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

Posted by mcb9216 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTab-Map-closes-unexpectedly-when-I-m-trying-to-save-database-tp1149p1155.html

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



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


pd: "Violación de segmento" means Segmentation Fault.