=761 [DEBUG] (2017-11-20 10:30:16.173) Memory.cpp:3487::createSignature() time descriptors (761) = 0,004049s [DEBUG] (2017-11-20 10:30:16.173) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:16.173) Memory.cpp:3500::createSignature() time keypoints 3D (761) = 0,000143s [DEBUG] (2017-11-20 10:30:16.173) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.173) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.173) Memory.cpp:3612::createSignature() time descriptor and memory update (761 of size=32) = 0,000024s [DEBUG] (2017-11-20 10:30:16.173) VWDictionary.cpp:593::addNewWords() id=143 descriptors=761 [DEBUG] (2017-11-20 10:30:16.173) VWDictionary.cpp:686::addNewWords() newPts.total()=761 [DEBUG] (2017-11-20 10:30:16.182) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008833 s [DEBUG] (2017-11-20 10:30:16.186) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004093 s [DEBUG] (2017-11-20 10:30:16.186) VWDictionary.cpp:874::addNewWords() 374 new words added... [DEBUG] (2017-11-20 10:30:16.186) VWDictionary.cpp:876::addNewWords() 387 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:16.186) VWDictionary.cpp:877::addNewWords() total time 0,012961s [DEBUG] (2017-11-20 10:30:16.186) Memory.cpp:3672::createSignature() time addNewWords 0,012984s indexed=12741 not=374 [DEBUG] (2017-11-20 10:30:16.186) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:3999::createSignature() time compressing data (id=143) 0,002234s [DEBUG] (2017-11-20 10:30:16.188) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:639::update() time creating signature=25,709152 ms [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:724::addSignatureToStm() adding 143 [DEBUG] (2017-11-20 10:30:16.188) Signature.cpp:121::addLink() Add link 143 to 142 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.188) Signature.cpp:121::addLink() Add link 142 to 143 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:752::addSignatureToStm() Min STM id = 104 [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:786::addSignatureToStm() 761 words ref for the signature 143 [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:16.188) Memory.cpp:2882::rehearsal() Comparing with signature (139)... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:2905::rehearsal() merged=0, sim=0,145861 t=0,000141s [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:660::update() time rehearsal=0,208855 ms [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 104 from STM in WM... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 105 from STM in WM... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 106 from STM in WM... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 107 from STM in WM... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:713::update() totalTimer = 0,025954s [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.189) Rtabmap.cpp:1016::process() Processing signature 143 w=0 [ INFO] (2017-11-20 10:30:16.189) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025979s [DEBUG] (2017-11-20 10:30:16.189) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,310572,-0,601244,-0,049963 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,310572,-0,601244,-0,049963) [ INFO] (2017-11-20 10:30:16.189) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000050s [ INFO] (2017-11-20 10:30:16.189) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.189) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000398 s [DEBUG] (2017-11-20 10:30:16.189) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=32 [DEBUG] (2017-11-20 10:30:16.189) Rtabmap.cpp:3272::adjustLikelihood() values.size=31 [DEBUG] (2017-11-20 10:30:16.189) Rtabmap.cpp:3319::adjustLikelihood() mean=0,032842, stdDev=0,016589, max=0,081947, maxId=103, time=0,000005s [ INFO] (2017-11-20 10:30:16.189) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000482s [ INFO] (2017-11-20 10:30:16.189) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.189) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.189) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.189) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000023s [DEBUG] (2017-11-20 10:30:16.189) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:16.189) BayesFilter.cpp:495::updatePrediction() From added id 107, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.189) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000057s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000479s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:575::updatePrediction() time copying = 0,000012s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=14 [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000595s, rows=32, cols=32 [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=32, _posterior size=32 [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000021s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:208::computePosterior() sum=2,698987 [DEBUG] (2017-11-20 10:30:16.190) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000648s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1400::process() Highest hypothesis=103, value=0,058928, timeHypothesesCreation=0,000024s [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1489::process() Retrieving locations... around id=103 [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1511::process() neighbors of 103 in time = 33 [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1566::process() neighbors of 103 in space = 33 [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=21, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000040s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.190) Graph.cpp:1898::getNodesInRadius() found nodes=40 [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1750::process() near nodes=40, max local immunized=27, ratio=0,250000 WM=108 [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.190) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.190) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000003s [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1836::process() timeReactivations=0,000209s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1929::process() nearestIds=1/41 [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,310572,-0,601244,-0,049963 [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,310572,-0,601244,-0,049963 [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2463::process() Time creating stats = 0,000127... [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:2219::removeRawData() id=143 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.190) Memory.cpp:2137::saveLocationData() Saving location data 143 [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000105s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2537::process() Total time processing = 0,027672s... [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:16.190) Rtabmap.cpp:2661::process() Adding data 143 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.190) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.191) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.191) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 143 [DEBUG] (2017-11-20 10:30:16.191) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000170s [DEBUG] (2017-11-20 10:30:16.191) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.191) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.191) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.191) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000015s... [DEBUG] (2017-11-20 10:30:16.191) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.191) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.191) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.191) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.192) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.192) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.192) SensorData.cpp:557::uncompressData() 143 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.192) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 761 [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:3844::drawKeypoints() source time = 0,000389 s [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.194) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.194) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.195) Camera.cpp:103::takeImage() Time capturing image = 0,000950s [DEBUG] (2017-11-20 10:30:16.195) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.195) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.196) RtabmapThread.cpp:628::addData() Added data 144 [ INFO] (2017-11-20 10:30:16.196) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.196) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.196) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.196) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13115)... [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.196) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.196) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.196) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.196) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 374 words... [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.196) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.196) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.196) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.196) MainWindow.cpp:1971::updateMapCloud() posesIn=41 constraints=40 mapIdsIn=41 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.196) MainWindow.cpp:2065::updateMapCloud() Update map with 41 locations [DEBUG] (2017-11-20 10:30:16.197) SensorData.cpp:557::uncompressData() 143 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.197) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.197) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.197) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.197) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 374 words... done! [DEBUG] (2017-11-20 10:30:16.197) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=374 removed=0) [DEBUG] (2017-11-20 10:30:16.197) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:3676::createSignature() id 144 is a bad signature [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.197) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:3999::createSignature() time compressing data (id=144) 0,001263s [DEBUG] (2017-11-20 10:30:16.197) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:639::update() time creating signature=1,289129 ms [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:724::addSignatureToStm() adding 144 [DEBUG] (2017-11-20 10:30:16.197) Signature.cpp:121::addLink() Add link 144 to 143 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.197) Signature.cpp:121::addLink() Add link 143 to 144 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:752::addSignatureToStm() Min STM id = 108 [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 144 [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:794::addSignatureToStm() time = 0,000036s [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:660::update() time rehearsal=0,046968 ms [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:713::update() totalTimer = 0,001357s [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1016::process() Processing signature 144 w=-1 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001389s [DEBUG] (2017-11-20 10:30:16.197) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,310170,-0,599265,-0,045348 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,310170,-0,599265,-0,045348) [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000022s [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000015s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:16.197) Graph.cpp:1898::getNodesInRadius() found nodes=41 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1750::process() near nodes=41, max local immunized=27, ratio=0,250000 WM=108 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1836::process() timeReactivations=0,000135s [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,310170,-0,599265,-0,045348 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,310170,-0,599265,-0,045348 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2463::process() Time creating stats = 0,000047... [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:2219::removeRawData() id=144 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.197) Memory.cpp:2137::saveLocationData() Saving location data 144 [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000027s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2537::process() Total time processing = 0,001656s... [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.197) Rtabmap.cpp:2661::process() Adding data 144 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.197) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.197) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.198) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.198) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 144 [DEBUG] (2017-11-20 10:30:16.198) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000230s [DEBUG] (2017-11-20 10:30:16.198) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.198) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.198) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.198) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:16.198) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.199) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.199) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.199) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.200) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000471s [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.202) MainWindow.cpp:1853::processStats() time= 6 ms [DEBUG] (2017-11-20 10:30:16.203) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.203) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.203) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:16.204) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.204) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.205) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,310170,-0,599265,-0,045348 [DEBUG] (2017-11-20 10:30:16.207) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.207) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.207) SensorData.cpp:557::uncompressData() 144 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.208) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.209) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.210) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.211) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.211) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.211) MainWindow.cpp:1971::updateMapCloud() posesIn=42 constraints=41 mapIdsIn=42 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.211) MainWindow.cpp:2065::updateMapCloud() Update map with 42 locations [DEBUG] (2017-11-20 10:30:16.211) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000217s [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.212) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.212) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.228) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.229) Camera.cpp:103::takeImage() Time capturing image = 0,001242s [DEBUG] (2017-11-20 10:30:16.229) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.229) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.229) RtabmapThread.cpp:628::addData() Added data 145 [ INFO] (2017-11-20 10:30:16.229) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.229) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.229) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.229) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13115)... [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.229) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.229) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.230) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.230) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:3676::createSignature() id 145 is a bad signature [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:3999::createSignature() time compressing data (id=145) 0,000114s [DEBUG] (2017-11-20 10:30:16.230) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:639::update() time creating signature=0,144005 ms [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:724::addSignatureToStm() adding 145 [DEBUG] (2017-11-20 10:30:16.230) Signature.cpp:121::addLink() Add link 145 to 144 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.230) Signature.cpp:121::addLink() Add link 144 to 145 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:752::addSignatureToStm() Min STM id = 108 [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 145 [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:660::update() time rehearsal=0,045061 ms [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:713::update() totalTimer = 0,000216s [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1016::process() Processing signature 145 w=-1 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000253s [DEBUG] (2017-11-20 10:30:16.230) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,307005,-0,600871,-0,035997 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,307005,-0,600871,-0,035997) [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:16.230) Graph.cpp:1898::getNodesInRadius() found nodes=41 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1750::process() near nodes=41, max local immunized=27, ratio=0,250000 WM=108 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1836::process() timeReactivations=0,000156s [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,307005,-0,600871,-0,035997 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,307005,-0,600871,-0,035997 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2463::process() Time creating stats = 0,000049... [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:2219::removeRawData() id=145 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.230) Memory.cpp:2137::saveLocationData() Saving location data 145 [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2537::process() Total time processing = 0,000553s... [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:16.230) Rtabmap.cpp:2661::process() Adding data 145 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.230) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.230) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.230) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.230) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.230) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.230) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 145 [DEBUG] (2017-11-20 10:30:16.230) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,307005,-0,600871,-0,035997 [DEBUG] (2017-11-20 10:30:16.230) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000166s [DEBUG] (2017-11-20 10:30:16.230) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.230) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.230) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.230) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.230) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.231) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.231) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.231) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.231) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.231) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.235) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.235) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.235) SensorData.cpp:557::uncompressData() 145 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.235) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.237) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.238) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.238) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.238) MainWindow.cpp:1971::updateMapCloud() posesIn=42 constraints=41 mapIdsIn=42 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.238) MainWindow.cpp:2065::updateMapCloud() Update map with 42 locations [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000186s [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.239) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.240) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.240) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.240) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.261) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.262) Camera.cpp:103::takeImage() Time capturing image = 0,000887s [DEBUG] (2017-11-20 10:30:16.262) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.262) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.262) RtabmapThread.cpp:628::addData() Added data 146 [ INFO] (2017-11-20 10:30:16.262) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.262) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.262) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.262) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13115)... [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:621::update() time preUpdate=0,010967 ms [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.262) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.262) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.262) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3676::createSignature() id 146 is a bad signature [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:3999::createSignature() time compressing data (id=146) 0,000118s [DEBUG] (2017-11-20 10:30:16.262) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:639::update() time creating signature=0,143051 ms [DEBUG] (2017-11-20 10:30:16.262) Memory.cpp:724::addSignatureToStm() adding 146 [DEBUG] (2017-11-20 10:30:16.262) Signature.cpp:121::addLink() Add link 146 to 145 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.262) Signature.cpp:121::addLink() Add link 145 to 146 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:752::addSignatureToStm() Min STM id = 108 [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 146 [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:794::addSignatureToStm() time = 0,000038s [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:660::update() time rehearsal=0,050068 ms [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:713::update() totalTimer = 0,000217s [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1016::process() Processing signature 146 w=-1 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000249s [DEBUG] (2017-11-20 10:30:16.263) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,306786,-0,607896,-0,031551 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,306786,-0,607896,-0,031551) [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000033s [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:16.263) Graph.cpp:1898::getNodesInRadius() found nodes=41 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1750::process() near nodes=41, max local immunized=27, ratio=0,250000 WM=108 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1836::process() timeReactivations=0,000154s [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,306786,-0,607896,-0,031551 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,306786,-0,607896,-0,031551 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2463::process() Time creating stats = 0,000051... [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:2219::removeRawData() id=146 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.263) Memory.cpp:2137::saveLocationData() Saving location data 146 [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2537::process() Total time processing = 0,000551s... [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.263) Rtabmap.cpp:2661::process() Adding data 146 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.263) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.263) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.263) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.263) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.263) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.263) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 146 [DEBUG] (2017-11-20 10:30:16.263) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000161s [DEBUG] (2017-11-20 10:30:16.263) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.263) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.263) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,306786,-0,607896,-0,031551 [DEBUG] (2017-11-20 10:30:16.263) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.263) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.263) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.263) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.263) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.263) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.264) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.264) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.270) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.270) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.270) SensorData.cpp:557::uncompressData() 146 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.270) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.271) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.272) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.274) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.274) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.274) MainWindow.cpp:1971::updateMapCloud() posesIn=42 constraints=41 mapIdsIn=42 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.274) MainWindow.cpp:2065::updateMapCloud() Update map with 42 locations [DEBUG] (2017-11-20 10:30:16.274) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000267s [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.275) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.275) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.294) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.295) Camera.cpp:103::takeImage() Time capturing image = 0,000941s [DEBUG] (2017-11-20 10:30:16.295) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.296) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.296) RtabmapThread.cpp:628::addData() Added data 147 [ INFO] (2017-11-20 10:30:16.296) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.296) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.296) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.296) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13115)... [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.296) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.296) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.296) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.296) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.296) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.296) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.296) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.297) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,305752,-0,615415,-0,024481 [DEBUG] (2017-11-20 10:30:16.297) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.297) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.297) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.298) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.298) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.298) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.301) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003201 s, keypoints extracted = 757 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.301) Memory.cpp:3482::createSignature() time keypoints (757) = 0,005472s [DEBUG] (2017-11-20 10:30:16.305) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 757, remaining kpts=757 [DEBUG] (2017-11-20 10:30:16.305) Memory.cpp:3487::createSignature() time descriptors (757) = 0,003667s [DEBUG] (2017-11-20 10:30:16.305) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:16.305) Memory.cpp:3500::createSignature() time keypoints 3D (757) = 0,000088s [DEBUG] (2017-11-20 10:30:16.305) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.305) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.305) Memory.cpp:3612::createSignature() time descriptor and memory update (757 of size=32) = 0,000015s [DEBUG] (2017-11-20 10:30:16.305) VWDictionary.cpp:593::addNewWords() id=147 descriptors=757 [DEBUG] (2017-11-20 10:30:16.305) VWDictionary.cpp:686::addNewWords() newPts.total()=757 [DEBUG] (2017-11-20 10:30:16.314) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008619 s [DEBUG] (2017-11-20 10:30:16.318) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004077 s [DEBUG] (2017-11-20 10:30:16.318) VWDictionary.cpp:874::addNewWords() 385 new words added... [DEBUG] (2017-11-20 10:30:16.318) VWDictionary.cpp:876::addNewWords() 372 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:16.318) VWDictionary.cpp:877::addNewWords() total time 0,012729s [DEBUG] (2017-11-20 10:30:16.318) Memory.cpp:3672::createSignature() time addNewWords 0,012743s indexed=13115 not=385 [DEBUG] (2017-11-20 10:30:16.318) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:3999::createSignature() time compressing data (id=147) 0,002141s [DEBUG] (2017-11-20 10:30:16.320) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:639::update() time creating signature=24,247885 ms [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:724::addSignatureToStm() adding 147 [DEBUG] (2017-11-20 10:30:16.320) Signature.cpp:121::addLink() Add link 147 to 146 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.320) Signature.cpp:121::addLink() Add link 146 to 147 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:752::addSignatureToStm() Min STM id = 108 [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:786::addSignatureToStm() 757 words ref for the signature 147 [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:2882::rehearsal() Comparing with signature (143)... [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:2905::rehearsal() merged=0, sim=0,131406 t=0,000119s [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:660::update() time rehearsal=0,177145 ms [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 108 from STM in WM... [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 109 from STM in WM... [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 110 from STM in WM... [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:713::update() totalTimer = 0,024460s [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.320) Rtabmap.cpp:1016::process() Processing signature 147 w=0 [ INFO] (2017-11-20 10:30:16.320) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,024490s [DEBUG] (2017-11-20 10:30:16.320) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,305752,-0,615415,-0,024481 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,305752,-0,615415,-0,024481) [ INFO] (2017-11-20 10:30:16.320) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000076s [ INFO] (2017-11-20 10:30:16.320) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.320) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.321) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000424 s [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=33 [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:3272::adjustLikelihood() values.size=32 [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:3319::adjustLikelihood() mean=0,034685, stdDev=0,015146, max=0,076693, maxId=107, time=0,000005s [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000491s [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000025s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:495::updatePrediction() From added id 110, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000058s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000486s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:575::updatePrediction() time copying = 0,000011s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=15 [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000601s, rows=33, cols=33 [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=33, _posterior size=33 [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000021s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:208::computePosterior() sum=2,963737 [DEBUG] (2017-11-20 10:30:16.321) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000653s [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1400::process() Highest hypothesis=107, value=0,053253, timeHypothesesCreation=0,000021s [DEBUG] (2017-11-20 10:30:16.321) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.321) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000013s [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1489::process() Retrieving locations... around id=107 [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:1511::process() neighbors of 107 in time = 33 [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.321) Rtabmap.cpp:1566::process() neighbors of 107 in space = 33 [ INFO] (2017-11-20 10:30:16.321) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=20, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000039s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.322) Graph.cpp:1898::getNodesInRadius() found nodes=41 [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:1750::process() near nodes=41, max local immunized=27, ratio=0,250000 WM=111 [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.322) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.322) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:4252::reactivateSignatures() time = 0,000026s [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:1836::process() timeReactivations=0,000210s [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:1929::process() nearestIds=1/42 [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,305752,-0,615415,-0,024481 [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,305752,-0,615415,-0,024481 [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2463::process() Time creating stats = 0,000135... [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:2219::removeRawData() id=147 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.322) Memory.cpp:2137::saveLocationData() Saving location data 147 [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000101s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2537::process() Total time processing = 0,026226s... [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:16.322) Rtabmap.cpp:2661::process() Adding data 147 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.322) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.322) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 147 [DEBUG] (2017-11-20 10:30:16.323) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000171s [DEBUG] (2017-11-20 10:30:16.323) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.323) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.323) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.323) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.323) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.323) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.323) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.323) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.323) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.324) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.324) SensorData.cpp:557::uncompressData() 147 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.324) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.325) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 757 [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:3844::drawKeypoints() source time = 0,000395 s [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.326) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.328) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.328) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.328) MainWindow.cpp:1971::updateMapCloud() posesIn=42 constraints=41 mapIdsIn=42 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.328) MainWindow.cpp:2065::updateMapCloud() Update map with 42 locations [DEBUG] (2017-11-20 10:30:16.328) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.328) SensorData.cpp:557::uncompressData() 147 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.328) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.328) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.328) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.328) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.329) Camera.cpp:103::takeImage() Time capturing image = 0,001024s [DEBUG] (2017-11-20 10:30:16.329) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.330) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.330) RtabmapThread.cpp:628::addData() Added data 148 [ INFO] (2017-11-20 10:30:16.330) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.330) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.330) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.330) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13500)... [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.330) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.330) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.330) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.330) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 385 words... [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.330) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.331) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 385 words... done! [DEBUG] (2017-11-20 10:30:16.331) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=385 removed=0) [DEBUG] (2017-11-20 10:30:16.331) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.331) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:3676::createSignature() id 148 is a bad signature [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:3999::createSignature() time compressing data (id=148) 0,001101s [DEBUG] (2017-11-20 10:30:16.331) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:639::update() time creating signature=1,123190 ms [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:724::addSignatureToStm() adding 148 [DEBUG] (2017-11-20 10:30:16.331) Signature.cpp:121::addLink() Add link 148 to 147 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.331) Signature.cpp:121::addLink() Add link 147 to 148 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:752::addSignatureToStm() Min STM id = 111 [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 148 [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:713::update() totalTimer = 0,001182s [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1016::process() Processing signature 148 w=-1 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001206s [DEBUG] (2017-11-20 10:30:16.331) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,304704,-0,619510,-0,020662 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,304704,-0,619510,-0,020662) [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000020s [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:16.331) Graph.cpp:1898::getNodesInRadius() found nodes=42 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1750::process() near nodes=42, max local immunized=27, ratio=0,250000 WM=111 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1836::process() timeReactivations=0,000173s [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,304704,-0,619510,-0,020662 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,304704,-0,619510,-0,020662 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2463::process() Time creating stats = 0,000065... [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:2219::removeRawData() id=148 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.331) Memory.cpp:2137::saveLocationData() Saving location data 148 [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2537::process() Total time processing = 0,001537s... [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:16.331) Rtabmap.cpp:2661::process() Adding data 148 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.331) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.331) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.331) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000225s [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.332) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:16.332) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.332) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 148 [DEBUG] (2017-11-20 10:30:16.332) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000169s [DEBUG] (2017-11-20 10:30:16.332) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.332) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.332) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.332) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:16.332) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.332) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.332) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.332) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.333) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.333) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.333) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:16.334) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.334) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.334) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,304704,-0,619510,-0,020662 [DEBUG] (2017-11-20 10:30:16.339) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.339) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.339) SensorData.cpp:557::uncompressData() 148 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.340) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.342) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.343) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:1971::updateMapCloud() posesIn=43 constraints=42 mapIdsIn=43 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2065::updateMapCloud() Update map with 43 locations [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000206s [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.345) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.346) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.346) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.346) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:16.361) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.362) Camera.cpp:103::takeImage() Time capturing image = 0,001055s [DEBUG] (2017-11-20 10:30:16.362) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.362) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.362) RtabmapThread.cpp:628::addData() Added data 149 [ INFO] (2017-11-20 10:30:16.362) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.362) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.363) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.363) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13500)... [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.363) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.364) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.364) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.364) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,303584,-0,623995,-0,019306 [DEBUG] (2017-11-20 10:30:16.364) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.364) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.364) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:3676::createSignature() id 149 is a bad signature [DEBUG] (2017-11-20 10:30:16.364) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.364) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:3999::createSignature() time compressing data (id=149) 0,001798s [DEBUG] (2017-11-20 10:30:16.364) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.364) Memory.cpp:639::update() time creating signature=1,835108 ms [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:724::addSignatureToStm() adding 149 [DEBUG] (2017-11-20 10:30:16.365) Signature.cpp:121::addLink() Add link 149 to 148 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.365) Signature.cpp:121::addLink() Add link 148 to 149 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:752::addSignatureToStm() Min STM id = 111 [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 149 [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:794::addSignatureToStm() time = 0,000055s [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:660::update() time rehearsal=0,086069 ms [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:713::update() totalTimer = 0,001956s [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1016::process() Processing signature 149 w=-1 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001994s [DEBUG] (2017-11-20 10:30:16.365) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,303584,-0,623995,-0,019306 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,303584,-0,623995,-0,019306) [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000076s [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000019s [DEBUG] (2017-11-20 10:30:16.365) Graph.cpp:1898::getNodesInRadius() found nodes=42 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1750::process() near nodes=42, max local immunized=27, ratio=0,250000 WM=111 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1836::process() timeReactivations=0,000303s [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,303584,-0,623995,-0,019306 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,303584,-0,623995,-0,019306 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2463::process() Time creating stats = 0,000075... [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:2219::removeRawData() id=149 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.365) Memory.cpp:2137::saveLocationData() Saving location data 149 [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000046s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2537::process() Total time processing = 0,002539s... [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:16.365) Rtabmap.cpp:2661::process() Adding data 149 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.365) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.365) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.366) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.366) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 149 [DEBUG] (2017-11-20 10:30:16.366) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000303s [DEBUG] (2017-11-20 10:30:16.366) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.366) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.368) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.368) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.368) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000022s... [DEBUG] (2017-11-20 10:30:16.368) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.368) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.368) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.371) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.371) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.371) SensorData.cpp:557::uncompressData() 149 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.371) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.373) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.374) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.375) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.375) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.375) MainWindow.cpp:1971::updateMapCloud() posesIn=43 constraints=42 mapIdsIn=43 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.375) MainWindow.cpp:2065::updateMapCloud() Update map with 43 locations [DEBUG] (2017-11-20 10:30:16.375) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000198s [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.376) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.376) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.394) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.395) Camera.cpp:103::takeImage() Time capturing image = 0,000891s [DEBUG] (2017-11-20 10:30:16.395) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.395) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.395) RtabmapThread.cpp:628::addData() Added data 150 [ INFO] (2017-11-20 10:30:16.395) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.396) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13500)... [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:621::update() time preUpdate=0,009060 ms [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.396) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.396) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.396) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3676::createSignature() id 150 is a bad signature [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:3999::createSignature() time compressing data (id=150) 0,000104s [DEBUG] (2017-11-20 10:30:16.396) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:639::update() time creating signature=0,130892 ms [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:724::addSignatureToStm() adding 150 [DEBUG] (2017-11-20 10:30:16.396) Signature.cpp:121::addLink() Add link 150 to 149 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.396) Signature.cpp:121::addLink() Add link 149 to 150 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:752::addSignatureToStm() Min STM id = 111 [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 150 [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:660::update() time rehearsal=0,054121 ms [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:713::update() totalTimer = 0,000209s [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1016::process() Processing signature 150 w=-1 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000241s [DEBUG] (2017-11-20 10:30:16.396) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,303268,-0,631401,-0,015314 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,303268,-0,631401,-0,015314) [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000038s [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000022s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:16.396) Graph.cpp:1898::getNodesInRadius() found nodes=42 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1750::process() near nodes=42, max local immunized=27, ratio=0,250000 WM=111 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1836::process() timeReactivations=0,000209s [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,303268,-0,631401,-0,015314 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,303268,-0,631401,-0,015314 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:2219::removeRawData() id=150 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.396) Memory.cpp:2137::saveLocationData() Saving location data 150 [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000038s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2537::process() Total time processing = 0,000632s... [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:16.396) Rtabmap.cpp:2661::process() Adding data 150 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.396) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.396) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.396) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.396) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.397) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.397) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 150 [DEBUG] (2017-11-20 10:30:16.397) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,303268,-0,631401,-0,015314 [DEBUG] (2017-11-20 10:30:16.397) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000221s [DEBUG] (2017-11-20 10:30:16.397) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.397) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.397) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.397) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:16.397) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.397) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.397) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.397) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.397) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.397) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.403) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.403) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.403) SensorData.cpp:557::uncompressData() 150 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.403) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.406) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:3844::drawKeypoints() source time = 0,000007 s [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.407) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:1799::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:1971::updateMapCloud() posesIn=43 constraints=42 mapIdsIn=43 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2065::updateMapCloud() Update map with 43 locations [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000204s [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.409) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.410) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.410) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.410) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:16.428) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.429) Camera.cpp:103::takeImage() Time capturing image = 0,000940s [DEBUG] (2017-11-20 10:30:16.429) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.429) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.429) RtabmapThread.cpp:628::addData() Added data 151 [ INFO] (2017-11-20 10:30:16.429) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.429) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.429) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.429) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13500)... [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:621::update() time preUpdate=0,008821 ms [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.429) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.429) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.429) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.429) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.429) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.430) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.430) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.430) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,302666,-0,636026,-0,012549 [DEBUG] (2017-11-20 10:30:16.430) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.430) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.431) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.431) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.431) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.431) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.435) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003262 s, keypoints extracted = 694 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.435) Memory.cpp:3482::createSignature() time keypoints (694) = 0,005482s [DEBUG] (2017-11-20 10:30:16.438) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 694, remaining kpts=694 [DEBUG] (2017-11-20 10:30:16.438) Memory.cpp:3487::createSignature() time descriptors (694) = 0,003683s [DEBUG] (2017-11-20 10:30:16.438) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:16.438) Memory.cpp:3500::createSignature() time keypoints 3D (694) = 0,000098s [DEBUG] (2017-11-20 10:30:16.438) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.438) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.438) Memory.cpp:3612::createSignature() time descriptor and memory update (694 of size=32) = 0,000020s [DEBUG] (2017-11-20 10:30:16.438) VWDictionary.cpp:593::addNewWords() id=151 descriptors=694 [DEBUG] (2017-11-20 10:30:16.438) VWDictionary.cpp:686::addNewWords() newPts.total()=694 [DEBUG] (2017-11-20 10:30:16.446) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007950 s [DEBUG] (2017-11-20 10:30:16.450) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003749 s [DEBUG] (2017-11-20 10:30:16.450) VWDictionary.cpp:874::addNewWords() 377 new words added... [DEBUG] (2017-11-20 10:30:16.450) VWDictionary.cpp:876::addNewWords() 317 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:16.450) VWDictionary.cpp:877::addNewWords() total time 0,011738s [DEBUG] (2017-11-20 10:30:16.450) Memory.cpp:3672::createSignature() time addNewWords 0,011759s indexed=13500 not=377 [DEBUG] (2017-11-20 10:30:16.450) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:3999::createSignature() time compressing data (id=151) 0,002080s [DEBUG] (2017-11-20 10:30:16.452) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:639::update() time creating signature=23,257017 ms [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:724::addSignatureToStm() adding 151 [DEBUG] (2017-11-20 10:30:16.452) Signature.cpp:121::addLink() Add link 151 to 150 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.452) Signature.cpp:121::addLink() Add link 150 to 151 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:752::addSignatureToStm() Min STM id = 111 [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:786::addSignatureToStm() 694 words ref for the signature 151 [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:794::addSignatureToStm() time = 0,000038s [DEBUG] (2017-11-20 10:30:16.452) Memory.cpp:2882::rehearsal() Comparing with signature (147)... [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:2905::rehearsal() merged=0, sim=0,084544 t=0,000141s [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:660::update() time rehearsal=0,214100 ms [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 111 from STM in WM... [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 112 from STM in WM... [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 113 from STM in WM... [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:713::update() totalTimer = 0,023509s [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.453) Rtabmap.cpp:1016::process() Processing signature 151 w=0 [ INFO] (2017-11-20 10:30:16.453) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,023537s [DEBUG] (2017-11-20 10:30:16.453) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,302666,-0,636026,-0,012549 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,302666,-0,636026,-0,012549) [ INFO] (2017-11-20 10:30:16.453) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000078s [ INFO] (2017-11-20 10:30:16.453) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.453) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000428 s [DEBUG] (2017-11-20 10:30:16.453) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=34 [DEBUG] (2017-11-20 10:30:16.453) Rtabmap.cpp:3272::adjustLikelihood() values.size=33 [DEBUG] (2017-11-20 10:30:16.453) Rtabmap.cpp:3319::adjustLikelihood() mean=0,024795, stdDev=0,013279, max=0,064656, maxId=107, time=0,000007s [ INFO] (2017-11-20 10:30:16.453) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000513s [ INFO] (2017-11-20 10:30:16.453) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.453) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.453) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.453) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000029s [DEBUG] (2017-11-20 10:30:16.453) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000008s [DEBUG] (2017-11-20 10:30:16.453) BayesFilter.cpp:495::updatePrediction() From added id 113, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.453) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000080s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000556s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:575::updatePrediction() time copying = 0,000015s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000004s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=16 [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000706s, rows=34, cols=34 [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=34, _posterior size=34 [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000022s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:208::computePosterior() sum=2,611985 [DEBUG] (2017-11-20 10:30:16.454) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000765s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1400::process() Highest hypothesis=107, value=0,058846, timeHypothesesCreation=0,000023s [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000014s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1489::process() Retrieving locations... around id=107 [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1511::process() neighbors of 107 in time = 33 [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1566::process() neighbors of 107 in space = 33 [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=23, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000041s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.454) Graph.cpp:1898::getNodesInRadius() found nodes=42 [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1750::process() near nodes=42, max local immunized=28, ratio=0,250000 WM=114 [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.454) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.454) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000003s... [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:4252::reactivateSignatures() time = 0,000027s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000012s) [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000012s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1836::process() timeReactivations=0,000217s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1929::process() nearestIds=1/43 [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.454) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000019s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2336::process() timeMapOptimization=0,000003s [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,302666,-0,636026,-0,012549 [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,302666,-0,636026,-0,012549 [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2463::process() Time creating stats = 0,000125... [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:2219::removeRawData() id=151 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.454) Memory.cpp:2137::saveLocationData() Saving location data 151 [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000102s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2537::process() Total time processing = 0,025403s... [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000006... [ INFO] (2017-11-20 10:30:16.454) Rtabmap.cpp:2661::process() Adding data 151 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.455) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.455) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.455) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.455) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 151 [DEBUG] (2017-11-20 10:30:16.455) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000171s [DEBUG] (2017-11-20 10:30:16.455) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.455) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.455) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.455) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:16.455) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.455) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.456) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.456) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.456) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.456) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.456) SensorData.cpp:557::uncompressData() 151 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.456) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 694 [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:3844::drawKeypoints() source time = 0,000364 s [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.458) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.460) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.460) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.460) MainWindow.cpp:1971::updateMapCloud() posesIn=43 constraints=42 mapIdsIn=43 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.460) MainWindow.cpp:2065::updateMapCloud() Update map with 43 locations [DEBUG] (2017-11-20 10:30:16.460) SensorData.cpp:557::uncompressData() 151 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.460) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.460) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.460) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.460) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.461) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.462) Camera.cpp:103::takeImage() Time capturing image = 0,001265s [DEBUG] (2017-11-20 10:30:16.462) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.462) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.463) RtabmapThread.cpp:628::addData() Added data 152 [ INFO] (2017-11-20 10:30:16.463) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.463) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.463) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.463) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13877)... [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.463) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.463) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.463) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.463) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 377 words... [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.463) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.463) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.463) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000176s [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:16.464) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 377 words... done! [DEBUG] (2017-11-20 10:30:16.464) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=377 removed=0) [DEBUG] (2017-11-20 10:30:16.464) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:3676::createSignature() id 152 is a bad signature [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:3999::createSignature() time compressing data (id=152) 0,001105s [DEBUG] (2017-11-20 10:30:16.464) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:639::update() time creating signature=1,125097 ms [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:724::addSignatureToStm() adding 152 [DEBUG] (2017-11-20 10:30:16.464) Signature.cpp:121::addLink() Add link 152 to 151 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.464) Signature.cpp:121::addLink() Add link 151 to 152 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:752::addSignatureToStm() Min STM id = 114 [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 152 [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:660::update() time rehearsal=0,038862 ms [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:713::update() totalTimer = 0,001183s [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1016::process() Processing signature 152 w=-1 [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001206s [DEBUG] (2017-11-20 10:30:16.464) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,301115,-0,641554,-0,010234 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,301115,-0,641554,-0,010234) [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000019s [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:16.464) Graph.cpp:1898::getNodesInRadius() found nodes=43 [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1750::process() near nodes=43, max local immunized=28, ratio=0,250000 WM=114 [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1836::process() timeReactivations=0,000138s [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,301115,-0,641554,-0,010234 [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,301115,-0,641554,-0,010234 [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:1902::processStats() [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2463::process() Time creating stats = 0,000045... [DEBUG] (2017-11-20 10:30:16.464) MainWindow.cpp:1919::processStats() [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:2219::removeRawData() id=152 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.464) Memory.cpp:2137::saveLocationData() Saving location data 152 [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2537::process() Total time processing = 0,001469s... [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:16.464) Rtabmap.cpp:2661::process() Adding data 152 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.464) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.464) Rtabmap.cpp:2679::process() Get all node infos... [ INFO] (2017-11-20 10:30:16.464) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:16.464) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.464) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 152 [DEBUG] (2017-11-20 10:30:16.465) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000195s [DEBUG] (2017-11-20 10:30:16.465) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.465) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.465) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.465) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.465) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.465) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.465) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.465) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.465) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.465) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.466) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,301115,-0,641554,-0,010234 [DEBUG] (2017-11-20 10:30:16.487) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.487) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.487) SensorData.cpp:557::uncompressData() 152 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.488) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.490) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.491) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.493) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.493) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.493) MainWindow.cpp:1971::updateMapCloud() posesIn=44 constraints=43 mapIdsIn=44 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.493) MainWindow.cpp:2065::updateMapCloud() Update map with 44 locations [DEBUG] (2017-11-20 10:30:16.493) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000271s [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.494) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.494) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.495) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.495) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.495) MainWindow.cpp:1931::processStats() Updating GUI time = 0,008000s [DEBUG] (2017-11-20 10:30:16.496) Camera.cpp:103::takeImage() Time capturing image = 0,001194s [DEBUG] (2017-11-20 10:30:16.496) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.496) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.496) RtabmapThread.cpp:628::addData() Added data 153 [ INFO] (2017-11-20 10:30:16.496) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.496) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.496) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.496) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13877)... [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.496) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.496) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.496) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3676::createSignature() id 153 is a bad signature [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:3999::createSignature() time compressing data (id=153) 0,000280s [DEBUG] (2017-11-20 10:30:16.496) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:639::update() time creating signature=0,313997 ms [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:724::addSignatureToStm() adding 153 [DEBUG] (2017-11-20 10:30:16.496) Signature.cpp:121::addLink() Add link 153 to 152 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.496) Signature.cpp:121::addLink() Add link 152 to 153 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:752::addSignatureToStm() Min STM id = 114 [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 153 [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:794::addSignatureToStm() time = 0,000064s [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:660::update() time rehearsal=0,087023 ms [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:713::update() totalTimer = 0,000438s [DEBUG] (2017-11-20 10:30:16.496) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.496) Rtabmap.cpp:1016::process() Processing signature 153 w=-1 [ INFO] (2017-11-20 10:30:16.496) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000482s [DEBUG] (2017-11-20 10:30:16.496) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,301331,-0,650828,-0,008023 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,301331,-0,650828,-0,008023) [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000058s [DEBUG] (2017-11-20 10:30:16.497) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.497) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000027s [DEBUG] (2017-11-20 10:30:16.497) Graph.cpp:1898::getNodesInRadius() found nodes=43 [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:1750::process() near nodes=43, max local immunized=28, ratio=0,250000 WM=114 [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:1836::process() timeReactivations=0,000850s [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000015s [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,301331,-0,650828,-0,008023 [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,301331,-0,650828,-0,008023 [ INFO] (2017-11-20 10:30:16.497) Rtabmap.cpp:2463::process() Time creating stats = 0,000065... [DEBUG] (2017-11-20 10:30:16.498) Memory.cpp:2219::removeRawData() id=153 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.498) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.498) Memory.cpp:2137::saveLocationData() Saving location data 153 [ INFO] (2017-11-20 10:30:16.498) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000043s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.498) Rtabmap.cpp:2537::process() Total time processing = 0,001555s... [ INFO] (2017-11-20 10:30:16.498) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:16.498) Rtabmap.cpp:2661::process() Adding data 153 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.498) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.498) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.498) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.498) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 153 [DEBUG] (2017-11-20 10:30:16.498) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000241s [DEBUG] (2017-11-20 10:30:16.498) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.498) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.499) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.499) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.499) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000022s... [DEBUG] (2017-11-20 10:30:16.499) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.499) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.499) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.506) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.506) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.507) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,301331,-0,650828,-0,008023 [DEBUG] (2017-11-20 10:30:16.507) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.507) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.512) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.512) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.512) SensorData.cpp:557::uncompressData() 153 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.512) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.515) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.517) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.517) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.517) MainWindow.cpp:1971::updateMapCloud() posesIn=44 constraints=43 mapIdsIn=44 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.517) MainWindow.cpp:2065::updateMapCloud() Update map with 44 locations [DEBUG] (2017-11-20 10:30:16.517) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000259s [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.518) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.519) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.519) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.519) MainWindow.cpp:1931::processStats() Updating GUI time = 0,007000s [DEBUG] (2017-11-20 10:30:16.528) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.529) Camera.cpp:103::takeImage() Time capturing image = 0,001147s [DEBUG] (2017-11-20 10:30:16.529) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.529) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.529) RtabmapThread.cpp:628::addData() Added data 154 [ INFO] (2017-11-20 10:30:16.529) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.529) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.529) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.529) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=13877)... [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.529) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.529) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.529) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.529) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.529) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.530) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.530) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.530) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,301936,-0,658260,-0,008260 [DEBUG] (2017-11-20 10:30:16.531) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.531) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.531) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.532) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.532) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.532) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.536) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004832 s, keypoints extracted = 645 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.536) Memory.cpp:3482::createSignature() time keypoints (645) = 0,007144s [DEBUG] (2017-11-20 10:30:16.542) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 645, remaining kpts=645 [DEBUG] (2017-11-20 10:30:16.542) Memory.cpp:3487::createSignature() time descriptors (645) = 0,005211s [DEBUG] (2017-11-20 10:30:16.542) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:16.542) Memory.cpp:3500::createSignature() time keypoints 3D (645) = 0,000092s [DEBUG] (2017-11-20 10:30:16.542) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.542) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.542) Memory.cpp:3612::createSignature() time descriptor and memory update (645 of size=32) = 0,000023s [DEBUG] (2017-11-20 10:30:16.542) VWDictionary.cpp:593::addNewWords() id=154 descriptors=645 [DEBUG] (2017-11-20 10:30:16.542) VWDictionary.cpp:686::addNewWords() newPts.total()=645 [DEBUG] (2017-11-20 10:30:16.553) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,011050 s [DEBUG] (2017-11-20 10:30:16.558) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,005606 s [DEBUG] (2017-11-20 10:30:16.558) VWDictionary.cpp:874::addNewWords() 349 new words added... [DEBUG] (2017-11-20 10:30:16.558) VWDictionary.cpp:876::addNewWords() 296 duplicated words added (from current image = 3)... [DEBUG] (2017-11-20 10:30:16.558) VWDictionary.cpp:877::addNewWords() total time 0,016712s [DEBUG] (2017-11-20 10:30:16.558) Memory.cpp:3672::createSignature() time addNewWords 0,016738s indexed=13877 not=349 [DEBUG] (2017-11-20 10:30:16.559) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.561) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:3999::createSignature() time compressing data (id=154) 0,003032s [DEBUG] (2017-11-20 10:30:16.562) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:639::update() time creating signature=32,407997 ms [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:724::addSignatureToStm() adding 154 [DEBUG] (2017-11-20 10:30:16.562) Signature.cpp:121::addLink() Add link 154 to 153 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.562) Signature.cpp:121::addLink() Add link 153 to 154 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:752::addSignatureToStm() Min STM id = 114 [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:786::addSignatureToStm() 645 words ref for the signature 154 [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:794::addSignatureToStm() time = 0,000050s [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:2882::rehearsal() Comparing with signature (151)... [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:2905::rehearsal() merged=0, sim=0,116715 t=0,000167s [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:660::update() time rehearsal=0,252008 ms [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 114 from STM in WM... [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 115 from STM in WM... [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 116 from STM in WM... [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 117 from STM in WM... [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:713::update() totalTimer = 0,032714s [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.562) Rtabmap.cpp:1016::process() Processing signature 154 w=0 [ INFO] (2017-11-20 10:30:16.562) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,032752s [DEBUG] (2017-11-20 10:30:16.562) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,301936,-0,658260,-0,008260 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,301936,-0,658260,-0,008260) [DEBUG] (2017-11-20 10:30:16.562) Camera.cpp:103::takeImage() Time capturing image = 0,000928s [ INFO] (2017-11-20 10:30:16.562) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000097s [ INFO] (2017-11-20 10:30:16.562) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.562) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.562) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.562) RtabmapThread.cpp:628::addData() Added data 155 [DEBUG] (2017-11-20 10:30:16.562) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.563) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000523 s [DEBUG] (2017-11-20 10:30:16.563) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=35 [DEBUG] (2017-11-20 10:30:16.563) Rtabmap.cpp:3272::adjustLikelihood() values.size=34 [DEBUG] (2017-11-20 10:30:16.563) Rtabmap.cpp:3319::adjustLikelihood() mean=0,028026, stdDev=0,011049, max=0,057649, maxId=107, time=0,000009s [ INFO] (2017-11-20 10:30:16.563) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000660s [ INFO] (2017-11-20 10:30:16.563) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.563) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.563) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.563) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000035s [DEBUG] (2017-11-20 10:30:16.563) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000009s [DEBUG] (2017-11-20 10:30:16.563) BayesFilter.cpp:495::updatePrediction() From added id 117, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.563) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000088s [DEBUG] (2017-11-20 10:30:16.563) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.563) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.563) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,299414,-0,667069,-0,007193 [DEBUG] (2017-11-20 10:30:16.564) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.564) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000785s [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:575::updatePrediction() time copying = 0,000019s [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000008s [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=17 [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000966s, rows=35, cols=35 [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=35, _posterior size=35 [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000036s [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000007s [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000009s [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:208::computePosterior() sum=3,171022 [DEBUG] (2017-11-20 10:30:16.564) BayesFilter.cpp:216::computePosterior() normalize time=0,000013s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,001059s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1400::process() Highest hypothesis=107, value=0,048779, timeHypothesesCreation=0,000038s [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000022s, joining (actual overhead) = 0,000023s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1489::process() Retrieving locations... around id=107 [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1511::process() neighbors of 107 in time = 33 [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1566::process() neighbors of 107 in space = 33 [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=27, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000067s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.564) Graph.cpp:1898::getNodesInRadius() found nodes=43 [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1750::process() near nodes=43, max local immunized=29, ratio=0,250000 WM=118 [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.564) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.564) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000007s... [DEBUG] (2017-11-20 10:30:16.564) Memory.cpp:4252::reactivateSignatures() time = 0,000046s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000020s) [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000020s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1836::process() timeReactivations=0,000345s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1929::process() nearestIds=1/44 [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.564) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000037s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,301936,-0,658260,-0,008260 [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,301936,-0,658260,-0,008260 [ INFO] (2017-11-20 10:30:16.564) Rtabmap.cpp:2463::process() Time creating stats = 0,000215... [DEBUG] (2017-11-20 10:30:16.565) Memory.cpp:2219::removeRawData() id=154 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.565) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.565) Memory.cpp:2137::saveLocationData() Saving location data 154 [ INFO] (2017-11-20 10:30:16.565) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000220s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.565) Rtabmap.cpp:2537::process() Total time processing = 0,035467s... [ INFO] (2017-11-20 10:30:16.565) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:16.565) Rtabmap.cpp:2661::process() Adding data 154 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.565) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.565) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.565) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.566) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 154 [DEBUG] (2017-11-20 10:30:16.566) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000288s [DEBUG] (2017-11-20 10:30:16.566) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.566) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.569) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.569) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000030s... [DEBUG] (2017-11-20 10:30:16.569) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.569) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.570) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.570) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:16.570) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.570) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.570) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.570) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14226)... [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:621::update() time preUpdate=0,009775 ms [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.570) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.570) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.570) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.570) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 349 words... [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.570) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.571) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 349 words... done! [DEBUG] (2017-11-20 10:30:16.571) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=349 removed=0) [DEBUG] (2017-11-20 10:30:16.571) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:3676::createSignature() id 155 is a bad signature [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:3999::createSignature() time compressing data (id=155) 0,001059s [DEBUG] (2017-11-20 10:30:16.571) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:639::update() time creating signature=1,087904 ms [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:724::addSignatureToStm() adding 155 [DEBUG] (2017-11-20 10:30:16.571) Signature.cpp:121::addLink() Add link 155 to 154 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.571) Signature.cpp:121::addLink() Add link 154 to 155 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:752::addSignatureToStm() Min STM id = 118 [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 155 [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:660::update() time rehearsal=0,056982 ms [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:713::update() totalTimer = 0,001172s [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1016::process() Processing signature 155 w=-1 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001208s [DEBUG] (2017-11-20 10:30:16.571) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,299414,-0,667069,-0,007193 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,299414,-0,667069,-0,007193) [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000025s [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000030s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:16.571) Graph.cpp:1898::getNodesInRadius() found nodes=44 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1750::process() near nodes=44, max local immunized=29, ratio=0,250000 WM=118 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1836::process() timeReactivations=0,000160s [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000007s [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,299414,-0,667069,-0,007193 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,299414,-0,667069,-0,007193 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2463::process() Time creating stats = 0,000063... [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:2219::removeRawData() id=155 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.571) Memory.cpp:2137::saveLocationData() Saving location data 155 [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2537::process() Total time processing = 0,001533s... [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:16.571) Rtabmap.cpp:2661::process() Adding data 155 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.571) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.572) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.572) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.572) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 155 [DEBUG] (2017-11-20 10:30:16.572) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000165s [DEBUG] (2017-11-20 10:30:16.572) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.572) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.572) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.572) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.572) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000008s... [DEBUG] (2017-11-20 10:30:16.572) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.572) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.572) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.575) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.575) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.575) SensorData.cpp:557::uncompressData() 154 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.576) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.577) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 645 [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:3844::drawKeypoints() source time = 0,000351 s [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.578) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.580) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.580) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.580) MainWindow.cpp:1971::updateMapCloud() posesIn=44 constraints=43 mapIdsIn=44 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.580) MainWindow.cpp:2065::updateMapCloud() Update map with 44 locations [DEBUG] (2017-11-20 10:30:16.580) SensorData.cpp:557::uncompressData() 154 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.580) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.580) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.580) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.580) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.583) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000233s [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.584) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:16.585) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.585) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.585) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:16.586) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.586) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.586) SensorData.cpp:557::uncompressData() 155 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.586) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.587) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.588) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.590) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.590) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.590) MainWindow.cpp:1971::updateMapCloud() posesIn=45 constraints=44 mapIdsIn=45 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.590) MainWindow.cpp:2065::updateMapCloud() Update map with 45 locations [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000197s [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.591) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.591) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.594) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.595) Camera.cpp:103::takeImage() Time capturing image = 0,000943s [DEBUG] (2017-11-20 10:30:16.595) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.595) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.596) RtabmapThread.cpp:628::addData() Added data 156 [ INFO] (2017-11-20 10:30:16.596) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.596) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14226)... [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.596) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.596) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.596) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3676::createSignature() id 156 is a bad signature [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:3999::createSignature() time compressing data (id=156) 0,000083s [DEBUG] (2017-11-20 10:30:16.596) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:639::update() time creating signature=0,102997 ms [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:724::addSignatureToStm() adding 156 [DEBUG] (2017-11-20 10:30:16.596) Signature.cpp:121::addLink() Add link 156 to 155 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.596) Signature.cpp:121::addLink() Add link 155 to 156 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:752::addSignatureToStm() Min STM id = 118 [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 156 [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:713::update() totalTimer = 0,000167s [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1016::process() Processing signature 156 w=-1 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000197s [DEBUG] (2017-11-20 10:30:16.596) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,299630,-0,676191,-0,005633 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,299630,-0,676191,-0,005633) [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000008s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:16.596) Graph.cpp:1898::getNodesInRadius() found nodes=44 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1750::process() near nodes=44, max local immunized=29, ratio=0,250000 WM=118 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1836::process() timeReactivations=0,000151s [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,299630,-0,676191,-0,005633 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,299630,-0,676191,-0,005633 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:2219::removeRawData() id=156 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.596) Memory.cpp:2137::saveLocationData() Saving location data 156 [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2537::process() Total time processing = 0,000487s... [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.596) Rtabmap.cpp:2661::process() Adding data 156 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.596) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.596) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.596) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.596) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 156 [DEBUG] (2017-11-20 10:30:16.597) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000162s [DEBUG] (2017-11-20 10:30:16.597) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.597) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.597) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.597) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000007s... [DEBUG] (2017-11-20 10:30:16.597) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.597) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.597) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.597) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.599) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.599) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.599) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,299630,-0,676191,-0,005633 [DEBUG] (2017-11-20 10:30:16.600) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.600) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.607) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.607) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.607) SensorData.cpp:557::uncompressData() 156 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.607) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.608) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.609) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.610) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.610) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.610) MainWindow.cpp:1971::updateMapCloud() posesIn=45 constraints=44 mapIdsIn=45 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.610) MainWindow.cpp:2065::updateMapCloud() Update map with 45 locations [DEBUG] (2017-11-20 10:30:16.610) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000266s [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.611) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.612) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.612) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.612) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.628) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.631) Camera.cpp:103::takeImage() Time capturing image = 0,002776s [DEBUG] (2017-11-20 10:30:16.631) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.631) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.631) RtabmapThread.cpp:628::addData() Added data 157 [ INFO] (2017-11-20 10:30:16.631) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.631) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.631) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.631) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14226)... [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.631) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.632) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.632) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.632) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.632) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.633) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.633) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.633) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,300880,-0,678089,-0,008217 [DEBUG] (2017-11-20 10:30:16.634) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.634) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.634) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.635) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.635) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.635) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.639) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003550 s, keypoints extracted = 672 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.639) Memory.cpp:3482::createSignature() time keypoints (672) = 0,007697s [DEBUG] (2017-11-20 10:30:16.642) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 672, remaining kpts=672 [DEBUG] (2017-11-20 10:30:16.642) Memory.cpp:3487::createSignature() time descriptors (672) = 0,003574s [DEBUG] (2017-11-20 10:30:16.642) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:16.642) Memory.cpp:3500::createSignature() time keypoints 3D (672) = 0,000084s [DEBUG] (2017-11-20 10:30:16.642) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.642) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.642) Memory.cpp:3612::createSignature() time descriptor and memory update (672 of size=32) = 0,000016s [DEBUG] (2017-11-20 10:30:16.642) VWDictionary.cpp:593::addNewWords() id=157 descriptors=672 [DEBUG] (2017-11-20 10:30:16.642) VWDictionary.cpp:686::addNewWords() newPts.total()=672 [DEBUG] (2017-11-20 10:30:16.650) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,007893 s [DEBUG] (2017-11-20 10:30:16.654) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003520 s [DEBUG] (2017-11-20 10:30:16.654) VWDictionary.cpp:874::addNewWords() 356 new words added... [DEBUG] (2017-11-20 10:30:16.654) VWDictionary.cpp:876::addNewWords() 316 duplicated words added (from current image = 6)... [DEBUG] (2017-11-20 10:30:16.654) VWDictionary.cpp:877::addNewWords() total time 0,011440s [DEBUG] (2017-11-20 10:30:16.654) Memory.cpp:3672::createSignature() time addNewWords 0,011454s indexed=14226 not=356 [DEBUG] (2017-11-20 10:30:16.654) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:3999::createSignature() time compressing data (id=157) 0,002028s [DEBUG] (2017-11-20 10:30:16.656) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:639::update() time creating signature=24,948120 ms [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:724::addSignatureToStm() adding 157 [DEBUG] (2017-11-20 10:30:16.656) Signature.cpp:121::addLink() Add link 157 to 156 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.656) Signature.cpp:121::addLink() Add link 156 to 157 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:752::addSignatureToStm() Min STM id = 118 [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:786::addSignatureToStm() 672 words ref for the signature 157 [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:2882::rehearsal() Comparing with signature (154)... [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:2905::rehearsal() merged=0, sim=0,119048 t=0,000090s [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:660::update() time rehearsal=0,144958 ms [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 118 from STM in WM... [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 119 from STM in WM... [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 120 from STM in WM... [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 121 from STM in WM... [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:713::update() totalTimer = 0,025133s [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.656) Rtabmap.cpp:1016::process() Processing signature 157 w=0 [ INFO] (2017-11-20 10:30:16.656) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025166s [DEBUG] (2017-11-20 10:30:16.656) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,300880,-0,678089,-0,008217 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,300880,-0,678089,-0,008217) [ INFO] (2017-11-20 10:30:16.656) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000067s [ INFO] (2017-11-20 10:30:16.656) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.656) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.657) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000298 s [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=36 [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:3272::adjustLikelihood() values.size=35 [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:3319::adjustLikelihood() mean=0,020429, stdDev=0,012590, max=0,046660, maxId=107, time=0,000006s [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000364s [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000024s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:495::updatePrediction() From added id 121, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000076s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000495s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:575::updatePrediction() time copying = 0,000013s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=18 [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000633s, rows=36, cols=36 [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=36, _posterior size=36 [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:208::computePosterior() sum=2,409023 [DEBUG] (2017-11-20 10:30:16.657) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000689s [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1400::process() Highest hypothesis=107, value=0,062681, timeHypothesesCreation=0,000029s [DEBUG] (2017-11-20 10:30:16.657) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.657) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000007s, joining (actual overhead) = 0,000013s [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1489::process() Retrieving locations... around id=107 [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:1511::process() neighbors of 107 in time = 33 [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.657) Rtabmap.cpp:1566::process() neighbors of 107 in space = 33 [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=31, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000052s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.657) Graph.cpp:1898::getNodesInRadius() found nodes=44 [ INFO] (2017-11-20 10:30:16.657) Rtabmap.cpp:1750::process() near nodes=44, max local immunized=30, ratio=0,250000 WM=122 [DEBUG] (2017-11-20 10:30:16.657) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.658) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.658) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000001s [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000005s [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000005s... [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:4252::reactivateSignatures() time = 0,000035s [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000015s) [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000015s [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:1836::process() timeReactivations=0,000249s [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:1929::process() nearestIds=1/45 [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000029s [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,300880,-0,678089,-0,008217 [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,300880,-0,678089,-0,008217 [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2463::process() Time creating stats = 0,000131... [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:2219::removeRawData() id=157 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.658) Memory.cpp:2137::saveLocationData() Saving location data 157 [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000097s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2537::process() Total time processing = 0,026848s... [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.658) Rtabmap.cpp:2661::process() Adding data 157 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.658) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.658) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 157 [DEBUG] (2017-11-20 10:30:16.659) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000176s [DEBUG] (2017-11-20 10:30:16.659) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.659) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.659) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.659) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.659) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.659) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.659) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.659) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.659) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.659) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.660) SensorData.cpp:557::uncompressData() 157 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.660) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.661) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 672 [DEBUG] (2017-11-20 10:30:16.662) Camera.cpp:103::takeImage() Time capturing image = 0,000839s [DEBUG] (2017-11-20 10:30:16.662) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.662) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.662) RtabmapThread.cpp:628::addData() Added data 158 [ INFO] (2017-11-20 10:30:16.662) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.662) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.662) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.662) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14582)... [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.662) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.662) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.662) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.662) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 356 words... [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.662) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:3844::drawKeypoints() source time = 0,000383 s [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.662) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.663) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 356 words... done! [DEBUG] (2017-11-20 10:30:16.663) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=356 removed=0) [DEBUG] (2017-11-20 10:30:16.663) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:3676::createSignature() id 158 is a bad signature [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:3999::createSignature() time compressing data (id=158) 0,001129s [DEBUG] (2017-11-20 10:30:16.663) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:639::update() time creating signature=1,151085 ms [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:724::addSignatureToStm() adding 158 [DEBUG] (2017-11-20 10:30:16.663) Signature.cpp:121::addLink() Add link 158 to 157 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.663) Signature.cpp:121::addLink() Add link 157 to 158 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:752::addSignatureToStm() Min STM id = 122 [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 158 [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:794::addSignatureToStm() time = 0,000029s [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:660::update() time rehearsal=0,036955 ms [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:713::update() totalTimer = 0,001205s [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.663) Rtabmap.cpp:1016::process() Processing signature 158 w=-1 [ INFO] (2017-11-20 10:30:16.663) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001229s [DEBUG] (2017-11-20 10:30:16.663) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,300033,-0,680454,-0,009951 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,300033,-0,680454,-0,009951) [ INFO] (2017-11-20 10:30:16.663) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000019s [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.663) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.663) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:16.664) Graph.cpp:1898::getNodesInRadius() found nodes=45 [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:1750::process() near nodes=45, max local immunized=30, ratio=0,250000 WM=122 [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:1836::process() timeReactivations=0,000141s [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,300033,-0,680454,-0,009951 [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,300033,-0,680454,-0,009951 [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2463::process() Time creating stats = 0,000041... [DEBUG] (2017-11-20 10:30:16.664) Memory.cpp:2219::removeRawData() id=158 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.664) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.664) Memory.cpp:2137::saveLocationData() Saving location data 158 [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2537::process() Total time processing = 0,001482s... [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:16.664) Rtabmap.cpp:2661::process() Adding data 158 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.664) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.664) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.664) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.664) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 158 [DEBUG] (2017-11-20 10:30:16.664) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000159s [DEBUG] (2017-11-20 10:30:16.664) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.664) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.664) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.664) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.664) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.664) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.664) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.664) MainWindow.cpp:1971::updateMapCloud() posesIn=45 constraints=44 mapIdsIn=45 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.664) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.664) MainWindow.cpp:2065::updateMapCloud() Update map with 45 locations [DEBUG] (2017-11-20 10:30:16.664) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.664) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.664) SensorData.cpp:557::uncompressData() 157 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.664) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.664) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.665) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.665) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.667) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000223s [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.668) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:16.669) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.669) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.670) MainWindow.cpp:1931::processStats() Updating GUI time = 0,011000s [DEBUG] (2017-11-20 10:30:16.671) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.671) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.671) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,300033,-0,680454,-0,009951 [DEBUG] (2017-11-20 10:30:16.673) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.673) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.673) SensorData.cpp:557::uncompressData() 158 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.674) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.675) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:1971::updateMapCloud() posesIn=46 constraints=45 mapIdsIn=46 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2065::updateMapCloud() Update map with 46 locations [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000224s [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.677) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.678) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.678) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.678) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.694) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.695) Camera.cpp:103::takeImage() Time capturing image = 0,000968s [DEBUG] (2017-11-20 10:30:16.696) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.696) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.696) RtabmapThread.cpp:628::addData() Added data 159 [ INFO] (2017-11-20 10:30:16.696) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.696) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.696) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.696) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14582)... [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.696) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.697) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.697) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.697) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:3676::createSignature() id 159 is a bad signature [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:3999::createSignature() time compressing data (id=159) 0,001520s [DEBUG] (2017-11-20 10:30:16.698) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:639::update() time creating signature=1,572847 ms [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:724::addSignatureToStm() adding 159 [DEBUG] (2017-11-20 10:30:16.698) Signature.cpp:121::addLink() Add link 159 to 158 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.698) Signature.cpp:121::addLink() Add link 158 to 159 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:752::addSignatureToStm() Min STM id = 122 [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 159 [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:794::addSignatureToStm() time = 0,000064s [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:660::update() time rehearsal=0,081062 ms [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:713::update() totalTimer = 0,001696s [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1016::process() Processing signature 159 w=-1 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001737s [DEBUG] (2017-11-20 10:30:16.698) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,299641,-0,682526,-0,010585 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,299641,-0,682526,-0,010585) [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000045s [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:16.698) Graph.cpp:1898::getNodesInRadius() found nodes=45 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1750::process() near nodes=45, max local immunized=30, ratio=0,250000 WM=122 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1836::process() timeReactivations=0,000234s [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,299641,-0,682526,-0,010585 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,299641,-0,682526,-0,010585 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2463::process() Time creating stats = 0,000091... [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:2219::removeRawData() id=159 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.698) Memory.cpp:2137::saveLocationData() Saving location data 159 [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000047s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2537::process() Total time processing = 0,002197s... [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000014... [ INFO] (2017-11-20 10:30:16.698) Rtabmap.cpp:2661::process() Adding data 159 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.698) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.698) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.699) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.699) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 159 [DEBUG] (2017-11-20 10:30:16.699) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000282s [DEBUG] (2017-11-20 10:30:16.699) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.699) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.699) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.699) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.699) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000031s... [DEBUG] (2017-11-20 10:30:16.699) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.700) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.700) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.700) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.700) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.700) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,299641,-0,682526,-0,010585 [DEBUG] (2017-11-20 10:30:16.701) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.701) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.706) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.706) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.706) SensorData.cpp:557::uncompressData() 159 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.706) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.708) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.710) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.710) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.710) MainWindow.cpp:1971::updateMapCloud() posesIn=46 constraints=45 mapIdsIn=46 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.710) MainWindow.cpp:2065::updateMapCloud() Update map with 46 locations [DEBUG] (2017-11-20 10:30:16.710) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000227s [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.711) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.712) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.712) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.712) MainWindow.cpp:1931::processStats() Updating GUI time = 0,006000s [DEBUG] (2017-11-20 10:30:16.728) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.729) Camera.cpp:103::takeImage() Time capturing image = 0,000867s [DEBUG] (2017-11-20 10:30:16.729) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.729) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.729) RtabmapThread.cpp:628::addData() Added data 160 [ INFO] (2017-11-20 10:30:16.729) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.729) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14582)... [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.729) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.729) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.729) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3676::createSignature() id 160 is a bad signature [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:3999::createSignature() time compressing data (id=160) 0,000101s [DEBUG] (2017-11-20 10:30:16.729) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:639::update() time creating signature=0,128031 ms [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:724::addSignatureToStm() adding 160 [DEBUG] (2017-11-20 10:30:16.729) Signature.cpp:121::addLink() Add link 160 to 159 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.729) Signature.cpp:121::addLink() Add link 159 to 160 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:752::addSignatureToStm() Min STM id = 122 [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 160 [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:660::update() time rehearsal=0,054836 ms [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:713::update() totalTimer = 0,000212s [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1016::process() Processing signature 160 w=-1 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000249s [DEBUG] (2017-11-20 10:30:16.729) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,297484,-0,682819,-0,009549 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,297484,-0,682819,-0,009549) [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000036s [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000031s, joining (actual overhead) = 0,000016s [DEBUG] (2017-11-20 10:30:16.729) Graph.cpp:1898::getNodesInRadius() found nodes=45 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1750::process() near nodes=45, max local immunized=30, ratio=0,250000 WM=122 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1836::process() timeReactivations=0,000167s [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,297484,-0,682819,-0,009549 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,297484,-0,682819,-0,009549 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2463::process() Time creating stats = 0,000060... [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:2219::removeRawData() id=160 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.729) Memory.cpp:2137::saveLocationData() Saving location data 160 [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.729) Rtabmap.cpp:2537::process() Total time processing = 0,000585s... [ INFO] (2017-11-20 10:30:16.730) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000011... [ INFO] (2017-11-20 10:30:16.730) Rtabmap.cpp:2661::process() Adding data 160 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.730) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.730) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.730) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.730) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.730) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.730) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 160 [DEBUG] (2017-11-20 10:30:16.730) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,297484,-0,682819,-0,009549 [DEBUG] (2017-11-20 10:30:16.730) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000163s [DEBUG] (2017-11-20 10:30:16.730) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.730) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.730) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.730) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000008s... [DEBUG] (2017-11-20 10:30:16.730) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.730) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.730) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.730) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.730) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.730) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.736) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.736) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.736) SensorData.cpp:557::uncompressData() 160 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.736) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.738) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.739) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.739) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.739) MainWindow.cpp:1971::updateMapCloud() posesIn=46 constraints=45 mapIdsIn=46 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.739) MainWindow.cpp:2065::updateMapCloud() Update map with 46 locations [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000199s [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.740) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.741) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.741) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.741) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.761) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.762) Camera.cpp:103::takeImage() Time capturing image = 0,000864s [DEBUG] (2017-11-20 10:30:16.762) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.762) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.762) RtabmapThread.cpp:628::addData() Added data 161 [ INFO] (2017-11-20 10:30:16.762) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.762) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.762) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.762) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14582)... [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:621::update() time preUpdate=0,010014 ms [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.762) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.762) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.762) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.762) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.762) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.763) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.763) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.763) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,293710,-0,681075,-0,008155 [DEBUG] (2017-11-20 10:30:16.764) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.764) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.765) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.766) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.766) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.766) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.769) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003644 s, keypoints extracted = 718 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.769) Memory.cpp:3482::createSignature() time keypoints (718) = 0,007016s [DEBUG] (2017-11-20 10:30:16.773) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 718, remaining kpts=718 [DEBUG] (2017-11-20 10:30:16.773) Memory.cpp:3487::createSignature() time descriptors (718) = 0,003637s [DEBUG] (2017-11-20 10:30:16.773) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=195 [DEBUG] (2017-11-20 10:30:16.773) Memory.cpp:3500::createSignature() time keypoints 3D (718) = 0,000093s [DEBUG] (2017-11-20 10:30:16.773) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.773) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.773) Memory.cpp:3612::createSignature() time descriptor and memory update (718 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:16.773) VWDictionary.cpp:593::addNewWords() id=161 descriptors=718 [DEBUG] (2017-11-20 10:30:16.773) VWDictionary.cpp:686::addNewWords() newPts.total()=718 [DEBUG] (2017-11-20 10:30:16.782) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,008630 s [DEBUG] (2017-11-20 10:30:16.786) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004193 s [DEBUG] (2017-11-20 10:30:16.786) VWDictionary.cpp:874::addNewWords() 387 new words added... [DEBUG] (2017-11-20 10:30:16.786) VWDictionary.cpp:876::addNewWords() 331 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:16.786) VWDictionary.cpp:877::addNewWords() total time 0,012866s [DEBUG] (2017-11-20 10:30:16.786) Memory.cpp:3672::createSignature() time addNewWords 0,012883s indexed=14582 not=387 [DEBUG] (2017-11-20 10:30:16.786) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:3999::createSignature() time compressing data (id=161) 0,002148s [DEBUG] (2017-11-20 10:30:16.788) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:639::update() time creating signature=25,948048 ms [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:724::addSignatureToStm() adding 161 [DEBUG] (2017-11-20 10:30:16.788) Signature.cpp:121::addLink() Add link 161 to 160 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.788) Signature.cpp:121::addLink() Add link 160 to 161 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:752::addSignatureToStm() Min STM id = 122 [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:786::addSignatureToStm() 718 words ref for the signature 161 [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:794::addSignatureToStm() time = 0,000044s [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:2882::rehearsal() Comparing with signature (157)... [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:2905::rehearsal() merged=0, sim=0,089136 t=0,000127s [DEBUG] (2017-11-20 10:30:16.788) Memory.cpp:660::update() time rehearsal=0,207901 ms [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 122 from STM in WM... [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 123 from STM in WM... [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 124 from STM in WM... [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 125 from STM in WM... [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:713::update() totalTimer = 0,026205s [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.789) Rtabmap.cpp:1016::process() Processing signature 161 w=0 [ INFO] (2017-11-20 10:30:16.789) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,026241s [DEBUG] (2017-11-20 10:30:16.789) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,293710,-0,681075,-0,008155 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,293710,-0,681075,-0,008155) [ INFO] (2017-11-20 10:30:16.789) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000058s [ INFO] (2017-11-20 10:30:16.789) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.789) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000382 s [DEBUG] (2017-11-20 10:30:16.789) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=37 [DEBUG] (2017-11-20 10:30:16.789) Rtabmap.cpp:3272::adjustLikelihood() values.size=36 [DEBUG] (2017-11-20 10:30:16.789) Rtabmap.cpp:3319::adjustLikelihood() mean=0,024300, stdDev=0,013332, max=0,059813, maxId=121, time=0,000008s [ INFO] (2017-11-20 10:30:16.789) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000483s [ INFO] (2017-11-20 10:30:16.789) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.789) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.789) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.789) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000028s [DEBUG] (2017-11-20 10:30:16.789) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000007s [DEBUG] (2017-11-20 10:30:16.789) BayesFilter.cpp:495::updatePrediction() From added id 125, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.789) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000061s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000518s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:575::updatePrediction() time copying = 0,000017s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=19 [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000657s, rows=37, cols=37 [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=37, _posterior size=37 [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000029s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000008s [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:208::computePosterior() sum=2,560025 [DEBUG] (2017-11-20 10:30:16.790) BayesFilter.cpp:216::computePosterior() normalize time=0,000015s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000738s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1400::process() Highest hypothesis=107, value=0,062923, timeHypothesesCreation=0,000029s [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000008s, joining (actual overhead) = 0,000019s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1489::process() Retrieving locations... around id=107 [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1511::process() neighbors of 107 in time = 33 [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1566::process() neighbors of 107 in space = 33 [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=33, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000057s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.790) Graph.cpp:1898::getNodesInRadius() found nodes=45 [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1750::process() near nodes=45, max local immunized=31, ratio=0,250000 WM=126 [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.790) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.790) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:4252::reactivateSignatures() time = 0,000042s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000019s) [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000019s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1836::process() timeReactivations=0,000274s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1929::process() nearestIds=1/46 [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.790) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000035s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,293710,-0,681075,-0,008155 [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,293710,-0,681075,-0,008155 [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2463::process() Time creating stats = 0,000151... [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:2219::removeRawData() id=161 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.790) Memory.cpp:2137::saveLocationData() Saving location data 161 [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000132s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2537::process() Total time processing = 0,028178s... [ INFO] (2017-11-20 10:30:16.790) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.791) Rtabmap.cpp:2661::process() Adding data 161 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.791) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.791) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.791) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.791) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 161 [DEBUG] (2017-11-20 10:30:16.791) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000194s [DEBUG] (2017-11-20 10:30:16.791) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.791) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.791) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.791) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:16.791) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.792) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.792) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.792) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.792) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.792) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.792) SensorData.cpp:557::uncompressData() 161 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.792) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.794) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.794) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.794) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 718 [DEBUG] (2017-11-20 10:30:16.794) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.795) MainWindow.cpp:3844::drawKeypoints() source time = 0,000514 s [DEBUG] (2017-11-20 10:30:16.795) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.795) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:16.795) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.795) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.796) Camera.cpp:103::takeImage() Time capturing image = 0,001117s [DEBUG] (2017-11-20 10:30:16.796) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.796) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.796) RtabmapThread.cpp:628::addData() Added data 162 [ INFO] (2017-11-20 10:30:16.796) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.796) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.796) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.796) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14969)... [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.796) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.796) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.796) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.796) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 387 words... [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.796) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.797) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 387 words... done! [DEBUG] (2017-11-20 10:30:16.797) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=387 removed=0) [DEBUG] (2017-11-20 10:30:16.797) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:3676::createSignature() id 162 is a bad signature [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.797) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.797) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.797) MainWindow.cpp:1971::updateMapCloud() posesIn=46 constraints=45 mapIdsIn=46 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:3999::createSignature() time compressing data (id=162) 0,001365s [DEBUG] (2017-11-20 10:30:16.797) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:639::update() time creating signature=1,389980 ms [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:724::addSignatureToStm() adding 162 [DEBUG] (2017-11-20 10:30:16.797) Signature.cpp:121::addLink() Add link 162 to 161 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.797) MainWindow.cpp:2065::updateMapCloud() Update map with 46 locations [DEBUG] (2017-11-20 10:30:16.797) Signature.cpp:121::addLink() Add link 161 to 162 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:752::addSignatureToStm() Min STM id = 126 [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 162 [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:794::addSignatureToStm() time = 0,000045s [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:660::update() time rehearsal=0,055075 ms [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:713::update() totalTimer = 0,001463s [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.797) Rtabmap.cpp:1016::process() Processing signature 162 w=-1 [ INFO] (2017-11-20 10:30:16.797) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001490s [DEBUG] (2017-11-20 10:30:16.797) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,291022,-0,679226,-0,006517 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,291022,-0,679226,-0,006517) [ INFO] (2017-11-20 10:30:16.797) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000024s [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.797) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.797) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000013s [DEBUG] (2017-11-20 10:30:16.797) SensorData.cpp:557::uncompressData() 161 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.797) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.798) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.798) Graph.cpp:1898::getNodesInRadius() found nodes=46 [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:1750::process() near nodes=46, max local immunized=31, ratio=0,250000 WM=126 [DEBUG] (2017-11-20 10:30:16.798) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:1836::process() timeReactivations=0,000191s [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,291022,-0,679226,-0,006517 [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,291022,-0,679226,-0,006517 [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:16.798) Memory.cpp:2219::removeRawData() id=162 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.798) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.798) Memory.cpp:2137::saveLocationData() Saving location data 162 [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000026s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2537::process() Total time processing = 0,001803s... [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [DEBUG] (2017-11-20 10:30:16.798) util3d.cpp:585::cloudFromDepthRGB() [ INFO] (2017-11-20 10:30:16.798) Rtabmap.cpp:2661::process() Adding data 162 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.798) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.798) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.798) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.798) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 162 [DEBUG] (2017-11-20 10:30:16.799) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,001044s [DEBUG] (2017-11-20 10:30:16.799) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.799) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.799) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.799) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000008s... [DEBUG] (2017-11-20 10:30:16.799) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.799) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.799) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.799) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.800) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000236s [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.801) MainWindow.cpp:1853::processStats() time= 4 ms [DEBUG] (2017-11-20 10:30:16.802) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.802) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.802) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:16.803) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.803) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.804) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,291022,-0,679226,-0,006517 [DEBUG] (2017-11-20 10:30:16.806) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.806) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.806) SensorData.cpp:557::uncompressData() 162 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.806) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.808) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.809) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.809) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.809) MainWindow.cpp:1971::updateMapCloud() posesIn=47 constraints=46 mapIdsIn=47 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.809) MainWindow.cpp:2065::updateMapCloud() Update map with 47 locations [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000181s [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.810) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.810) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:16.828) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.829) Camera.cpp:103::takeImage() Time capturing image = 0,000888s [DEBUG] (2017-11-20 10:30:16.829) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.829) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.829) RtabmapThread.cpp:628::addData() Added data 163 [ INFO] (2017-11-20 10:30:16.829) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.829) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.829) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.829) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14969)... [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:621::update() time preUpdate=0,009775 ms [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.829) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.830) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.830) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.830) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,287886,-0,674965,-0,006319 [DEBUG] (2017-11-20 10:30:16.830) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.830) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.830) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:3676::createSignature() id 163 is a bad signature [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:3999::createSignature() time compressing data (id=163) 0,001184s [DEBUG] (2017-11-20 10:30:16.830) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:639::update() time creating signature=1,209021 ms [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:724::addSignatureToStm() adding 163 [DEBUG] (2017-11-20 10:30:16.830) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.830) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.830) Signature.cpp:121::addLink() Add link 163 to 162 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.830) Signature.cpp:121::addLink() Add link 162 to 163 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:752::addSignatureToStm() Min STM id = 126 [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 163 [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:794::addSignatureToStm() time = 0,000053s [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:660::update() time rehearsal=0,065088 ms [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:713::update() totalTimer = 0,001297s [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.830) Rtabmap.cpp:1016::process() Processing signature 163 w=-1 [ INFO] (2017-11-20 10:30:16.830) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001329s [DEBUG] (2017-11-20 10:30:16.830) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,287886,-0,674965,-0,006319 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,287886,-0,674965,-0,006319) [ INFO] (2017-11-20 10:30:16.830) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000031s [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.830) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.830) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000008s, joining (actual overhead) = 0,000014s [DEBUG] (2017-11-20 10:30:16.830) Graph.cpp:1898::getNodesInRadius() found nodes=46 [ INFO] (2017-11-20 10:30:16.830) Rtabmap.cpp:1750::process() near nodes=46, max local immunized=31, ratio=0,250000 WM=126 [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:1836::process() timeReactivations=0,000160s [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,287886,-0,674965,-0,006319 [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,287886,-0,674965,-0,006319 [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:16.831) Memory.cpp:2219::removeRawData() id=163 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.831) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.831) Memory.cpp:2137::saveLocationData() Saving location data 163 [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000028s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2537::process() Total time processing = 0,001630s... [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000009... [ INFO] (2017-11-20 10:30:16.831) Rtabmap.cpp:2661::process() Adding data 163 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.831) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.831) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.831) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.831) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 163 [DEBUG] (2017-11-20 10:30:16.831) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000202s [DEBUG] (2017-11-20 10:30:16.831) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.831) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.831) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.831) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:16.831) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.831) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.831) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.831) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.835) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.835) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.835) SensorData.cpp:557::uncompressData() 163 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.835) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.836) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.837) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.838) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.838) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.838) MainWindow.cpp:1971::updateMapCloud() posesIn=47 constraints=46 mapIdsIn=47 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.838) MainWindow.cpp:2065::updateMapCloud() Update map with 47 locations [DEBUG] (2017-11-20 10:30:16.838) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000185s [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.839) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.839) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:16.861) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.862) Camera.cpp:103::takeImage() Time capturing image = 0,000885s [DEBUG] (2017-11-20 10:30:16.862) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.862) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.862) RtabmapThread.cpp:628::addData() Added data 164 [ INFO] (2017-11-20 10:30:16.862) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.862) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.862) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.862) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=14969)... [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.862) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.862) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.862) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.862) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.862) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.863) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.863) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.863) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,283129,-0,673669,-0,003563 [DEBUG] (2017-11-20 10:30:16.864) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.864) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.864) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.864) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.864) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.864) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.869) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004866 s, keypoints extracted = 738 (mask empty=0) [DEBUG] (2017-11-20 10:30:16.869) Memory.cpp:3482::createSignature() time keypoints (738) = 0,007085s [DEBUG] (2017-11-20 10:30:16.878) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 738, remaining kpts=738 [DEBUG] (2017-11-20 10:30:16.878) Memory.cpp:3487::createSignature() time descriptors (738) = 0,008902s [DEBUG] (2017-11-20 10:30:16.878) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:16.878) Memory.cpp:3500::createSignature() time keypoints 3D (738) = 0,000136s [DEBUG] (2017-11-20 10:30:16.878) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.878) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.878) Memory.cpp:3612::createSignature() time descriptor and memory update (738 of size=32) = 0,000024s [DEBUG] (2017-11-20 10:30:16.878) VWDictionary.cpp:593::addNewWords() id=164 descriptors=738 [DEBUG] (2017-11-20 10:30:16.879) VWDictionary.cpp:686::addNewWords() newPts.total()=738 [DEBUG] (2017-11-20 10:30:16.889) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,010906 s [DEBUG] (2017-11-20 10:30:16.893) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,003918 s [DEBUG] (2017-11-20 10:30:16.893) VWDictionary.cpp:874::addNewWords() 366 new words added... [DEBUG] (2017-11-20 10:30:16.893) VWDictionary.cpp:876::addNewWords() 372 duplicated words added (from current image = 2)... [DEBUG] (2017-11-20 10:30:16.893) VWDictionary.cpp:877::addNewWords() total time 0,014865s [DEBUG] (2017-11-20 10:30:16.893) Memory.cpp:3672::createSignature() time addNewWords 0,014888s indexed=14969 not=366 [DEBUG] (2017-11-20 10:30:16.894) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.894) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.896) Camera.cpp:103::takeImage() Time capturing image = 0,001156s [DEBUG] (2017-11-20 10:30:16.896) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.896) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.896) RtabmapThread.cpp:628::addData() Added data 165 [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:3999::createSignature() time compressing data (id=164) 0,002875s [DEBUG] (2017-11-20 10:30:16.896) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:639::update() time creating signature=34,065964 ms [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:724::addSignatureToStm() adding 164 [DEBUG] (2017-11-20 10:30:16.896) Signature.cpp:121::addLink() Add link 164 to 163 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.896) Signature.cpp:121::addLink() Add link 163 to 164 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:752::addSignatureToStm() Min STM id = 126 [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:786::addSignatureToStm() 738 words ref for the signature 164 [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:794::addSignatureToStm() time = 0,000040s [DEBUG] (2017-11-20 10:30:16.896) Memory.cpp:2882::rehearsal() Comparing with signature (161)... [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:2905::rehearsal() merged=0, sim=0,097561 t=0,000125s [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:660::update() time rehearsal=0,191927 ms [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 126 from STM in WM... [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 127 from STM in WM... [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 128 from STM in WM... [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:713::update() totalTimer = 0,034298s [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.897) Rtabmap.cpp:1016::process() Processing signature 164 w=0 [DEBUG] (2017-11-20 10:30:16.897) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.897) MainWindow.cpp:985::processOdometry() odom ok [ INFO] (2017-11-20 10:30:16.897) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,034347s [DEBUG] (2017-11-20 10:30:16.897) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,283129,-0,673669,-0,003563 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,283129,-0,673669,-0,003563) [ INFO] (2017-11-20 10:30:16.897) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000113s [ INFO] (2017-11-20 10:30:16.897) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:16.897) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,278598,-0,668934,-0,001102 [DEBUG] (2017-11-20 10:30:16.897) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000438 s [DEBUG] (2017-11-20 10:30:16.897) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=38 [DEBUG] (2017-11-20 10:30:16.897) Rtabmap.cpp:3272::adjustLikelihood() values.size=37 [DEBUG] (2017-11-20 10:30:16.897) Rtabmap.cpp:3319::adjustLikelihood() mean=0,025185, stdDev=0,017872, max=0,094378, maxId=128, time=0,000006s [ INFO] (2017-11-20 10:30:16.897) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000517s [ INFO] (2017-11-20 10:30:16.897) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:16.897) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:16.897) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:16.897) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000027s [DEBUG] (2017-11-20 10:30:16.897) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000007s [DEBUG] (2017-11-20 10:30:16.897) BayesFilter.cpp:495::updatePrediction() From added id 128, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:16.897) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000062s [DEBUG] (2017-11-20 10:30:16.898) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.898) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000499s [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:575::updatePrediction() time copying = 0,000014s [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=20 [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000628s, rows=38, cols=38 [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=38, _posterior size=38 [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000024s [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:208::computePosterior() sum=2,211105 [DEBUG] (2017-11-20 10:30:16.898) BayesFilter.cpp:216::computePosterior() normalize time=0,000008s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000685s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1400::process() Highest hypothesis=128, value=0,074209, timeHypothesesCreation=0,000028s [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000015s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1489::process() Retrieving locations... around id=128 [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1511::process() neighbors of 128 in time = 33 [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1566::process() neighbors of 128 in space = 33 [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=17, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000042s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:16.898) Graph.cpp:1898::getNodesInRadius() found nodes=46 [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1750::process() near nodes=46, max local immunized=32, ratio=0,250000 WM=129 [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:16.898) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:16.898) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:16.898) Memory.cpp:4252::reactivateSignatures() time = 0,000042s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000017s) [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000017s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1836::process() timeReactivations=0,000262s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000006s [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1929::process() nearestIds=1/47 [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:16.898) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000036s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,283129,-0,673669,-0,003563 [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,283129,-0,673669,-0,003563 [ INFO] (2017-11-20 10:30:16.898) Rtabmap.cpp:2463::process() Time creating stats = 0,000175... [DEBUG] (2017-11-20 10:30:16.899) Memory.cpp:2219::removeRawData() id=164 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.899) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.899) Memory.cpp:2137::saveLocationData() Saving location data 164 [ INFO] (2017-11-20 10:30:16.899) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000142s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.899) Rtabmap.cpp:2537::process() Total time processing = 0,036340s... [ INFO] (2017-11-20 10:30:16.899) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:16.899) Rtabmap.cpp:2661::process() Adding data 164 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.899) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.899) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.899) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.899) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 164 [DEBUG] (2017-11-20 10:30:16.899) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000179s [DEBUG] (2017-11-20 10:30:16.899) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.899) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.899) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.899) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:16.899) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.900) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.900) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.900) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:16.900) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.900) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.900) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.900) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15335)... [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:621::update() time preUpdate=0,012875 ms [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.900) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.900) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:16.900) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:16.900) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 366 words... [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.900) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.901) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 366 words... done! [DEBUG] (2017-11-20 10:30:16.901) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=366 removed=0) [DEBUG] (2017-11-20 10:30:16.901) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:3676::createSignature() id 165 is a bad signature [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:3999::createSignature() time compressing data (id=165) 0,001049s [DEBUG] (2017-11-20 10:30:16.901) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:639::update() time creating signature=1,078129 ms [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:724::addSignatureToStm() adding 165 [DEBUG] (2017-11-20 10:30:16.901) Signature.cpp:121::addLink() Add link 165 to 164 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.901) Signature.cpp:121::addLink() Add link 164 to 165 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:752::addSignatureToStm() Min STM id = 129 [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 165 [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:794::addSignatureToStm() time = 0,000042s [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:660::update() time rehearsal=0,056028 ms [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:713::update() totalTimer = 0,001162s [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1016::process() Processing signature 165 w=-1 [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,001200s [DEBUG] (2017-11-20 10:30:16.901) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,278598,-0,668934,-0,001102 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,278598,-0,668934,-0,001102) [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000023s [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.901) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000017s [DEBUG] (2017-11-20 10:30:16.901) Graph.cpp:1898::getNodesInRadius() found nodes=47 [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1750::process() near nodes=47, max local immunized=32, ratio=0,250000 WM=129 [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1836::process() timeReactivations=0,000158s [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.901) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,278598,-0,668934,-0,001102 [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,278598,-0,668934,-0,001102 [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2463::process() Time creating stats = 0,000059... [DEBUG] (2017-11-20 10:30:16.902) Memory.cpp:2219::removeRawData() id=165 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.902) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.902) Memory.cpp:2137::saveLocationData() Saving location data 165 [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000033s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2537::process() Total time processing = 0,001513s... [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:16.902) Rtabmap.cpp:2661::process() Adding data 165 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.902) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.902) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.902) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.902) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 165 [DEBUG] (2017-11-20 10:30:16.902) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000160s [DEBUG] (2017-11-20 10:30:16.902) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.902) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.902) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.902) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:16.902) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.902) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.902) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.902) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.904) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.904) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.905) SensorData.cpp:557::uncompressData() 164 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.905) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.906) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 738 [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:3844::drawKeypoints() source time = 0,000563 s [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.907) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.910) MainWindow.cpp:1772::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:16.910) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.910) MainWindow.cpp:1971::updateMapCloud() posesIn=47 constraints=46 mapIdsIn=47 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.910) MainWindow.cpp:2065::updateMapCloud() Update map with 47 locations [DEBUG] (2017-11-20 10:30:16.910) SensorData.cpp:557::uncompressData() 164 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:16.910) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:16.910) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.910) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:16.910) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000217s [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.913) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:16.914) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.914) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.914) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:16.915) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.915) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.915) SensorData.cpp:557::uncompressData() 165 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.915) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.917) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.918) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.918) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:1971::updateMapCloud() posesIn=48 constraints=47 mapIdsIn=48 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2065::updateMapCloud() Update map with 48 locations [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000150s [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.919) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.919) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:16.928) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.929) Camera.cpp:103::takeImage() Time capturing image = 0,001152s [DEBUG] (2017-11-20 10:30:16.929) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.929) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.929) RtabmapThread.cpp:628::addData() Added data 166 [ INFO] (2017-11-20 10:30:16.929) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.929) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.929) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.929) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15335)... [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.929) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.929) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.929) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3676::createSignature() id 166 is a bad signature [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:3999::createSignature() time compressing data (id=166) 0,000127s [DEBUG] (2017-11-20 10:30:16.929) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:639::update() time creating signature=0,152111 ms [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:724::addSignatureToStm() adding 166 [DEBUG] (2017-11-20 10:30:16.929) Signature.cpp:121::addLink() Add link 166 to 165 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.929) Signature.cpp:121::addLink() Add link 165 to 166 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:752::addSignatureToStm() Min STM id = 129 [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 166 [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:660::update() time rehearsal=0,039816 ms [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:713::update() totalTimer = 0,000209s [DEBUG] (2017-11-20 10:30:16.929) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.929) Rtabmap.cpp:1016::process() Processing signature 166 w=-1 [ INFO] (2017-11-20 10:30:16.929) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000232s [DEBUG] (2017-11-20 10:30:16.929) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,273315,-0,668226,0,004507 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,273315,-0,668226,0,004507) [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:16.930) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.930) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000010s [DEBUG] (2017-11-20 10:30:16.930) Graph.cpp:1898::getNodesInRadius() found nodes=47 [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:1750::process() near nodes=47, max local immunized=32, ratio=0,250000 WM=129 [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:1836::process() timeReactivations=0,000159s [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,273315,-0,668226,0,004507 [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,273315,-0,668226,0,004507 [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2463::process() Time creating stats = 0,000040... [DEBUG] (2017-11-20 10:30:16.930) Memory.cpp:2219::removeRawData() id=166 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.930) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.930) Memory.cpp:2137::saveLocationData() Saving location data 166 [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2537::process() Total time processing = 0,000510s... [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:16.930) Rtabmap.cpp:2661::process() Adding data 166 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.930) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.930) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.930) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.930) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.930) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.930) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 166 [DEBUG] (2017-11-20 10:30:16.930) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,273315,-0,668226,0,004507 [DEBUG] (2017-11-20 10:30:16.930) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000159s [DEBUG] (2017-11-20 10:30:16.930) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.930) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.930) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.930) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:16.930) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.930) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.930) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.930) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.931) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.931) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.936) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.936) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.936) SensorData.cpp:557::uncompressData() 166 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.936) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.938) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:1971::updateMapCloud() posesIn=48 constraints=47 mapIdsIn=48 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2065::updateMapCloud() Update map with 48 locations [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000196s [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.940) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.941) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.941) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.941) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:16.961) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.962) Camera.cpp:103::takeImage() Time capturing image = 0,000864s [DEBUG] (2017-11-20 10:30:16.962) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.962) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.962) RtabmapThread.cpp:628::addData() Added data 167 [ INFO] (2017-11-20 10:30:16.962) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.962) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.962) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.962) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15335)... [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.962) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.962) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.962) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3676::createSignature() id 167 is a bad signature [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:3999::createSignature() time compressing data (id=167) 0,000089s [DEBUG] (2017-11-20 10:30:16.962) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:639::update() time creating signature=0,113010 ms [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:724::addSignatureToStm() adding 167 [DEBUG] (2017-11-20 10:30:16.962) Signature.cpp:121::addLink() Add link 167 to 166 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.962) Signature.cpp:121::addLink() Add link 166 to 167 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:752::addSignatureToStm() Min STM id = 129 [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 167 [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:794::addSignatureToStm() time = 0,000034s [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:660::update() time rehearsal=0,045061 ms [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:713::update() totalTimer = 0,000179s [DEBUG] (2017-11-20 10:30:16.962) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.962) Rtabmap.cpp:1016::process() Processing signature 167 w=-1 [ INFO] (2017-11-20 10:30:16.962) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000205s [DEBUG] (2017-11-20 10:30:16.962) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,269243,-0,668806,0,007408 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,269243,-0,668806,0,007408) [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000032s [DEBUG] (2017-11-20 10:30:16.963) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:16.963) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:16.963) Graph.cpp:1898::getNodesInRadius() found nodes=47 [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:1750::process() near nodes=47, max local immunized=32, ratio=0,250000 WM=129 [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:1836::process() timeReactivations=0,000159s [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,269243,-0,668806,0,007408 [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,269243,-0,668806,0,007408 [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:16.963) Memory.cpp:2219::removeRawData() id=167 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:16.963) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:16.963) Memory.cpp:2137::saveLocationData() Saving location data 167 [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000029s... 0 signatures removed [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2537::process() Total time processing = 0,000510s... [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:16.963) Rtabmap.cpp:2661::process() Adding data 167 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:16.963) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:16.963) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:16.963) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.963) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.963) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:16.963) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 167 [DEBUG] (2017-11-20 10:30:16.963) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,269243,-0,668806,0,007408 [DEBUG] (2017-11-20 10:30:16.963) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000168s [DEBUG] (2017-11-20 10:30:16.963) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:16.963) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:16.963) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:16.963) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:16.963) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:16.963) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:16.963) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:16.963) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:16.964) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.964) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.968) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:16.968) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:16.968) SensorData.cpp:557::uncompressData() 167 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:16.968) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.969) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:16.970) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.971) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.971) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:16.971) MainWindow.cpp:1971::updateMapCloud() posesIn=48 constraints=47 mapIdsIn=48 labelsIn=1 [DEBUG] (2017-11-20 10:30:16.971) MainWindow.cpp:2065::updateMapCloud() Update map with 48 locations [DEBUG] (2017-11-20 10:30:16.971) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000193s [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:16.972) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:16.972) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:16.994) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:16.995) Camera.cpp:103::takeImage() Time capturing image = 0,000918s [DEBUG] (2017-11-20 10:30:16.995) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:16.995) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:16.996) RtabmapThread.cpp:628::addData() Added data 168 [ INFO] (2017-11-20 10:30:16.996) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:16.996) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:16.996) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:16.996) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15335)... [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:621::update() time preUpdate=0,009775 ms [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:16.996) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:16.996) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:16.996) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:16.996) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:16.996) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:16.996) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:16.996) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:16.997) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,264543,-0,665026,0,007234 [DEBUG] (2017-11-20 10:30:16.997) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:16.997) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:16.997) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:16.998) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:16.998) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:16.998) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:17.003) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,004691 s, keypoints extracted = 726 (mask empty=0) [DEBUG] (2017-11-20 10:30:17.003) Memory.cpp:3482::createSignature() time keypoints (726) = 0,006959s [DEBUG] (2017-11-20 10:30:17.006) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 726, remaining kpts=726 [DEBUG] (2017-11-20 10:30:17.006) Memory.cpp:3487::createSignature() time descriptors (726) = 0,003731s [DEBUG] (2017-11-20 10:30:17.006) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:17.006) Memory.cpp:3500::createSignature() time keypoints 3D (726) = 0,000085s [DEBUG] (2017-11-20 10:30:17.006) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.006) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.006) Memory.cpp:3612::createSignature() time descriptor and memory update (726 of size=32) = 0,000016s [DEBUG] (2017-11-20 10:30:17.007) VWDictionary.cpp:593::addNewWords() id=168 descriptors=726 [DEBUG] (2017-11-20 10:30:17.007) VWDictionary.cpp:686::addNewWords() newPts.total()=726 [DEBUG] (2017-11-20 10:30:17.017) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,010353 s [DEBUG] (2017-11-20 10:30:17.021) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004072 s [DEBUG] (2017-11-20 10:30:17.021) VWDictionary.cpp:874::addNewWords() 356 new words added... [DEBUG] (2017-11-20 10:30:17.021) VWDictionary.cpp:876::addNewWords() 370 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:17.021) VWDictionary.cpp:877::addNewWords() total time 0,014468s [DEBUG] (2017-11-20 10:30:17.021) Memory.cpp:3672::createSignature() time addNewWords 0,014485s indexed=15335 not=356 [DEBUG] (2017-11-20 10:30:17.021) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.023) Memory.cpp:3999::createSignature() time compressing data (id=168) 0,002469s [DEBUG] (2017-11-20 10:30:17.023) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:639::update() time creating signature=27,915001 ms [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:724::addSignatureToStm() adding 168 [DEBUG] (2017-11-20 10:30:17.024) Signature.cpp:121::addLink() Add link 168 to 167 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.024) Signature.cpp:121::addLink() Add link 167 to 168 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:752::addSignatureToStm() Min STM id = 129 [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:786::addSignatureToStm() 726 words ref for the signature 168 [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:794::addSignatureToStm() time = 0,000035s [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:2882::rehearsal() Comparing with signature (164)... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:2905::rehearsal() merged=0, sim=0,100271 t=0,000146s [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:660::update() time rehearsal=0,218153 ms [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 129 from STM in WM... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 130 from STM in WM... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 131 from STM in WM... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 132 from STM in WM... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:713::update() totalTimer = 0,028170s [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.024) Rtabmap.cpp:1016::process() Processing signature 168 w=0 [ INFO] (2017-11-20 10:30:17.024) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,028200s [DEBUG] (2017-11-20 10:30:17.024) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,264543,-0,665026,0,007234 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,264543,-0,665026,0,007234) [ INFO] (2017-11-20 10:30:17.024) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000054s [ INFO] (2017-11-20 10:30:17.024) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:17.024) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000434 s [DEBUG] (2017-11-20 10:30:17.024) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=39 [DEBUG] (2017-11-20 10:30:17.024) Rtabmap.cpp:3272::adjustLikelihood() values.size=38 [DEBUG] (2017-11-20 10:30:17.024) Rtabmap.cpp:3319::adjustLikelihood() mean=0,028563, stdDev=0,012102, max=0,058717, maxId=132, time=0,000006s [ INFO] (2017-11-20 10:30:17.024) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000512s [ INFO] (2017-11-20 10:30:17.024) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:17.024) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:17.024) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:17.024) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000030s [DEBUG] (2017-11-20 10:30:17.024) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000005s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:495::updatePrediction() From added id 132, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000074s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000558s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:575::updatePrediction() time copying = 0,000021s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=21 [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000711s, rows=39, cols=39 [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=39, _posterior size=39 [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000035s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000005s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000009s [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:208::computePosterior() sum=2,993967 [DEBUG] (2017-11-20 10:30:17.025) BayesFilter.cpp:216::computePosterior() normalize time=0,000038s [ INFO] (2017-11-20 10:30:17.025) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000821s [ INFO] (2017-11-20 10:30:17.025) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:17.025) Rtabmap.cpp:1400::process() Highest hypothesis=97, value=0,056546, timeHypothesesCreation=0,000094s [DEBUG] (2017-11-20 10:30:17.025) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.025) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.025) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000027s [ INFO] (2017-11-20 10:30:17.025) Rtabmap.cpp:1489::process() Retrieving locations... around id=97 [DEBUG] (2017-11-20 10:30:17.025) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:17.025) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:17.025) Rtabmap.cpp:1511::process() neighbors of 97 in time = 33 [DEBUG] (2017-11-20 10:30:17.025) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:17.025) Rtabmap.cpp:1566::process() neighbors of 97 in space = 33 [ INFO] (2017-11-20 10:30:17.025) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=33, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000089s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:17.026) Graph.cpp:1898::getNodesInRadius() found nodes=47 [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:1750::process() near nodes=47, max local immunized=33, ratio=0,250000 WM=133 [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:17.026) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:17.026) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000007s [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:17.026) Memory.cpp:4252::reactivateSignatures() time = 0,000051s [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000026s) [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000026s [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:1836::process() timeReactivations=0,000507s [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:17.026) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:17.026) Rtabmap.cpp:1929::process() nearestIds=1/48 [DEBUG] (2017-11-20 10:30:17.026) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:17.026) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:17.026) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000045s [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2336::process() timeMapOptimization=0,000007s [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,264543,-0,665026,0,007234 [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,264543,-0,665026,0,007234 [ INFO] (2017-11-20 10:30:17.026) Rtabmap.cpp:2463::process() Time creating stats = 0,000382... [DEBUG] (2017-11-20 10:30:17.027) Memory.cpp:2219::removeRawData() id=168 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.027) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.027) Memory.cpp:2137::saveLocationData() Saving location data 168 [ INFO] (2017-11-20 10:30:17.027) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000335s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.027) Rtabmap.cpp:2537::process() Total time processing = 0,030998s... [ INFO] (2017-11-20 10:30:17.027) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000015... [ INFO] (2017-11-20 10:30:17.027) Rtabmap.cpp:2661::process() Adding data 168 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.027) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.027) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.028) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.028) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.028) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 168 [DEBUG] (2017-11-20 10:30:17.029) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000365s [DEBUG] (2017-11-20 10:30:17.029) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.029) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.029) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.029) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.029) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000029s... [DEBUG] (2017-11-20 10:30:17.029) Camera.cpp:103::takeImage() Time capturing image = 0,001457s [DEBUG] (2017-11-20 10:30:17.029) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.029) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.030) RtabmapThread.cpp:628::addData() Added data 169 [DEBUG] (2017-11-20 10:30:17.030) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.030) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.030) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:17.030) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.030) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.031) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.031) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15691)... [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:621::update() time preUpdate=0,014782 ms [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.031) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.031) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:17.031) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:17.031) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 356 words... [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.031) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.031) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.031) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.032) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,259013,-0,662965,0,010090 [DEBUG] (2017-11-20 10:30:17.032) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.032) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.034) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 356 words... done! [DEBUG] (2017-11-20 10:30:17.034) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=356 removed=0) [DEBUG] (2017-11-20 10:30:17.034) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:3676::createSignature() id 169 is a bad signature [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:3999::createSignature() time compressing data (id=169) 0,003021s [DEBUG] (2017-11-20 10:30:17.034) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:639::update() time creating signature=3,059149 ms [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:724::addSignatureToStm() adding 169 [DEBUG] (2017-11-20 10:30:17.034) Signature.cpp:121::addLink() Add link 169 to 168 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.034) Signature.cpp:121::addLink() Add link 168 to 169 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:752::addSignatureToStm() Min STM id = 133 [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 169 [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:794::addSignatureToStm() time = 0,000039s [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:660::update() time rehearsal=0,051022 ms [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:713::update() totalTimer = 0,003143s [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1016::process() Processing signature 169 w=-1 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,003180s [DEBUG] (2017-11-20 10:30:17.034) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,259013,-0,662965,0,010090 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,259013,-0,662965,0,010090) [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000025s [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000029s, joining (actual overhead) = 0,000011s [DEBUG] (2017-11-20 10:30:17.034) Graph.cpp:1898::getNodesInRadius() found nodes=48 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1750::process() near nodes=48, max local immunized=33, ratio=0,250000 WM=133 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1836::process() timeReactivations=0,000210s [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,259013,-0,662965,0,010090 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,259013,-0,662965,0,010090 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2463::process() Time creating stats = 0,000058... [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:2219::removeRawData() id=169 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.034) Memory.cpp:2137::saveLocationData() Saving location data 169 [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000034s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2537::process() Total time processing = 0,003536s... [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:17.034) Rtabmap.cpp:2661::process() Adding data 169 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.034) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.034) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.035) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.035) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 169 [DEBUG] (2017-11-20 10:30:17.035) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000199s [DEBUG] (2017-11-20 10:30:17.035) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.035) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.035) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.035) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:17.035) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.035) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.035) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.035) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.038) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.038) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.038) SensorData.cpp:557::uncompressData() 168 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:17.038) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.041) MainWindow.cpp:1689::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:17.041) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.041) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 726 [DEBUG] (2017-11-20 10:30:17.042) MainWindow.cpp:3844::drawKeypoints() source time = 0,000438 s [DEBUG] (2017-11-20 10:30:17.042) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.042) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:17.042) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.042) MainWindow.cpp:1738::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.043) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.044) MainWindow.cpp:1799::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.044) MainWindow.cpp:1971::updateMapCloud() posesIn=48 constraints=47 mapIdsIn=48 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.044) MainWindow.cpp:2065::updateMapCloud() Update map with 48 locations [DEBUG] (2017-11-20 10:30:17.044) SensorData.cpp:557::uncompressData() 168 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:17.044) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:17.044) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:17.044) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:17.044) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:17.046) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000165s [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.047) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.047) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:17.048) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.048) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.048) SensorData.cpp:557::uncompressData() 169 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.048) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:3844::drawKeypoints() source time = 0,000003 s [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.050) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.051) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.051) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.051) MainWindow.cpp:1971::updateMapCloud() posesIn=49 constraints=48 mapIdsIn=49 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2065::updateMapCloud() Update map with 49 locations [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000142s [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.052) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.052) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:17.061) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.062) Camera.cpp:103::takeImage() Time capturing image = 0,000963s [DEBUG] (2017-11-20 10:30:17.062) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.062) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.062) RtabmapThread.cpp:628::addData() Added data 170 [ INFO] (2017-11-20 10:30:17.062) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.062) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.062) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.062) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15691)... [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:621::update() time preUpdate=0,011921 ms [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.062) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.062) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.062) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.062) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:3676::createSignature() id 170 is a bad signature [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:3999::createSignature() time compressing data (id=170) 0,000090s [DEBUG] (2017-11-20 10:30:17.063) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:639::update() time creating signature=0,114918 ms [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:724::addSignatureToStm() adding 170 [DEBUG] (2017-11-20 10:30:17.063) Signature.cpp:121::addLink() Add link 170 to 169 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.063) Signature.cpp:121::addLink() Add link 169 to 170 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:752::addSignatureToStm() Min STM id = 133 [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 170 [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:660::update() time rehearsal=0,039101 ms [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:713::update() totalTimer = 0,000177s [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1016::process() Processing signature 170 w=-1 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000213s [DEBUG] (2017-11-20 10:30:17.063) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,255001,-0,660227,0,011993 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,255001,-0,660227,0,011993) [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:17.063) Graph.cpp:1898::getNodesInRadius() found nodes=48 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1750::process() near nodes=48, max local immunized=33, ratio=0,250000 WM=133 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1836::process() timeReactivations=0,000158s [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,255001,-0,660227,0,011993 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,255001,-0,660227,0,011993 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:2219::removeRawData() id=170 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.063) Memory.cpp:2137::saveLocationData() Saving location data 170 [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2537::process() Total time processing = 0,000497s... [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:17.063) Rtabmap.cpp:2661::process() Adding data 170 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.063) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.063) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.063) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.063) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.063) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.063) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 170 [DEBUG] (2017-11-20 10:30:17.063) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,255001,-0,660227,0,011993 [DEBUG] (2017-11-20 10:30:17.063) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000162s [DEBUG] (2017-11-20 10:30:17.063) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.063) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.063) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.063) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.063) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:17.063) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.064) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.064) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.064) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.064) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.068) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.068) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.068) SensorData.cpp:557::uncompressData() 170 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.069) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.070) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.071) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.072) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.072) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.072) MainWindow.cpp:1971::updateMapCloud() posesIn=49 constraints=48 mapIdsIn=49 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.072) MainWindow.cpp:2065::updateMapCloud() Update map with 49 locations [DEBUG] (2017-11-20 10:30:17.072) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000196s [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.073) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.073) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:17.094) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.096) Camera.cpp:103::takeImage() Time capturing image = 0,001145s [DEBUG] (2017-11-20 10:30:17.096) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.096) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.096) RtabmapThread.cpp:628::addData() Added data 171 [ INFO] (2017-11-20 10:30:17.096) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.096) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.096) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.096) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=15691)... [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.096) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.096) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.096) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.096) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:17.096) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:17.097) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.097) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.097) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,250849,-0,655142,0,011324 [DEBUG] (2017-11-20 10:30:17.097) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.097) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.098) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:17.098) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:17.098) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:17.098) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:17.102) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003341 s, keypoints extracted = 736 (mask empty=0) [DEBUG] (2017-11-20 10:30:17.102) Memory.cpp:3482::createSignature() time keypoints (736) = 0,005571s [DEBUG] (2017-11-20 10:30:17.105) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 736, remaining kpts=736 [DEBUG] (2017-11-20 10:30:17.105) Memory.cpp:3487::createSignature() time descriptors (736) = 0,003766s [DEBUG] (2017-11-20 10:30:17.105) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=197 [DEBUG] (2017-11-20 10:30:17.105) Memory.cpp:3500::createSignature() time keypoints 3D (736) = 0,000085s [DEBUG] (2017-11-20 10:30:17.105) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.105) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.105) Memory.cpp:3612::createSignature() time descriptor and memory update (736 of size=32) = 0,000017s [DEBUG] (2017-11-20 10:30:17.105) VWDictionary.cpp:593::addNewWords() id=171 descriptors=736 [DEBUG] (2017-11-20 10:30:17.105) VWDictionary.cpp:686::addNewWords() newPts.total()=736 [DEBUG] (2017-11-20 10:30:17.115) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,009224 s [DEBUG] (2017-11-20 10:30:17.119) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004082 s [DEBUG] (2017-11-20 10:30:17.119) VWDictionary.cpp:874::addNewWords() 366 new words added... [DEBUG] (2017-11-20 10:30:17.119) VWDictionary.cpp:876::addNewWords() 370 duplicated words added (from current image = 4)... [DEBUG] (2017-11-20 10:30:17.119) VWDictionary.cpp:877::addNewWords() total time 0,013343s [DEBUG] (2017-11-20 10:30:17.119) Memory.cpp:3672::createSignature() time addNewWords 0,013356s indexed=15691 not=366 [DEBUG] (2017-11-20 10:30:17.119) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:3999::createSignature() time compressing data (id=171) 0,002111s [DEBUG] (2017-11-20 10:30:17.121) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:639::update() time creating signature=25,022984 ms [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:724::addSignatureToStm() adding 171 [DEBUG] (2017-11-20 10:30:17.121) Signature.cpp:121::addLink() Add link 171 to 170 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.121) Signature.cpp:121::addLink() Add link 170 to 171 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:752::addSignatureToStm() Min STM id = 133 [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:786::addSignatureToStm() 736 words ref for the signature 171 [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:2882::rehearsal() Comparing with signature (168)... [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:2905::rehearsal() merged=0, sim=0,105978 t=0,000109s [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:660::update() time rehearsal=0,163078 ms [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 133 from STM in WM... [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 134 from STM in WM... [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 135 from STM in WM... [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:713::update() totalTimer = 0,025214s [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.121) Rtabmap.cpp:1016::process() Processing signature 171 w=0 [ INFO] (2017-11-20 10:30:17.121) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,025238s [DEBUG] (2017-11-20 10:30:17.121) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,250849,-0,655142,0,011324 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,250849,-0,655142,0,011324) [ INFO] (2017-11-20 10:30:17.121) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000073s [ INFO] (2017-11-20 10:30:17.121) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:17.121) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:17.122) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000391 s [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=40 [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:3272::adjustLikelihood() values.size=39 [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:3319::adjustLikelihood() mean=0,029720, stdDev=0,015191, max=0,072892, maxId=132, time=0,000006s [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000458s [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000024s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:495::updatePrediction() From added id 135, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000058s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000492s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:575::updatePrediction() time copying = 0,000014s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=22 [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000613s, rows=40, cols=40 [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=40, _posterior size=40 [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000006s [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:208::computePosterior() sum=2,684395 [DEBUG] (2017-11-20 10:30:17.122) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000668s [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1400::process() Highest hypothesis=125, value=0,058599, timeHypothesesCreation=0,000029s [DEBUG] (2017-11-20 10:30:17.122) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.122) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000012s [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1489::process() Retrieving locations... around id=125 [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:1511::process() neighbors of 125 in time = 33 [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:17.122) Rtabmap.cpp:1566::process() neighbors of 125 in space = 33 [ INFO] (2017-11-20 10:30:17.122) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=27, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000042s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:17.123) Graph.cpp:1898::getNodesInRadius() found nodes=48 [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:1750::process() near nodes=48, max local immunized=34, ratio=0,250000 WM=136 [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:17.123) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:17.123) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000004s [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000004s... [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:4252::reactivateSignatures() time = 0,000027s [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000011s) [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000011s [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:1836::process() timeReactivations=0,000226s [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000003s [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:1929::process() nearestIds=1/49 [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000022s [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,250849,-0,655142,0,011324 [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,250849,-0,655142,0,011324 [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2463::process() Time creating stats = 0,000133... [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:2219::removeRawData() id=171 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.123) Memory.cpp:2137::saveLocationData() Saving location data 171 [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000098s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2537::process() Total time processing = 0,026968s... [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000008... [ INFO] (2017-11-20 10:30:17.123) Rtabmap.cpp:2661::process() Adding data 171 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.123) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.123) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 171 [DEBUG] (2017-11-20 10:30:17.124) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000170s [DEBUG] (2017-11-20 10:30:17.124) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.124) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.124) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.124) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000012s... [DEBUG] (2017-11-20 10:30:17.124) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.124) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.124) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.124) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.124) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.125) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.125) SensorData.cpp:557::uncompressData() 171 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:17.125) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.126) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 736 [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:3844::drawKeypoints() source time = 0,000391 s [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.127) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.128) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.129) Camera.cpp:103::takeImage() Time capturing image = 0,001149s [DEBUG] (2017-11-20 10:30:17.129) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.129) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.129) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.129) RtabmapThread.cpp:628::addData() Added data 172 [ INFO] (2017-11-20 10:30:17.129) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.129) Rtabmap.cpp:861::process() [DEBUG] (2017-11-20 10:30:17.129) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.129) MainWindow.cpp:1971::updateMapCloud() posesIn=49 constraints=48 mapIdsIn=49 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.129) MainWindow.cpp:2065::updateMapCloud() Update map with 49 locations [ INFO] (2017-11-20 10:30:17.129) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.129) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16057)... [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.129) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.129) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:17.129) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:17.129) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 366 words... [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.129) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.129) SensorData.cpp:557::uncompressData() 171 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:17.129) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:17.129) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:17.129) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:17.130) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:17.130) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 366 words... done! [DEBUG] (2017-11-20 10:30:17.130) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=366 removed=0) [DEBUG] (2017-11-20 10:30:17.130) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:3676::createSignature() id 172 is a bad signature [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:3999::createSignature() time compressing data (id=172) 0,001998s [DEBUG] (2017-11-20 10:30:17.131) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:639::update() time creating signature=2,022982 ms [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:724::addSignatureToStm() adding 172 [DEBUG] (2017-11-20 10:30:17.131) Signature.cpp:121::addLink() Add link 172 to 171 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.131) Signature.cpp:121::addLink() Add link 171 to 172 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:752::addSignatureToStm() Min STM id = 136 [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 172 [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:660::update() time rehearsal=0,041008 ms [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:713::update() totalTimer = 0,002083s [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.131) Rtabmap.cpp:1016::process() Processing signature 172 w=-1 [ INFO] (2017-11-20 10:30:17.131) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,002110s [DEBUG] (2017-11-20 10:30:17.131) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,247354,-0,651594,0,012394 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,247354,-0,651594,0,012394) [ INFO] (2017-11-20 10:30:17.131) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000020s [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.131) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.131) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000012s, joining (actual overhead) = 0,000015s [DEBUG] (2017-11-20 10:30:17.132) Graph.cpp:1898::getNodesInRadius() found nodes=49 [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:1750::process() near nodes=49, max local immunized=34, ratio=0,250000 WM=136 [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:1836::process() timeReactivations=0,000209s [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,247354,-0,651594,0,012394 [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,247354,-0,651594,0,012394 [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2463::process() Time creating stats = 0,000050... [DEBUG] (2017-11-20 10:30:17.132) Memory.cpp:2219::removeRawData() id=172 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.132) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.132) Memory.cpp:2137::saveLocationData() Saving location data 172 [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000031s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2537::process() Total time processing = 0,002452s... [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000010... [ INFO] (2017-11-20 10:30:17.132) Rtabmap.cpp:2661::process() Adding data 172 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.132) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.132) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.132) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.132) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 172 [DEBUG] (2017-11-20 10:30:17.132) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000168s [DEBUG] (2017-11-20 10:30:17.132) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.132) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.132) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.132) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000013s... [DEBUG] (2017-11-20 10:30:17.132) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000205s [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.132) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.132) MainWindow.cpp:1853::processStats() time= 3 ms [DEBUG] (2017-11-20 10:30:17.132) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.132) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.133) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.133) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.133) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:17.135) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.135) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.136) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,247354,-0,651594,0,012394 [DEBUG] (2017-11-20 10:30:17.138) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.138) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.138) SensorData.cpp:557::uncompressData() 172 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.139) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:3844::drawKeypoints() source time = 0,000005 s [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000006 s [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.140) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:1971::updateMapCloud() posesIn=50 constraints=49 mapIdsIn=50 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2065::updateMapCloud() Update map with 50 locations [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000173s [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.142) MainWindow.cpp:1853::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.143) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.143) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.143) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:17.161) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.162) Camera.cpp:103::takeImage() Time capturing image = 0,000922s [DEBUG] (2017-11-20 10:30:17.162) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.162) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.162) RtabmapThread.cpp:628::addData() Added data 173 [ INFO] (2017-11-20 10:30:17.162) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.162) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.162) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.162) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16057)... [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:621::update() time preUpdate=0,008106 ms [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.162) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.162) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.162) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3676::createSignature() id 173 is a bad signature [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:3999::createSignature() time compressing data (id=173) 0,000093s [DEBUG] (2017-11-20 10:30:17.162) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.162) Memory.cpp:639::update() time creating signature=0,114918 ms [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:724::addSignatureToStm() adding 173 [DEBUG] (2017-11-20 10:30:17.163) Signature.cpp:121::addLink() Add link 173 to 172 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.163) Signature.cpp:121::addLink() Add link 172 to 173 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:752::addSignatureToStm() Min STM id = 136 [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 173 [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:660::update() time rehearsal=0,039101 ms [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:713::update() totalTimer = 0,000175s [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1016::process() Processing signature 173 w=-1 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000200s [DEBUG] (2017-11-20 10:30:17.163) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,242998,-0,654181,0,017299 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,242998,-0,654181,0,017299) [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000029s [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000013s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:17.163) Graph.cpp:1898::getNodesInRadius() found nodes=49 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1750::process() near nodes=49, max local immunized=34, ratio=0,250000 WM=136 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1836::process() timeReactivations=0,000168s [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000004s [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000004s [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,242998,-0,654181,0,017299 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,242998,-0,654181,0,017299 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2463::process() Time creating stats = 0,000042... [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:2219::removeRawData() id=173 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.163) Memory.cpp:2137::saveLocationData() Saving location data 173 [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000023s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2537::process() Total time processing = 0,000489s... [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:17.163) Rtabmap.cpp:2661::process() Adding data 173 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.163) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.163) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.163) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.163) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.163) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.163) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 173 [DEBUG] (2017-11-20 10:30:17.163) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000161s [DEBUG] (2017-11-20 10:30:17.163) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.163) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.163) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,242998,-0,654181,0,017299 [DEBUG] (2017-11-20 10:30:17.163) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.163) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:17.163) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.163) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.163) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.163) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.164) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.164) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.168) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.168) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.168) SensorData.cpp:557::uncompressData() 173 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.168) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000002 s [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.170) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.171) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.171) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.171) MainWindow.cpp:1971::updateMapCloud() posesIn=50 constraints=49 mapIdsIn=50 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.171) MainWindow.cpp:2065::updateMapCloud() Update map with 50 locations [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000188s [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.172) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.173) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.173) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:17.194) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.195) Camera.cpp:103::takeImage() Time capturing image = 0,000935s [DEBUG] (2017-11-20 10:30:17.195) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.196) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.196) RtabmapThread.cpp:628::addData() Added data 174 [ INFO] (2017-11-20 10:30:17.196) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.196) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16057)... [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.196) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.196) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.196) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3676::createSignature() id 174 is a bad signature [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:3999::createSignature() time compressing data (id=174) 0,000092s [DEBUG] (2017-11-20 10:30:17.196) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:639::update() time creating signature=0,114202 ms [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:724::addSignatureToStm() adding 174 [DEBUG] (2017-11-20 10:30:17.196) Signature.cpp:121::addLink() Add link 174 to 173 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.196) Signature.cpp:121::addLink() Add link 173 to 174 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:752::addSignatureToStm() Min STM id = 136 [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 174 [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:794::addSignatureToStm() time = 0,000032s [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:660::update() time rehearsal=0,039816 ms [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:713::update() totalTimer = 0,000173s [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1016::process() Processing signature 174 w=-1 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000195s [DEBUG] (2017-11-20 10:30:17.196) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,243871,-0,646191,0,011705 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,243871,-0,646191,0,011705) [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000030s [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000009s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:17.196) Graph.cpp:1898::getNodesInRadius() found nodes=49 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1750::process() near nodes=49, max local immunized=34, ratio=0,250000 WM=136 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1836::process() timeReactivations=0,000176s [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2336::process() timeMapOptimization=0,000004s [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,243871,-0,646191,0,011705 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,243871,-0,646191,0,011705 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2463::process() Time creating stats = 0,000044... [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:2219::removeRawData() id=174 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.196) Memory.cpp:2137::saveLocationData() Saving location data 174 [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000025s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2537::process() Total time processing = 0,000499s... [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:17.196) Rtabmap.cpp:2661::process() Adding data 174 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.196) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.196) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.196) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.196) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.196) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.196) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 174 [DEBUG] (2017-11-20 10:30:17.197) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,243871,-0,646191,0,011705 [DEBUG] (2017-11-20 10:30:17.197) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000186s [DEBUG] (2017-11-20 10:30:17.197) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.197) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.197) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.197) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000016s... [DEBUG] (2017-11-20 10:30:17.197) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.197) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.197) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.197) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.197) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.197) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.203) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.203) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.203) SensorData.cpp:557::uncompressData() 174 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.203) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:3844::drawKeypoints() source time = 0,000006 s [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000005 s [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.205) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.207) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.207) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.207) MainWindow.cpp:1971::updateMapCloud() posesIn=50 constraints=49 mapIdsIn=50 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.208) MainWindow.cpp:2065::updateMapCloud() Update map with 50 locations [DEBUG] (2017-11-20 10:30:17.208) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000530s [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.209) MainWindow.cpp:1853::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.212) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.212) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.212) MainWindow.cpp:1931::processStats() Updating GUI time = 0,009000s [DEBUG] (2017-11-20 10:30:17.228) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.229) Camera.cpp:103::takeImage() Time capturing image = 0,001360s [DEBUG] (2017-11-20 10:30:17.229) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.229) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.229) RtabmapThread.cpp:628::addData() Added data 175 [ INFO] (2017-11-20 10:30:17.229) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.229) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.230) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.230) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16057)... [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:621::update() time preUpdate=0,013113 ms [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.230) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.230) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.230) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.230) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:17.230) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:17.230) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.230) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.231) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,243918,-0,634739,0,005928 [DEBUG] (2017-11-20 10:30:17.231) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.231) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.232) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:17.233) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:17.233) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:17.233) util2d.cpp:1177::computeRoi() roi = 0, 0, 640, 480 [DEBUG] (2017-11-20 10:30:17.237) Features2d.cpp:540::generateKeypoints() Keypoints extraction time = 0,003619 s, keypoints extracted = 768 (mask empty=0) [DEBUG] (2017-11-20 10:30:17.237) Memory.cpp:3482::createSignature() time keypoints (768) = 0,007332s [DEBUG] (2017-11-20 10:30:17.241) Features2d.cpp:584::generateDescriptors() Descriptors extracted = 768, remaining kpts=768 [DEBUG] (2017-11-20 10:30:17.241) Memory.cpp:3487::createSignature() time descriptors (768) = 0,003812s [DEBUG] (2017-11-20 10:30:17.241) Memory.cpp:3489::createSignature() ratio=0,500000, meanWordsPerLocation=196 [DEBUG] (2017-11-20 10:30:17.241) Memory.cpp:3500::createSignature() time keypoints 3D (768) = 0,000092s [DEBUG] (2017-11-20 10:30:17.241) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.241) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.241) Memory.cpp:3612::createSignature() time descriptor and memory update (768 of size=32) = 0,000018s [DEBUG] (2017-11-20 10:30:17.241) VWDictionary.cpp:593::addNewWords() id=175 descriptors=768 [DEBUG] (2017-11-20 10:30:17.241) VWDictionary.cpp:686::addNewWords() newPts.total()=768 [DEBUG] (2017-11-20 10:30:17.250) VWDictionary.cpp:751::addNewWords() Time to find nn = 0,009489 s [DEBUG] (2017-11-20 10:30:17.255) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0,004205 s [DEBUG] (2017-11-20 10:30:17.255) VWDictionary.cpp:874::addNewWords() 401 new words added... [DEBUG] (2017-11-20 10:30:17.255) VWDictionary.cpp:876::addNewWords() 367 duplicated words added (from current image = 8)... [DEBUG] (2017-11-20 10:30:17.255) VWDictionary.cpp:877::addNewWords() total time 0,013734s [DEBUG] (2017-11-20 10:30:17.255) Memory.cpp:3672::createSignature() time addNewWords 0,013750s indexed=16057 not=401 [DEBUG] (2017-11-20 10:30:17.255) Memory.cpp:3841::createSignature() Bin data kept: rgb=1, depth=1, scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:3999::createSignature() time compressing data (id=175) 0,002093s [DEBUG] (2017-11-20 10:30:17.257) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:639::update() time creating signature=27,217865 ms [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:724::addSignatureToStm() adding 175 [DEBUG] (2017-11-20 10:30:17.257) Signature.cpp:121::addLink() Add link 175 to 174 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.257) Signature.cpp:121::addLink() Add link 174 to 175 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:752::addSignatureToStm() Min STM id = 136 [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:786::addSignatureToStm() 768 words ref for the signature 175 [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:794::addSignatureToStm() time = 0,000030s [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:2882::rehearsal() Comparing with signature (171)... [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:2905::rehearsal() merged=0, sim=0,084635 t=0,000107s [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:660::update() time rehearsal=0,160933 ms [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 136 from STM in WM... [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 137 from STM in WM... [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 138 from STM in WM... [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:814::moveSignatureToWMFromSTM() Inserting node 139 from STM in WM... [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:713::update() totalTimer = 0,027418s [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.257) Rtabmap.cpp:1016::process() Processing signature 175 w=0 [ INFO] (2017-11-20 10:30:17.257) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,027454s [DEBUG] (2017-11-20 10:30:17.257) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,243918,-0,634739,0,005928 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,243918,-0,634739,0,005928) [ INFO] (2017-11-20 10:30:17.257) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000076s [ INFO] (2017-11-20 10:30:17.257) Rtabmap.cpp:1334::process() computing likelihood... [DEBUG] (2017-11-20 10:30:17.257) Memory.cpp:1511::computeLikelihood() processing... [DEBUG] (2017-11-20 10:30:17.258) Memory.cpp:1548::computeLikelihood() compute likelihood (tf-idf) 0,000380 s [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:3253::adjustLikelihood() likelihood.size()=41 [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:3272::adjustLikelihood() values.size=40 [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:3319::adjustLikelihood() mean=0,031358, stdDev=0,017358, max=0,079606, maxId=121, time=0,000006s [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1364::process() timeLikelihoodCalculation=0,000449s [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1370::process() getting posterior... [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:132::computePosterior() [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:411::updatePrediction() [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0,000025s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0,000006s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:495::updatePrediction() From added id 139, 16 neighbors to update. [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:498::updatePrediction() time getting 16 ids to update = 0,000057s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:544::updatePrediction() time updating modified/added 16 ids = 0,000485s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:575::updatePrediction() time copying = 0,000015s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0,000005s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:597::updatePrediction() Modified=16, Added=1, Copied=23 [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0,000607s, rows=41, cols=41 [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:603::updatePosterior() [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0,000000s, posterior=41, _posterior size=41 [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0,000023s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0,000004s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0,000005s [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:208::computePosterior() sum=2,551892 [DEBUG] (2017-11-20 10:30:17.258) BayesFilter.cpp:216::computePosterior() normalize time=0,000007s [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1375::process() timePosteriorCalculation=0,000662s [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1386::process() creating hypotheses... [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1400::process() Highest hypothesis=121, value=0,061737, timeHypothesesCreation=0,000031s [DEBUG] (2017-11-20 10:30:17.258) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.258) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000016s, joining (actual overhead) = 0,000019s [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1489::process() Retrieving locations... around id=121 [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:1492::process() margin=17 maxRetieved=2 [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:1502::process() In TIME [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:1511::process() neighbors of 121 in time = 33 [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:1557::process() In SPACE [DEBUG] (2017-11-20 10:30:17.258) Rtabmap.cpp:1566::process() neighbors of 121 in space = 33 [ INFO] (2017-11-20 10:30:17.258) Rtabmap.cpp:1613::process() neighborhoodSize=17, reactivatedIds.size=33, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0,000058s (0,000000s 0,000000s) [DEBUG] (2017-11-20 10:30:17.259) Graph.cpp:1898::getNodesInRadius() found nodes=49 [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:1750::process() near nodes=49, max local immunized=35, ratio=0,250000 WM=140 [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4220::reactivateSignatures() [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4236::reactivateSignatures() idsToLoad = 0 [DEBUG] (2017-11-20 10:30:17.259) DBDriver.cpp:521::loadSignatures() [DEBUG] (2017-11-20 10:30:17.259) DBDriver.cpp:560::loadSignatures() [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4109::enableWordsRef() size=0 [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4136::enableWordsRef() oldWordIds.size()=0, getOldIds time=0,000000s [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4145::enableWordsRef() loading words(0) time=0,000006s [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4211::enableWordsRef() 0 words total ref added from 0 signatures, time=0,000006s... [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:4252::reactivateSignatures() time = 0,000041s [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:1827::process() retrieval of 0 (db time = 0,000017s) [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:1830::process() total timeRetrievalDbAccess=0,000017s [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:1836::process() timeReactivations=0,000286s [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:1919::process() Proximity detection (local loop closure in SPACE using matching images) [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:1929::process() nearestIds=1/50 [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:1938::process() nearestPoses=0 [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:1942::process() nearestPaths=0 proximityMaxPaths=3 [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:2010::process() Proximity detection (local loop closure in SPACE with scan matching) [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000035s [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,243918,-0,634739,0,005928 [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,243918,-0,634739,0,005928 [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2463::process() Time creating stats = 0,000156... [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:2219::removeRawData() id=175 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.259) Memory.cpp:2137::saveLocationData() Saving location data 175 [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000120s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2537::process() Total time processing = 0,029305s... [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:17.259) Rtabmap.cpp:2661::process() Adding data 175 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.259) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.260) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 175 [DEBUG] (2017-11-20 10:30:17.260) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000186s [DEBUG] (2017-11-20 10:30:17.260) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.260) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.260) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.260) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000014s... [DEBUG] (2017-11-20 10:30:17.260) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.260) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.260) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.260) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.260) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.261) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.261) SensorData.cpp:557::uncompressData() 175 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:17.261) MainWindow.cpp:1610::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.261) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.262) Camera.cpp:103::takeImage() Time capturing image = 0,000926s [DEBUG] (2017-11-20 10:30:17.262) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.262) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.262) RtabmapThread.cpp:628::addData() Added data 176 [ INFO] (2017-11-20 10:30:17.262) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.262) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.262) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.262) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16458)... [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.262) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.262) VWDictionary.cpp:322::update() Incremental FLANN: Removing 0 words... [DEBUG] (2017-11-20 10:30:17.262) VWDictionary.cpp:331::update() Incremental FLANN: Removing 0 words... done! [DEBUG] (2017-11-20 10:30:17.262) VWDictionary.cpp:335::update() Incremental FLANN: Inserting 401 words... [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.262) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.262) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 768 [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:3844::drawKeypoints() source time = 0,000422 s [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.263) FlannIndex.cpp:338::addPoints() Rebuilding FLANN index: 8191 -> 16383 [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.263) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.265) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.265) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.265) MainWindow.cpp:1971::updateMapCloud() posesIn=50 constraints=49 mapIdsIn=50 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.265) MainWindow.cpp:2065::updateMapCloud() Update map with 50 locations [DEBUG] (2017-11-20 10:30:17.265) SensorData.cpp:557::uncompressData() 175 data(1,1,0,0,0) [DEBUG] (2017-11-20 10:30:17.265) util3d.cpp:1029::cloudRGBFromSensorData() [DEBUG] (2017-11-20 10:30:17.265) util3d.cpp:421::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:17.265) util3d.cpp:532::cloudFromDepthRGB() rgb=640x480 depth=320x240 fx=617,203186 fy=617,528503 cx=323,037872 cy=242,814728 (depth factors=2,000000 2,000000) decimation=4 [DEBUG] (2017-11-20 10:30:17.266) util3d.cpp:585::cloudFromDepthRGB() [DEBUG] (2017-11-20 10:30:17.269) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000312s [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.270) MainWindow.cpp:1853::processStats() time= 5 ms [DEBUG] (2017-11-20 10:30:17.271) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.271) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.271) MainWindow.cpp:1931::processStats() Updating GUI time = 0,010000s [DEBUG] (2017-11-20 10:30:17.273) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.273) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.273) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,238986,-0,634628,0,005552 [DEBUG] (2017-11-20 10:30:17.294) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.296) Camera.cpp:103::takeImage() Time capturing image = 0,001223s [DEBUG] (2017-11-20 10:30:17.296) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.296) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.296) RtabmapThread.cpp:628::addData() Added data 177 [DEBUG] (2017-11-20 10:30:17.297) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.297) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.297) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,232383,-0,636900,0,007381 [DEBUG] (2017-11-20 10:30:17.298) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.298) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.301) VWDictionary.cpp:394::update() Incremental FLANN: Inserting 401 words... done! [DEBUG] (2017-11-20 10:30:17.301) VWDictionary.cpp:507::update() Dictionary updated! (size=0 added=401 removed=0) [DEBUG] (2017-11-20 10:30:17.301) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:3676::createSignature() id 176 is a bad signature [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:3999::createSignature() time compressing data (id=176) 0,039070s [DEBUG] (2017-11-20 10:30:17.301) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:639::update() time creating signature=39,099930 ms [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:724::addSignatureToStm() adding 176 [DEBUG] (2017-11-20 10:30:17.301) Signature.cpp:121::addLink() Add link 176 to 175 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.301) Signature.cpp:121::addLink() Add link 175 to 176 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:752::addSignatureToStm() Min STM id = 140 [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 176 [DEBUG] (2017-11-20 10:30:17.301) Memory.cpp:794::addSignatureToStm() time = 0,000049s [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:660::update() time rehearsal=0,062943 ms [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:713::update() totalTimer = 0,039187s [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1016::process() Processing signature 176 w=-1 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,039230s [DEBUG] (2017-11-20 10:30:17.302) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,238986,-0,634628,0,005552 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,238986,-0,634628,0,005552) [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000031s [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000014s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:17.302) Graph.cpp:1898::getNodesInRadius() found nodes=50 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1750::process() near nodes=50, max local immunized=35, ratio=0,250000 WM=140 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1836::process() timeReactivations=0,000238s [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000006s [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,238986,-0,634628,0,005552 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,238986,-0,634628,0,005552 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2463::process() Time creating stats = 0,000076... [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:2219::removeRawData() id=176 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.302) Memory.cpp:2137::saveLocationData() Saving location data 176 [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000044s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2537::process() Total time processing = 0,039664s... [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000012... [ INFO] (2017-11-20 10:30:17.302) Rtabmap.cpp:2661::process() Adding data 176 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.302) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.302) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.302) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.302) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 176 [DEBUG] (2017-11-20 10:30:17.303) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000230s [DEBUG] (2017-11-20 10:30:17.303) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.303) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.303) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.303) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000010s... [DEBUG] (2017-11-20 10:30:17.303) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.303) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.303) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.303) RtabmapThread.cpp:652::getData() waiting for data [ INFO] (2017-11-20 10:30:17.303) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.303) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16458)... [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:621::update() time preUpdate=0,030994 ms [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.303) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.303) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.303) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3676::createSignature() id 177 is a bad signature [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:3999::createSignature() time compressing data (id=177) 0,000080s [DEBUG] (2017-11-20 10:30:17.303) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:639::update() time creating signature=0,108957 ms [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:724::addSignatureToStm() adding 177 [DEBUG] (2017-11-20 10:30:17.303) Signature.cpp:121::addLink() Add link 177 to 176 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.303) Signature.cpp:121::addLink() Add link 176 to 177 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:752::addSignatureToStm() Min STM id = 140 [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 177 [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:794::addSignatureToStm() time = 0,000041s [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:660::update() time rehearsal=0,055075 ms [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:713::update() totalTimer = 0,000208s [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:1016::process() Processing signature 177 w=-1 [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000253s [DEBUG] (2017-11-20 10:30:17.303) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,232383,-0,636900,0,007381 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,232383,-0,636900,0,007381) [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000042s [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.303) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000010s, joining (actual overhead) = 0,000018s [DEBUG] (2017-11-20 10:30:17.303) Graph.cpp:1898::getNodesInRadius() found nodes=50 [ INFO] (2017-11-20 10:30:17.303) Rtabmap.cpp:1750::process() near nodes=50, max local immunized=35, ratio=0,250000 WM=140 [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:1836::process() timeReactivations=0,000176s [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000008s [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000005s [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2336::process() timeMapOptimization=0,000006s [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,232383,-0,636900,0,007381 [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,232383,-0,636900,0,007381 [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2463::process() Time creating stats = 0,000064... [DEBUG] (2017-11-20 10:30:17.304) Memory.cpp:2219::removeRawData() id=177 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.304) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.304) Memory.cpp:2137::saveLocationData() Saving location data 177 [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000037s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2537::process() Total time processing = 0,000616s... [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000013... [ INFO] (2017-11-20 10:30:17.304) Rtabmap.cpp:2661::process() Adding data 177 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.304) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.304) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.304) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.304) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.304) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.304) SensorData.cpp:557::uncompressData() 176 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.304) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 177 [DEBUG] (2017-11-20 10:30:17.304) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000189s [DEBUG] (2017-11-20 10:30:17.304) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.304) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.304) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.304) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000007s... [DEBUG] (2017-11-20 10:30:17.304) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.304) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.304) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.304) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.305) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.306) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.308) MainWindow.cpp:1772::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.308) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.308) MainWindow.cpp:1971::updateMapCloud() posesIn=51 constraints=50 mapIdsIn=51 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.308) MainWindow.cpp:2065::updateMapCloud() Update map with 51 locations [DEBUG] (2017-11-20 10:30:17.308) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000195s [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.309) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.309) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:17.318) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.318) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.318) SensorData.cpp:557::uncompressData() 177 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.318) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:1689::processStats() time= 2 ms [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:1733::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.320) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.321) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.321) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:1971::updateMapCloud() posesIn=51 constraints=50 mapIdsIn=51 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2065::updateMapCloud() Update map with 51 locations [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000158s [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.322) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.323) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.323) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.323) MainWindow.cpp:1931::processStats() Updating GUI time = 0,005000s [DEBUG] (2017-11-20 10:30:17.328) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.329) Camera.cpp:103::takeImage() Time capturing image = 0,000915s [DEBUG] (2017-11-20 10:30:17.329) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.329) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.329) RtabmapThread.cpp:628::addData() Added data 178 [ INFO] (2017-11-20 10:30:17.329) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.329) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16458)... [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:621::update() time preUpdate=0,005960 ms [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.329) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.329) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.329) VWDictionary.cpp:515::update() [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3513::createSignature() Intermediate node detected, don't extract features! [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3600::createSignature() Joining dictionary update thread... [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3602::createSignature() Joining dictionary update thread... thread finished! [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3676::createSignature() id 178 is a bad signature [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3927::createSignature() Bin data kept: scan=0, userData=0 [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:3999::createSignature() time compressing data (id=178) 0,000085s [DEBUG] (2017-11-20 10:30:17.329) SensorData.cpp:481::setOccupancyGrid() ground=0 obstacles=0 [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:639::update() time creating signature=0,104904 ms [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:724::addSignatureToStm() adding 178 [DEBUG] (2017-11-20 10:30:17.329) Signature.cpp:121::addLink() Add link 178 to 177 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.329) Signature.cpp:121::addLink() Add link 177 to 178 (type=0 var=1,000000,1,000000) [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:752::addSignatureToStm() Min STM id = 140 [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:786::addSignatureToStm() 0 words ref for the signature 178 [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:794::addSignatureToStm() time = 0,000031s [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:660::update() time rehearsal=0,040054 ms [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:713::update() totalTimer = 0,000163s [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1016::process() Processing signature 178 w=-1 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1018::process() timeMemoryUpdate=0,000187s [DEBUG] (2017-11-20 10:30:17.329) Rtabmap.cpp:1187::process() Added pose xyz=0,000000,0,000000,0,000000 rpy=0,228660,-0,634406,0,008095 (odom=xyz=0,000000,0,000000,0,000000 rpy=0,228660,-0,634406,0,008095) [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1315::process() timeProximityByTimeDetection=0,000028s [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:1737::joinTrashThread() [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:1739::joinTrashThread() [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1475::process() Time emptying memory trash = 0,000007s, joining (actual overhead) = 0,000012s [DEBUG] (2017-11-20 10:30:17.329) Graph.cpp:1898::getNodesInRadius() found nodes=50 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1750::process() near nodes=50, max local immunized=35, ratio=0,250000 WM=140 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1836::process() timeReactivations=0,000169s [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:1885::process() timeAddLoopClosureLink=0,000005s [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2141::process() timeProximityBySpaceDetection=0,000003s [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2336::process() timeMapOptimization=0,000005s [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2363::process() sending stats... [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2373::process() send all stats... [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2406::process() Set map correction = xyz=0,000000,0,000000,0,000000 rpy=0,000000,-0,000000,0,000000 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2407::process() last localization pose = xyz=0,000000,0,000000,0,000000 rpy=0,228660,-0,634406,0,008095 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2408::process() last localization pose2 = xyz=0,000000,0,000000,0,000000 rpy=0,228660,-0,634406,0,008095 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2463::process() Time creating stats = 0,000047... [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:2219::removeRawData() id=178 image=1 scan=0 userData=1 [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:1650::cleanup() [DEBUG] (2017-11-20 10:30:17.329) Memory.cpp:2137::saveLocationData() Saving location data 178 [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2524::process() timeMemoryCleanup = 0,000024s... 0 signatures removed [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2537::process() Total time processing = 0,000484s... [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2632::process() Time limit reached processing = 0,000007... [ INFO] (2017-11-20 10:30:17.329) Rtabmap.cpp:2661::process() Adding data 178 (rgb/left=1 depth/right=1) [DEBUG] (2017-11-20 10:30:17.330) Rtabmap.cpp:2664::process() [DEBUG] (2017-11-20 10:30:17.330) Rtabmap.cpp:2679::process() Get all node infos... [DEBUG] (2017-11-20 10:30:17.330) Rtabmap.cpp:2765::process() [DEBUG] (2017-11-20 10:30:17.330) DBDriverSqlite3.cpp:3821::addStatisticsQuery() Ref ID = 178 [DEBUG] (2017-11-20 10:30:17.330) DBDriverSqlite3.cpp:3870::addStatisticsQuery() Time=0,000158s [DEBUG] (2017-11-20 10:30:17.330) Rtabmap.cpp:2775::process() Empty trash... [DEBUG] (2017-11-20 10:30:17.330) DBDriver.cpp:306::emptyTrashes() Async emptying, start the trash thread [DEBUG] (2017-11-20 10:30:17.330) DBDriver.cpp:318::emptyTrashes() signatures=0, visualWords=0 [DEBUG] (2017-11-20 10:30:17.330) DBDriver.cpp:368::emptyTrashes() Total time emptying trashes = 0,000009s... [DEBUG] (2017-11-20 10:30:17.330) Rtabmap.cpp:2851::process() End process [DEBUG] (2017-11-20 10:30:17.330) RtabmapThread.cpp:537::process() posting statistics_ event... [DEBUG] (2017-11-20 10:30:17.330) RtabmapThread.cpp:650::getData() [ INFO] (2017-11-20 10:30:17.330) RtabmapThread.cpp:652::getData() waiting for data [DEBUG] (2017-11-20 10:30:17.333) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.333) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.333) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,228660,-0,634406,0,008095 [DEBUG] (2017-11-20 10:30:17.334) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.334) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.339) MainWindow.cpp:1473::processStats() [DEBUG] (2017-11-20 10:30:17.339) MainWindow.cpp:1506::processStats() [DEBUG] (2017-11-20 10:30:17.339) SensorData.cpp:557::uncompressData() 178 data(0,0,0,0,0) [DEBUG] (2017-11-20 10:30:17.339) MainWindow.cpp:1610::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.340) MainWindow.cpp:1689::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:1733::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:3803::drawKeypoints() refWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:3844::drawKeypoints() source time = 0,000004 s [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:3847::drawKeypoints() loopWords.size() = 0 [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:3892::drawKeypoints() loop closure time = 0,000003 s [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:3906::drawKeypoints() scale source=0,810417 loop=0,810417 [DEBUG] (2017-11-20 10:30:17.341) MainWindow.cpp:1738::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.342) MainWindow.cpp:1772::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.342) MainWindow.cpp:1799::processStats() time= 0 ms [DEBUG] (2017-11-20 10:30:17.342) MainWindow.cpp:1971::updateMapCloud() posesIn=51 constraints=50 mapIdsIn=51 labelsIn=1 [DEBUG] (2017-11-20 10:30:17.342) MainWindow.cpp:2065::updateMapCloud() Update map with 51 locations [DEBUG] (2017-11-20 10:30:17.342) MainWindow.cpp:2278::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2392::updateMapCloud() timerGraph=0,000201s [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2395::updateMapCloud() labels.size()=1 [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2421::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2517::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2525::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2602::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:2604::updateMapCloud() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:1853::processStats() time= 1 ms [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:1902::processStats() [DEBUG] (2017-11-20 10:30:17.343) MainWindow.cpp:1919::processStats() [ INFO] (2017-11-20 10:30:17.343) MainWindow.cpp:1931::processStats() Updating GUI time = 0,004000s [DEBUG] (2017-11-20 10:30:17.361) Camera.cpp:90::takeImage() slept=0,033333s vs target=0,033333s [DEBUG] (2017-11-20 10:30:17.362) Camera.cpp:103::takeImage() Time capturing image = 0,001188s [DEBUG] (2017-11-20 10:30:17.362) CameraThread.cpp:132::mainLoop() [DEBUG] (2017-11-20 10:30:17.362) RtabmapThread.cpp:321::handleEvent() CameraEvent [ INFO] (2017-11-20 10:30:17.362) RtabmapThread.cpp:628::addData() Added data 179 [ INFO] (2017-11-20 10:30:17.362) RtabmapThread.cpp:654::getData() wake-up [DEBUG] (2017-11-20 10:30:17.363) Rtabmap.cpp:861::process() [ INFO] (2017-11-20 10:30:17.363) Rtabmap.cpp:919::process() getting data... [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:2026::getLastWorkingSignature() [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:2026::getLastWorkingSignature() [ INFO] (2017-11-20 10:30:17.363) Rtabmap.cpp:994::process() Updating memory... [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:608::update() [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:617::update() pre-updating... [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:4086::cleanUnusedWords() Removing 0 words (dictionary size=16458)... [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:621::update() time preUpdate=0,006914 ms [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:3326::createSignature() [DEBUG] (2017-11-20 10:30:17.363) Memory.cpp:3404::createSignature() Start dictionary update thread [DEBUG] (2017-11-20 10:30:17.363) VWDictionary.cpp:307::update() [DEBUG] (2017-11-20 10:30:17.363) VWDictionary.cpp:511::update() Dictionary has not changed, so no need to update it! (size=0) [DEBUG] (2017-11-20 10:30:17.363) VWDictionary.cpp:515::update() [ INFO] (2017-11-20 10:30:17.363) Memory.cpp:3438::createSignature() Extract features [DEBUG] (2017-11-20 10:30:17.363) MainWindow.cpp:942::processOdometry() [DEBUG] (2017-11-20 10:30:17.363) MainWindow.cpp:985::processOdometry() odom ok [DEBUG] (2017-11-20 10:30:17.364) CloudViewer.cpp:1175::updateCoordinatePose() Updating pose reference to xyz=0,000000,0,000000,0,000000 rpy=0,226400,-0,631225,0,008323 [DEBUG] (2017-11-20 10:30:17.364) ImageView.cpp:681::setFeatures() depth=320x240 sceneRect=640,000000x480,000000 [DEBUG] (2017-11-20 10:30:17.364) ImageView.cpp:684::setFeatures() xRatio=0,500000 yRatio=0,500000 [DEBUG] (2017-11-20 10:30:17.364) Memory.cpp:3461::createSignature() rawDescriptorsKept=1, pose=1, maxFeatures=1000, visMaxFeatures=1000 [DEBUG] (2017-11-20 10:30:17.365) util2d.cpp:1149::computeRoi() roi ratios = 0,000000, 0,000000, 0,000000, 0,000000 [DEBUG] (2017-11-20 10:30:17.365) util2d.cpp:1150::computeRoi() roi = 0, 0, 640, 480