Official RTAB-Map Forum

Re: rtabmap process error

Posted by dgmiller on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-process-error-tp1031p1034.html

Thanks Matlabbe, here is the output:
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:952::process() Processing signature 11 w=0
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:954::process() timeMemoryUpdate=0.213165s
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:1065::process() timeScanMatching=0.000033s
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:1168::process() timeLocalTimeDetection=0.000047s
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:1187::process() computing likelihood...
[DEBUG] (2016-01-29 11:56:26.289) Memory.cpp:1386::computeLikelihood() processing... 
[DEBUG] (2016-01-29 11:56:26.289) Memory.cpp:1421::computeLikelihood() compute likelihood (tf-idf) 0.000486 s
[DEBUG] (2016-01-29 11:56:26.289) Rtabmap.cpp:2929::adjustLikelihood() likelihood.size()=2
[DEBUG] (2016-01-29 11:56:26.289) Rtabmap.cpp:2948::adjustLikelihood() values.size=1
[DEBUG] (2016-01-29 11:56:26.289) Rtabmap.cpp:2995::adjustLikelihood() mean=0.019290, stdDev=0.000000, max=0.000000, maxId=0, time=0.000027s
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:1217::process() timeLikelihoodCalculation=0.000744s
[ INFO] (2016-01-29 11:56:26.289) Rtabmap.cpp:1223::process() getting posterior...
[DEBUG] (2016-01-29 11:56:26.289) BayesFilter.cpp:132::computePosterior() 
[DEBUG] (2016-01-29 11:56:26.289) BayesFilter.cpp:411::updatePrediction() 
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000031s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000029s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:495::updatePrediction() From added id 1, 0 neighbors to update.
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:498::updatePrediction() time getting 0 ids to update = 0.000099s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:544::updatePrediction() time updating modified/added 0 ids = 0.000028s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:575::updatePrediction() time copying = 0.000027s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:595::updatePrediction() time updating virtual place = 0.000027s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:597::updatePrediction() Modified=0, Added=1, Copied=0
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000297s, rows=2, cols=2
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:603::updatePosterior() 
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000297s, posterior=2, _posterior size=2
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000088s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000029s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000026s
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:208::computePosterior() sum=1.900000
[DEBUG] (2016-01-29 11:56:26.290) BayesFilter.cpp:216::computePosterior() normalize time=0.000050s
[ INFO] (2016-01-29 11:56:26.290) Rtabmap.cpp:1228::process() timePosteriorCalculation=0.000593s
[ INFO] (2016-01-29 11:56:26.290) Rtabmap.cpp:1239::process() creating hypotheses...
[ INFO] (2016-01-29 11:56:26.290) Rtabmap.cpp:1253::process() Highest hypothesis=1, value=0.052632, timeHypothesesCreation=0.000054s
[DEBUG] (2016-01-29 11:56:26.290) Memory.cpp:1545::joinTrashThread() 
[DEBUG] (2016-01-29 11:56:26.290) Memory.cpp:1547::joinTrashThread() 
[ INFO] (2016-01-29 11:56:26.290) Rtabmap.cpp:1315::process() Time emptying memory trash = 0.000092s,  joining (actual overhead) = 0.000074s
[ INFO] (2016-01-29 11:56:26.290) Rtabmap.cpp:1329::process() Retrieving locations... around id=1
[DEBUG] (2016-01-29 11:56:26.290) Rtabmap.cpp:1332::process() margin=17 maxRetieved=2
[DEBUG] (2016-01-29 11:56:26.290) Rtabmap.cpp:1342::process() In TIME
[DEBUG] (2016-01-29 11:56:26.290) Rtabmap.cpp:1350::process() neighbors of 1 in time = 11
[DEBUG] (2016-01-29 11:56:26.290) Rtabmap.cpp:1381::process() nt=1 m=0 immunized=1
[DEBUG] (2016-01-29 11:56:26.290) Rtabmap.cpp:1396::process() In SPACE
[DEBUG] (2016-01-29 11:56:26.290) Rtabmap.cpp:1404::process() neighbors of 1 in space = 11
[ INFO] (2016-01-29 11:56:26.291) Rtabmap.cpp:1451::process() neighborhoodSize=17, reactivatedIds.size=1, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000308s (0.000000s 0.000000s)
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 2: 0.000277
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 1: 0.000300
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 10: 0.000363
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 6: 0.000385
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 3: 0.000482
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 7: 0.000610
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 5: 0.000648
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 9: 0.000650
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 8: 0.000685
[DEBUG] (2016-01-29 11:56:26.291) Graph.cpp:2404::getNodesInRadius() Inlier 4: 0.000933
[DEBUG] (2016-01-29 11:56:26.292) Graph.cpp:2409::getNodesInRadius() found nodes=10
[ INFO] (2016-01-29 11:56:26.292) Rtabmap.cpp:1588::process() near nodes=10, max local immunized=0, ratio=0.250000 WM=2
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4372::reactivateSignatures() 
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4388::reactivateSignatures() idsToLoad = 0
[DEBUG] (2016-01-29 11:56:26.292) DBDriver.cpp:336::loadSignatures() 
[DEBUG] (2016-01-29 11:56:26.292) DBDriver.cpp:376::loadSignatures() 
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4264::enableWordsRef() size=0
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4291::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4300::enableWordsRef() loading words(0) time=0.000060s
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4363::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000043s...
[DEBUG] (2016-01-29 11:56:26.292) Memory.cpp:4404::reactivateSignatures() time = 0.000385s
[ INFO] (2016-01-29 11:56:26.292) Rtabmap.cpp:1663::process() retrieval of 0 (db time = 0.000162s)
[ INFO] (2016-01-29 11:56:26.292) Rtabmap.cpp:1666::process() total timeRetrievalDbAccess=0.000162s
[ INFO] (2016-01-29 11:56:26.292) Rtabmap.cpp:1672::process() timeReactivations=0.002178s
[ INFO] (2016-01-29 11:56:26.292) Rtabmap.cpp:1776::process() timeAddLoopClosureLink=0.000063s
[DEBUG] (2016-01-29 11:56:26.292) Rtabmap.cpp:1805::process() Proximity detection (local loop closure in SPACE using matching images)
[DEBUG] (2016-01-29 11:56:26.293) Rtabmap.cpp:1815::process() nearestIds=11/11
[DEBUG] (2016-01-29 11:56:26.293) Rtabmap.cpp:1824::process() nearestPoses=1
[DEBUG] (2016-01-29 11:56:26.293) Rtabmap.cpp:1828::process() nearestPaths=1
[DEBUG] (2016-01-29 11:56:26.293) Graph.cpp:2352::findNearestNode() Nearest node = 1: 0.000000
[DEBUG] (2016-01-29 11:56:26.293) Memory.cpp:399::parseParameters() 
[DEBUG] (2016-01-29 11:56:26.294) Memory.cpp:523::parseParameters() new detector strategy 4
[DEBUG] (2016-01-29 11:56:26.294) Memory.cpp:3397::getNodeData() nodeId=1
[rtabmap/rtabmap-2] process has died [pid 2893, exit code -7, cmd /opt/ros/indigo/lib/rtabmap_ros/rtabmap --delete_db_on_start --udebug rgb/image:=/rgb/image_raw depth/image:=/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info scan:=/scan __name:=rtabmap __log:=/home/ubuntu/.ros/log/a9228b8a-c6a7-11e5-b8e7-0005b7e12d1d/rtabmap-rtabmap-2.log].
log file: /home/ubuntu/.ros/log/a9228b8a-c6a7-11e5-b8e7-0005b7e12d1d/rtabmap-rtabmap-2*.log
[ INFO] [1454086586.406225080]: Odom: quality=872, std dev=0.033864m, update time=0.285796s
[ INFO] [1454086586.657017975]: Odom: quality=863, std dev=0.034040m, update time=0.231783s
[ INFO] [1454086586.980215637]: Odom: quality=863, std dev=0.034040m, update time=0.246286s
[ INFO] [1454086587.258510738]: Odom: quality=870, std dev=0.033903m, update time=0.263447s
[ INFO] [1454086587.527784951]: Odom: quality=869, std dev=0.033923m, update time=0.253286s
[ INFO] [1454086587.825213882]: Odom: quality=850, std dev=0.034300m, update time=0.284796s
^C
[base_link_to_lidar_link-10] killing on exit
[base_link_to_imu_link-9] killing on exit
[camera_link_rgb_to_camera_link_depth-8] killing on exit
[base_link_to_camera_link_rgb-7] killing on exit
[points_xyzrgb-6] killing on exit
[data_odom_sync-5] killing on exit
[standalone_nodelet-4] killing on exit
[rviz-3] killing on exit
[rtabmap/rgbd_odometry-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done