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-tp283p289.html

It seems that the same thing is happening:

[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1067::process() timePosteriorCalculation=0.000373s
[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1079::process() creating hypotheses...
[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1093::process() Highest hypothesis=29, value=0.122176, timeHypothesesCreation=0.000012s
[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1128::process() timeHypothesesValidation=0.000012s
[DEBUG] (2015-03-31 18:20:17.063) Memory.cpp:1331::joinTrashThread()
[DEBUG] (2015-03-31 18:20:17.063) Memory.cpp:1333::joinTrashThread()
[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1154::process() Time emptying memory trash = 0.000029s, joining (actual overhead) = 0.000034s
[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1166::process() Retrieving locations... around id=29
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1170::process() margin=17 maxRetieved=2
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1182::process() In TIME
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1189::process() neighbors of 29 in time = 19
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=29 m=0 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=28 m=1 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=30 m=1 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=27 m=2 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=31 m=2 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=26 m=3 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=32 m=3 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=25 m=4 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1217::process() nt=1 m=5 immunized=1
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1233::process() In SPACE
[DEBUG] (2015-03-31 18:20:17.063) Rtabmap.cpp:1240::process() neighbors of 29 in space = 19
[ INFO] (2015-03-31 18:20:17.063) Rtabmap.cpp:1290::process() margin=17, neighborhoodSize=17, reactivatedIds.size=9, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000177s (0.000000s 0.000000s)
[DEBUG] (2015-03-31 18:20:17.063) Graph.cpp:1292::getNodesInRadius() Inlier 41: 0.003067
[DEBUG] (2015-03-31 18:20:17.063) Graph.cpp:1292::getNodesInRadius() Inlier 40: 0.005364
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 39: 0.007554
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 37: 0.008386
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 38: 0.008460
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 36: 0.009392
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 35: 0.011676
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 34: 0.014163
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 33: 0.017891
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 32: 0.019485
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 31: 0.019628
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 30: 0.019798
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 29: 0.021031
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 28: 0.023230
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 27: 0.026414
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 26: 0.029522
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 25: 0.033539
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1292::getNodesInRadius() Inlier 1: 0.034519
[DEBUG] (2015-03-31 18:20:17.064) Graph.cpp:1297::getNodesInRadius() found nodes=18
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3888::reactivateSignatures()
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3904::reactivateSignatures() idsToLoad = 0
[DEBUG] (2015-03-31 18:20:17.064) DBDriver.cpp:303::loadSignatures()
[DEBUG] (2015-03-31 18:20:17.064) DBDriver.cpp:343::loadSignatures()
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3780::enableWordsRef() size=0
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3807::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000001s
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3816::enableWordsRef() loading words(0) time=0.000011s
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3879::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000012s...
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:3920::reactivateSignatures() time = 0.000079s
[ INFO] (2015-03-31 18:20:17.064) Rtabmap.cpp:1390::process() retrieval of 0 (db time = 0.000033s)
[ INFO] (2015-03-31 18:20:17.064) Rtabmap.cpp:1393::process() total timeRetrievalDbAccess=0.000033s
[ INFO] (2015-03-31 18:20:17.064) Rtabmap.cpp:1399::process() timeReactivations=0.000659s
[DEBUG] (2015-03-31 18:20:17.064) Memory.cpp:1854::computeVisualTransform() Correspondences = 11
[DEBUG] (2015-03-31 18:20:17.064) util3d.cpp:1322::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.050000
[DEBUG] (2015-03-31 18:20:17.080) util3d.cpp:1371::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 9/9, with an error threshold of 0.050000.
[DEBUG] (2015-03-31 18:20:17.081) util3d.cpp:1388::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.028959 (variance=0.000093) on iteration 0 out of 10.
[DEBUG] (2015-03-31 18:20:17.081) util3d.cpp:1456::transformFromXYZCorrespondences() RANSAC inliers=9/11 tf=xyz=0.013163,0.022021,0.017044 rpy=0.026106,0.021489,0.030675
[DEBUG] (2015-03-31 18:20:17.083) Memory.cpp:2014::computeIcpTransform() Guess transform = xyz=0.013163,0.022021,0.017044 rpy=0.026106,0.021489,0.030675
[DEBUG] (2015-03-31 18:20:17.083) Memory.cpp:2135::computeIcpTransform() 2D ICP
[ INFO] (2015-03-31 18:20:17.083) Memory.cpp:2143::computeIcpTransform() 2D ICP: Dropping z (0.017044), roll (0.026106) and pitch (0.021489) rotation!
[DEBUG] (2015-03-31 18:20:17.105) Memory.cpp:2181::computeIcpTransform() hasConverged=true, variance=0.000003, correspondences=554/567 (97.707230%)
[DEBUG] (2015-03-31 18:20:17.105) Memory.cpp:2219::computeIcpTransform() New transform = xyz=-0.021365,-0.014767,-0.000000 rpy=-0.000000,-0.000000,-0.031541
[ INFO] (2015-03-31 18:20:17.105) Memory.cpp:2355::addLink() old=29, new=42 transform: xyz=-0.021365,-0.014767,-0.000000 rpy=-0.000000,-0.000000,-0.031541
[DEBUG] (2015-03-31 18:20:17.105) Memory.cpp:2367::addLink() Add link between 29 and 42
[DEBUG] (2015-03-31 18:20:17.105) Signature.cpp:130::addLink() Add link 42 to 29 (type=1)
[DEBUG] (2015-03-31 18:20:17.105) Signature.cpp:130::addLink() Add link 29 to 42 (type=1)
[ INFO] (2015-03-31 18:20:17.105) Rtabmap.cpp:1519::process() timeAddLoopClosureLink=0.041177s
[ INFO] (2015-03-31 18:20:17.105) Rtabmap.cpp:1579::process() timeLocalSpaceDetection=0.000014s
[ INFO] (2015-03-31 18:20:17.105) Rtabmap.cpp:1593::process() Update map correction: SLAM mode
[DEBUG] (2015-03-31 18:20:17.105) Rtabmap.cpp:2229::optimizeCurrentMap() Optimize map: around location 42
[DEBUG] (2015-03-31 18:20:17.105) Rtabmap.cpp:2234::optimizeCurrentMap() get ids=19
[ INFO] (2015-03-31 18:20:17.105) Rtabmap.cpp:2239::optimizeCurrentMap() get ids time 0.000042 s
[DEBUG] (2015-03-31 18:20:17.105) Memory.cpp:3930::getMetricConstraints()
[ INFO] (2015-03-31 18:20:17.105) Rtabmap.cpp:2244::optimizeCurrentMap() get constraints (19 poses, 19 edges) time 0.000134 s
[DEBUG] (2015-03-31 18:20:17.105) Graph.cpp:219::optimize() Optimizing graph (pose=19 constraints=19)...
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:228::optimize() fill poses to TORO...
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:254::optimize() fill edges to TORO...
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:331::optimize() buildMST...
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:339::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 18:20:17.106) Graph.cpp:352::optimize() TORO iterate begin (iterations=100)
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 0 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 1 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 2 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 3 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 4 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 5 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 6 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 7 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 8 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 9 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 10 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 11 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 12 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 13 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 14 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 15 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 16 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 17 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 18 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 19 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 20 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 21 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 22 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 23 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 24 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 25 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 26 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 27 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 28 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 29 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 30 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 31 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 32 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.106) Graph.cpp:391::optimize() iteration 33 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 34 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 35 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 36 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 37 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 38 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 39 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 40 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 41 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 42 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 43 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 44 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 45 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 46 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 47 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 48 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 49 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 50 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 51 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 52 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 53 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 54 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 55 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 56 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 57 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 58 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 59 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 60 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 61 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 62 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 63 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 64 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 65 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 66 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 67 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 68 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 69 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 70 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 71 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 72 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 73 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 74 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 75 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 76 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 77 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 78 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 79 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 80 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 81 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 82 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 83 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 84 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 85 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 86 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 87 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 88 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 89 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 90 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 91 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 92 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 93 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 94 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 95 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.107) Graph.cpp:391::optimize() iteration 96 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.108) Graph.cpp:391::optimize() iteration 97 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.108) Graph.cpp:391::optimize() iteration 98 global error=-nan error/constraint=-nan
[DEBUG] (2015-03-31 18:20:17.108) Graph.cpp:391::optimize() iteration 99 global error=-nan error/constraint=-nan
[ INFO] (2015-03-31 18:20:17.108) Graph.cpp:404::optimize() TORO iterate end
[FATAL] (2015-03-31 18:20:17.108) Graph.cpp:415::optimize() Condition (!newPose.isNull()) not met! [Optimized pose 25 is null!?!?]

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

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rtabmap: /usr/include/boost/thread/pthread/recursive_mutex.hpp:101: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.