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-tp283p298.html

It's a 64 bit os. Here is the log:

[ INFO] (2015-04-02 10:12:28.556) Rtabmap.cpp:1067::process() timePosteriorCalculation=0.000640s
[ INFO] (2015-04-02 10:12:28.556) Rtabmap.cpp:1079::process() creating hypotheses...
[ INFO] (2015-04-02 10:12:28.556) Rtabmap.cpp:1093::process() Highest hypothesis=70, value=0.166064, timeHypothesesCreation=0.000011s
[ INFO] (2015-04-02 10:12:28.556) Rtabmap.cpp:1128::process() timeHypothesesValidation=0.000020s
[DEBUG] (2015-04-02 10:12:28.556) Memory.cpp:1331::joinTrashThread()
[DEBUG] (2015-04-02 10:12:28.556) Memory.cpp:1333::joinTrashThread()
[ INFO] (2015-04-02 10:12:28.556) Rtabmap.cpp:1154::process() Time emptying memory trash = 0.000029s,  joining (actual overhead) = 0.000056s
[ INFO] (2015-04-02 10:12:28.556) Rtabmap.cpp:1166::process() Retrieving locations... around id=70
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1170::process() margin=17 maxRetieved=2
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1182::process() In TIME
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1189::process() neighbors of 70 in time = 18
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=70 m=0 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=1 m=1 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=71 m=1 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=72 m=2 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=73 m=3 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=74 m=4 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=75 m=5 immunized=1
[DEBUG] (2015-04-02 10:12:28.556) Rtabmap.cpp:1217::process() nt=76 m=6 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=77 m=7 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=78 m=8 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=79 m=9 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=80 m=10 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=81 m=11 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=82 m=12 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=83 m=13 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=84 m=14 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=85 m=15 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1217::process() nt=86 m=16 immunized=1
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1233::process() In SPACE
[DEBUG] (2015-04-02 10:12:28.557) Rtabmap.cpp:1240::process() neighbors of 70 in space = 18
[ INFO] (2015-04-02 10:12:28.557) Rtabmap.cpp:1290::process() margin=17, neighborhoodSize=17, reactivatedIds.size=18, nbLoadedFromDb=0, nbDirectNeighborsInDb=0, time=0.000261s (0.000000s 0.000000s)
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 100: 0.000514
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 99: 0.001322
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 98: 0.002536
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 97: 0.003099
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 96: 0.003520
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 95: 0.004856
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 94: 0.005494
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 93: 0.006811
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 73: 0.007056
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 74: 0.007167
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 72: 0.007213
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 71: 0.007679
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 76: 0.007799
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 86: 0.007844
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 85: 0.007862
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 87: 0.007914
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 83: 0.007930
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 84: 0.007941
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 88: 0.007977
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 75: 0.007983
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 92: 0.008062
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 90: 0.008069
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 89: 0.008222
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 91: 0.008300
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 78: 0.008397
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 82: 0.008615
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 77: 0.008659
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 81: 0.008663
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 70: 0.009600
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 79: 0.009714
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 80: 0.009848
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1303::getNodesInRadius() Inlier 1: 0.011032
[DEBUG] (2015-04-02 10:12:28.557) Graph.cpp:1308::getNodesInRadius() found nodes=32
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3888::reactivateSignatures()
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3904::reactivateSignatures() idsToLoad = 0
[DEBUG] (2015-04-02 10:12:28.557) DBDriver.cpp:303::loadSignatures()
[DEBUG] (2015-04-02 10:12:28.557) DBDriver.cpp:343::loadSignatures()
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3780::enableWordsRef() size=0
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3807::enableWordsRef() oldWordIds.size()=0, getOldIds time=0.000000s
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3816::enableWordsRef() loading words(0) time=0.000011s
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3879::enableWordsRef() 0 words total ref added from 0 signatures, time=0.000011s...
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:3920::reactivateSignatures() time = 0.000085s
[ INFO] (2015-04-02 10:12:28.557) Rtabmap.cpp:1390::process() retrieval of 0 (db time = 0.000031s)
[ INFO] (2015-04-02 10:12:28.557) Rtabmap.cpp:1393::process() total timeRetrievalDbAccess=0.000031s
[ INFO] (2015-04-02 10:12:28.557) Rtabmap.cpp:1399::process() timeReactivations=0.000904s
[DEBUG] (2015-04-02 10:12:28.557) Memory.cpp:1854::computeVisualTransform() Correspondences = 42
[DEBUG] (2015-04-02 10:12:28.557) util3d.cpp:1322::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.050000
[DEBUG] (2015-04-02 10:12:28.571) util3d.cpp:1371::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 25/25, with an error threshold of 0.050000.
[DEBUG] (2015-04-02 10:12:28.572) util3d.cpp:1388::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.050000 (variance=0.000630) on iteration 0 out of 10.
[DEBUG] (2015-04-02 10:12:28.572) util3d.cpp:1456::transformFromXYZCorrespondences() RANSAC inliers=25/42 tf=xyz=0.024092,-0.038276,0.009060 rpy=0.001730,0.008428,0.382084
[DEBUG] (2015-04-02 10:12:28.574) Memory.cpp:2014::computeIcpTransform() Guess transform = xyz=0.024092,-0.038276,0.009060 rpy=0.001730,0.008428,0.382084
[DEBUG] (2015-04-02 10:12:28.574) Memory.cpp:2135::computeIcpTransform() 2D ICP
[ INFO] (2015-04-02 10:12:28.574) Memory.cpp:2143::computeIcpTransform() 2D ICP: Dropping z (0.009060), roll (0.001730) and pitch (0.008428) rotation!
[DEBUG] (2015-04-02 10:12:28.587) Memory.cpp:2181::computeIcpTransform() hasConverged=true, variance=0.000166, correspondences=314/507 (56.884056%)
[DEBUG] (2015-04-02 10:12:28.587) Memory.cpp:2219::computeIcpTransform() New transform = xyz=-0.010780,0.099970,-0.000000 rpy=-0.000000,0.000000,-0.412228
[ INFO] (2015-04-02 10:12:28.588) Memory.cpp:2355::addLink() old=70, new=101 transform: xyz=-0.010780,0.099970,-0.000000 rpy=-0.000000,0.000000,-0.412228
[DEBUG] (2015-04-02 10:12:28.588) Memory.cpp:2367::addLink() Add link between 70 and 101
[DEBUG] (2015-04-02 10:12:28.588) Signature.cpp:130::addLink() Add link 101 to 70 (type=1)
[DEBUG] (2015-04-02 10:12:28.588) Signature.cpp:130::addLink() Add link 70 to 101 (type=1)
[ INFO] (2015-04-02 10:12:28.588) Rtabmap.cpp:1519::process() timeAddLoopClosureLink=0.030331s
[ INFO] (2015-04-02 10:12:28.588) Rtabmap.cpp:1579::process() timeLocalSpaceDetection=0.000012s
[ INFO] (2015-04-02 10:12:28.588) Rtabmap.cpp:1593::process() Update map correction: SLAM mode
[DEBUG] (2015-04-02 10:12:28.588) Rtabmap.cpp:2229::optimizeCurrentMap() Optimize map: around location 101
[DEBUG] (2015-04-02 10:12:28.588) Rtabmap.cpp:2234::optimizeCurrentMap() get ids=33
[ INFO] (2015-04-02 10:12:28.588) Rtabmap.cpp:2239::optimizeCurrentMap() get ids time 0.000062 s
[DEBUG] (2015-04-02 10:12:28.588) Memory.cpp:3930::getMetricConstraints()
[ INFO] (2015-04-02 10:12:28.588) Rtabmap.cpp:2244::optimizeCurrentMap() get constraints (33 poses, 33 edges) time 0.000218 s
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:219::optimize() Optimizing graph (pose=33 constraints=33)...
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:228::optimize() fill poses to TORO...
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:254::optimize() fill edges to TORO...
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:331::optimize() buildMST...
[DEBUG] (2015-04-02 10:12:28.588) 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] (2015-04-02 10:12:28.588) Graph.cpp:352::optimize() TORO iterate begin (iterations=100)
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 0 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 1 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 2 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 3 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 4 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 5 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 6 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 7 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 8 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 9 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 10 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 11 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 12 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 13 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 14 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 15 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 16 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 17 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.588) Graph.cpp:391::optimize() iteration 18 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 19 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 20 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 21 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 22 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 23 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 24 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 25 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 26 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 27 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 28 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 29 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 30 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 31 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 32 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 33 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 34 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 35 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 36 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 37 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 38 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 39 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 40 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 41 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 42 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 43 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 44 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 45 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 46 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 47 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 48 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 49 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 50 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 51 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 52 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 53 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 54 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 55 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 56 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 57 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 58 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 59 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 60 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 61 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 62 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 63 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 64 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 65 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 66 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 67 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 68 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 69 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 70 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 71 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.589) Graph.cpp:391::optimize() iteration 72 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 73 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 74 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 75 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 76 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 77 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 78 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 79 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 80 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 81 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 82 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 83 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 84 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 85 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 86 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 87 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 88 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 89 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 90 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 91 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 92 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 93 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 94 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 95 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 96 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 97 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 98 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 10:12:28.590) Graph.cpp:391::optimize() iteration 99 global error=-nan error/constraint=-nan
[ INFO] (2015-04-02 10:12:28.590) Graph.cpp:404::optimize() TORO iterate end
[FATAL] (2015-04-02 10:12:28.590) Graph.cpp:415::optimize() Condition (!newPose.isNull()) not met! [Optimized pose 70 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.