Official RTAB-Map Forum - Re: Error after changing from binaries to git source

Re: Error after changing from binaries to git source

Posted by Mark on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-after-changing-from-binaries-to-git-source-tp283p287.html

I have to thank you. No, im starting rtabmap with "--delete_db_on_start" argument every time. Here are the last log lines:

[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:880::process() Processing signature 50
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:882::process() timeMemoryUpdate=0.138159s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:957::process() timeScanMatching=0.000025s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1030::process() timeLocalTimeDetection=0.000020s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1047::process() computing likelihood...
[DEBUG] (2015-03-31 17:32:02.249) Memory.cpp:1181::computeLikelihood() processing...
[DEBUG] (2015-03-31 17:32:02.249) Memory.cpp:1216::computeLikelihood() compute likelihood (tf-idf) 0.000115 s
[DEBUG] (2015-03-31 17:32:02.249) Rtabmap.cpp:2273::adjustLikelihood() likelihood.size()=12
[DEBUG] (2015-03-31 17:32:02.249) Rtabmap.cpp:2292::adjustLikelihood() values.size=9
[DEBUG] (2015-03-31 17:32:02.249) Rtabmap.cpp:2339::adjustLikelihood() mean=0.057923, stdDev=0.101316, max=0.321669, maxId=35, time=0.000007s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1056::process() timeLikelihoodCalculation=0.000221s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1062::process() getting posterior...
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:132::computePosterior()
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:411::updatePrediction()
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:439::updatePrediction() time creating id-index maps = 0.000015s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:451::updatePrediction() time getting removed ids = 0.000008s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:491::updatePrediction() time getting ids to update = 0.000040s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:503::updatePrediction() time updating modified/added ids = 0.000127s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:527::updatePrediction() time copying = 0.000008s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:546::updatePrediction() time updating virtual place = 0.000006s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:548::updatePrediction() Modified=10, Added=1, Copied=0
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:164::computePosterior() STEP1-generate prior=0.000223s, rows=12, cols=12
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:554::updatePosterior()
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:176::computePosterior() STEP1-update posterior=0.000000s, posterior=12, _posterior size=12
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:182::computePosterior() STEP1-matrix mult time=0.000036s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:185::computePosterior() STEP1-matrix mult time=0.000007s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:204::computePosterior() STEP2-likelihood time=0.000008s
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:208::computePosterior() sum=1.525715
[DEBUG] (2015-03-31 17:32:02.249) BayesFilter.cpp:216::computePosterior() normalize time=0.000013s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1067::process() timePosteriorCalculation=0.000315s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1079::process() creating hypotheses...
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1093::process() Highest hypothesis=35, value=0.132348, timeHypothesesCreation=0.000014s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1128::process() timeHypothesesValidation=0.000007s
[DEBUG] (2015-03-31 17:32:02.249) Memory.cpp:1331::joinTrashThread()
[DEBUG] (2015-03-31 17:32:02.249) Memory.cpp:1333::joinTrashThread()
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1154::process() Time emptying memory trash = 0.000035s, joining (actual overhead) = 0.000017s
[ INFO] (2015-03-31 17:32:02.249) Rtabmap.cpp:1166::process() Retrieving locations... around id=35
[DEBUG] (2015-03-31 17:32:02.249) Rtabmap.cpp:1170::process() margin=17 maxRetieved=2
[DEBUG] (2015-03-31 17:32:02.249) Rtabmap.cpp:1182::process() In TIME
[DEBUG] (2015-03-31 17:32:02.249) Rtabmap.cpp:1189::process() neighbors of 35 in time = 21
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=35 m=0 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=34 m=1 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=36 m=1 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=33 m=2 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=37 m=2 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=32 m=3 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=38 m=3 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=31 m=4 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=39 m=4 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=1 m=5 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1217::process() nt=40 m=5 immunized=1
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1233::process() In SPACE
[DEBUG] (2015-03-31 17:32:02.250) Rtabmap.cpp:1240::process() neighbors of 35 in space = 21
[ INFO] (2015-03-31 17:32:02.250) Rtabmap.cpp:1290::process() margin=17, neighborhoodSize=17, reactivatedIds.size=11, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000117s (0.000000s 0.000000s)
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 49: 0.002626
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 48: 0.004794
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 47: 0.006822
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 46: 0.008366
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 45: 0.009052
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 44: 0.009238
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 43: 0.009550
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 42: 0.011829
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 41: 0.014577
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 40: 0.017069
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 39: 0.019149
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 38: 0.020522
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 37: 0.020817
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 36: 0.020997
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 35: 0.022503
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 34: 0.024556
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 33: 0.026612
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 32: 0.028783
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 31: 0.031787
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1292::getNodesInRadius() Inlier 1: 0.033139
[DEBUG] (2015-03-31 17:32:02.250) Graph.cpp:1297::getNodesInRadius() found nodes=20
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3888::reactivateSignatures()
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3904::reactivateSignatures() idsToLoad = 0
[DEBUG] (2015-03-31 17:32:02.250) DBDriver.cpp:303::loadSignatures()
[DEBUG] (2015-03-31 17:32:02.250) DBDriver.cpp:343::loadSignatures()
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3780::enableWordsRef() size=0
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3807::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3816::enableWordsRef() loading words(0) time=0.000007s
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3879::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000006s...
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:3920::reactivateSignatures() time = 0.000045s
[ INFO] (2015-03-31 17:32:02.250) Rtabmap.cpp:1390::process() retrieval of 0 (db time = 0.000018s)
[ INFO] (2015-03-31 17:32:02.250) Rtabmap.cpp:1393::process() total timeRetrievalDbAccess=0.000018s
[ INFO] (2015-03-31 17:32:02.250) Rtabmap.cpp:1399::process() timeReactivations=0.000464s
[DEBUG] (2015-03-31 17:32:02.250) Memory.cpp:1854::computeVisualTransform() Correspondences = 24
[DEBUG] (2015-03-31 17:32:02.250) util3d.cpp:1322::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.050000
[DEBUG] (2015-03-31 17:32:02.266) util3d.cpp:1371::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 21/21, with an error threshold of 0.050000.
[DEBUG] (2015-03-31 17:32:02.267) util3d.cpp:1388::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.035618 (variance=0.000141) on iteration 0 out of 10.
[DEBUG] (2015-03-31 17:32:02.267) util3d.cpp:1456::transformFromXYZCorrespondences() RANSAC inliers=21/24 tf=xyz=0.015798,0.012297,-0.006471 rpy=0.001640,-0.008575,0.055060
[DEBUG] (2015-03-31 17:32:02.269) Memory.cpp:2014::computeIcpTransform() Guess transform = xyz=0.015798,0.012297,-0.006471 rpy=0.001640,-0.008575,0.055060
[DEBUG] (2015-03-31 17:32:02.269) Memory.cpp:2135::computeIcpTransform() 2D ICP
[ INFO] (2015-03-31 17:32:02.269) Memory.cpp:2143::computeIcpTransform() 2D ICP: Dropping z (-0.006471), roll (0.001640) and pitch (-0.008575) rotation!
[DEBUG] (2015-03-31 17:32:02.328) Memory.cpp:2181::computeIcpTransform() hasConverged=true, variance=0.000014, correspondences=504/545 (91.803276%)
[DEBUG] (2015-03-31 17:32:02.328) Memory.cpp:2219::computeIcpTransform() New transform = xyz=-0.020599,0.001720,-0.000000 rpy=-0.000000,0.000000,-0.060913
[ INFO] (2015-03-31 17:32:02.328) Memory.cpp:2355::addLink() old=35, new=50 transform: xyz=-0.020599,0.001720,-0.000000 rpy=-0.000000,0.000000,-0.060913
[DEBUG] (2015-03-31 17:32:02.328) Memory.cpp:2367::addLink() Add link between 35 and 50
[DEBUG] (2015-03-31 17:32:02.328) Signature.cpp:130::addLink() Add link 50 to 35 (type=1)
[DEBUG] (2015-03-31 17:32:02.328) Signature.cpp:130::addLink() Add link 35 to 50 (type=1)
[ INFO] (2015-03-31 17:32:02.328) Rtabmap.cpp:1519::process() timeAddLoopClosureLink=0.078071s
[ INFO] (2015-03-31 17:32:02.328) Rtabmap.cpp:1579::process() timeLocalSpaceDetection=0.000012s
[ INFO] (2015-03-31 17:32:02.328) Rtabmap.cpp:1593::process() Update map correction: SLAM mode
[DEBUG] (2015-03-31 17:32:02.328) Rtabmap.cpp:2229::optimizeCurrentMap() Optimize map: around location 50
[DEBUG] (2015-03-31 17:32:02.328) Rtabmap.cpp:2234::optimizeCurrentMap() get ids=21
[ INFO] (2015-03-31 17:32:02.328) Rtabmap.cpp:2239::optimizeCurrentMap() get ids time 0.000048 s
[DEBUG] (2015-03-31 17:32:02.328) Memory.cpp:3930::getMetricConstraints()
[ INFO] (2015-03-31 17:32:02.328) Rtabmap.cpp:2244::optimizeCurrentMap() get constraints (21 poses, 21 edges) time 0.000123 s
[DEBUG] (2015-03-31 17:32:02.328) Graph.cpp:219::optimize() Optimizing graph (pose=21 constraints=21)...
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:228::optimize() fill poses to TORO...
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:254::optimize() fill edges to TORO...
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:331::optimize() buildMST...
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:348::optimize() Building TORO tree... (if a crash happens just after this msg, TORO is not able to find the root of the graph!)
[ INFO] (2015-03-31 17:32:02.330) Graph.cpp:352::optimize() TORO iterate begin (iterations=100)
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:401::optimize() i 0 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:401::optimize() i 1 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:401::optimize() i 2 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:401::optimize() i 3 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.330) Graph.cpp:401::optimize() i 4 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 5 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 6 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 7 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 8 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 9 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 10 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 11 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 12 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 13 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 14 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 15 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 16 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 17 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 18 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 19 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 20 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 21 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 22 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 23 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 24 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 25 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 26 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 27 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 28 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 29 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 30 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 31 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 32 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 33 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 34 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 35 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 36 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 37 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 38 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.331) Graph.cpp:401::optimize() i 39 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 40 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 41 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 42 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 43 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 44 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 45 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 46 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 47 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 48 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 49 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 50 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 51 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 52 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 53 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 54 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 55 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 56 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 57 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 58 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 59 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 60 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 61 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 62 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 63 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 64 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 65 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 66 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 67 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 68 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 69 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 70 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 71 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 72 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 73 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 74 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.332) Graph.cpp:401::optimize() i 75 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 76 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 77 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 78 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 79 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 80 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 81 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 82 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 83 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 84 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 85 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 86 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 87 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 88 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 89 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 90 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 91 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 92 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 93 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 94 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 95 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 96 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 97 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 98 RotGain=1.000000 global error=nan error/constraint=nan
[DEBUG] (2015-03-31 17:32:02.333) Graph.cpp:401::optimize() i 99 RotGain=1.000000 global error=nan error/constraint=nan
[ INFO] (2015-03-31 17:32:02.333) Graph.cpp:404::optimize() TORO iterate end
[FATAL] (2015-03-31 17:32:02.333) Graph.cpp:427::optimize() Condition (!newPose.isNull()) not met! [Optimized pose 31 is null!?!?]

*******
FATAL message occurred! Application will now exit.

*******
rtabmap: /usr/include/boost/thread/pthread/recursive_mutex.hpp:101: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.
[rtabmap/rtabmap-25] process has died [pid 2710, exit code -6, cmd /home/mark/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start --udebug odom:=/odom scan:=/kinect_scan rgb/image:=/camera/data_throttled_image depth/image:=/camera/data_throttled_image_depth rgb/camera_info:=/camera/data_throttled_camera_info __name:=rtabmap __log:=/home/mark/.ros/log/f0220a9c-d7ba-11e4-9b16-94de8068714b/rtabmap-rtabmap-25.log].
log file: /home/mark/.ros/log/f0220a9c-d7ba-11e4-9b16-94de8068714b/rtabmap-rtabmap-25*.log