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-tp283p301.html

Here it is:

[ INFO] (2015-04-02 17:00:39.447) Rtabmap.cpp:1390::process() retrieval of 0 (db time = 0.000032s)
[ INFO] (2015-04-02 17:00:39.447) Rtabmap.cpp:1393::process() total timeRetrievalDbAccess=0.000032s
[ INFO] (2015-04-02 17:00:39.447) Rtabmap.cpp:1399::process() timeReactivations=0.000738s
[DEBUG] (2015-04-02 17:00:39.447) Memory.cpp:1854::computeVisualTransform() Correspondences = 53
[DEBUG] (2015-04-02 17:00:39.447) util3d.cpp:1322::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.050000
[DEBUG] (2015-04-02 17:00:39.464) util3d.cpp:1371::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 39/37, with an error threshold of 0.050000.
[DEBUG] (2015-04-02 17:00:39.464) util3d.cpp:1388::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.050000 (variance=0.000571) on iteration 0 out of 10.
[DEBUG] (2015-04-02 17:00:39.464) util3d.cpp:1371::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 37/38, with an error threshold of 0.050000.
[DEBUG] (2015-04-02 17:00:39.465) util3d.cpp:1388::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.050000 (variance=0.000509) on iteration 1 out of 10.
[DEBUG] (2015-04-02 17:00:39.465) util3d.cpp:1371::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 38/38, with an error threshold of 0.050000.
[DEBUG] (2015-04-02 17:00:39.465) util3d.cpp:1388::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.050000 (variance=0.000497) on iteration 2 out of 10.
[DEBUG] (2015-04-02 17:00:39.465) util3d.cpp:1456::transformFromXYZCorrespondences() RANSAC inliers=38/53 tf=xyz=0.006182,-0.027207,0.013288 rpy=0.004617,0.011210,0.258372
[DEBUG] (2015-04-02 17:00:39.466) Memory.cpp:2014::computeIcpTransform() Guess transform = xyz=0.006182,-0.027207,0.013288 rpy=0.004617,0.011210,0.258372
[DEBUG] (2015-04-02 17:00:39.466) Memory.cpp:2135::computeIcpTransform() 2D ICP
[ INFO] (2015-04-02 17:00:39.466) Memory.cpp:2143::computeIcpTransform() 2D ICP: Dropping z (0.013288), roll (0.004617) and pitch (0.011210) rotation!
[DEBUG] (2015-04-02 17:00:39.523) Memory.cpp:2181::computeIcpTransform() hasConverged=true, variance=0.001409, correspondences=347/531 (65.348396%)
[DEBUG] (2015-04-02 17:00:39.523) Memory.cpp:2219::computeIcpTransform() New transform = xyz=-0.022747,0.043094,-0.000000 rpy=-0.000000,0.000000,-0.261506
[ INFO] (2015-04-02 17:00:39.523) Memory.cpp:2355::addLink() old=22, new=43 transform: xyz=-0.022747,0.043094,-0.000000 rpy=-0.000000,0.000000,-0.261506
[DEBUG] (2015-04-02 17:00:39.523) Memory.cpp:2367::addLink() Add link between 22 and 43
[DEBUG] (2015-04-02 17:00:39.523) Signature.cpp:130::addLink() Add link 43 to 22 (type=1)
[DEBUG] (2015-04-02 17:00:39.523) Signature.cpp:130::addLink() Add link 22 to 43 (type=1)
[ INFO] (2015-04-02 17:00:39.523) Rtabmap.cpp:1519::process() timeAddLoopClosureLink=0.075804s
[ INFO] (2015-04-02 17:00:39.523) Rtabmap.cpp:1579::process() timeLocalSpaceDetection=0.000012s
[ INFO] (2015-04-02 17:00:39.523) Rtabmap.cpp:1593::process() Update map correction: SLAM mode
[DEBUG] (2015-04-02 17:00:39.523) Rtabmap.cpp:2229::optimizeCurrentMap() Optimize map: around location 43
[DEBUG] (2015-04-02 17:00:39.523) Rtabmap.cpp:2234::optimizeCurrentMap() get ids=23
[ INFO] (2015-04-02 17:00:39.523) Rtabmap.cpp:2239::optimizeCurrentMap() get ids time 0.000043 s
[DEBUG] (2015-04-02 17:00:39.523) Memory.cpp:3930::getMetricConstraints()
[ INFO] (2015-04-02 17:00:39.523) Rtabmap.cpp:2244::optimizeCurrentMap() get constraints (23 poses, 23 edges) time 0.000124 s
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:218::optimize() Poses:
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 1 t=xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 22 t=xyz=0.001236,-0.000018,0.000000 rpy=0.000000,0.000000,-0.051662
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 23 t=xyz=0.003335,-0.000373,0.000000 rpy=0.000000,0.000000,-0.279427
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 24 t=xyz=0.004753,-0.000949,0.000000 rpy=0.000000,0.000000,-0.546812
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 25 t=xyz=0.005368,-0.001473,0.000000 rpy=0.000000,0.000000,-0.854862
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 26 t=xyz=0.005455,-0.001670,0.000000 rpy=0.000000,0.000000,-1.293463
[ WARN] (2015-04-02 17:00:39.523) Graph.cpp:221::optimize() Pose 27 t=xyz=0.005468,-0.001668,0.000000 rpy=0.000000,0.000000,-1.649162
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 28 t=xyz=0.005578,-0.001302,0.000000 rpy=0.000000,0.000000,-1.975189
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 29 t=xyz=0.005532,-0.001272,0.000000 rpy=0.000000,0.000000,-2.300868
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 30 t=xyz=0.005538,-0.001278,0.000000 rpy=0.000000,0.000000,-2.590418
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 31 t=xyz=0.005539,-0.001282,0.000000 rpy=0.000000,0.000000,-2.863911
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 32 t=xyz=0.005956,-0.001205,0.000000 rpy=0.000000,-0.000000,3.138626
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 33 t=xyz=0.006218,-0.001181,0.000000 rpy=0.000000,-0.000000,2.873161
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 34 t=xyz=0.006018,-0.001109,0.000000 rpy=0.000000,-0.000000,2.647490
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 35 t=xyz=0.005556,-0.000803,0.000000 rpy=0.000000,-0.000000,2.407333
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 36 t=xyz=0.004578,0.000376,0.000000 rpy=0.000000,-0.000000,2.154958
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 37 t=xyz=0.004006,0.001558,0.000000 rpy=0.000000,-0.000000,1.818459
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 38 t=xyz=0.003806,0.003463,0.000000 rpy=0.000000,-0.000000,1.552121
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 39 t=xyz=0.004072,0.005360,0.000000 rpy=0.000000,-0.000000,1.313884
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 40 t=xyz=0.004494,0.006382,0.000000 rpy=0.000000,-0.000000,0.962724
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 41 t=xyz=0.005174,0.007201,0.000000 rpy=0.000000,-0.000000,0.683122
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 42 t=xyz=0.005767,0.007541,0.000000 rpy=0.000000,-0.000000,0.452040
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:221::optimize() Pose 43 t=xyz=0.006986,0.007918,0.000000 rpy=0.000000,-0.000000,0.182387
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:223::optimize() Links:
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 1->22 t=xyz=0.001236,-0.000018,0.000000 rpy=0.000000,-0.000000,-0.051662 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 22->23 t=xyz=0.002114,-0.000246,0.000000 rpy=0.000000,-0.000000,-0.227765 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 23->24 t=xyz=0.001523,-0.000163,0.000000 rpy=0.000000,-0.000000,-0.267384 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 24->25 t=xyz=0.000797,-0.000128,0.000000 rpy=0.000000,-0.000000,-0.308051 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 25->26 t=xyz=0.000205,-0.000064,0.000000 rpy=0.000000,-0.000000,-0.438601 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 26->27 t=xyz=0.000002,0.000013,0.000000 rpy=0.000000,0.000000,-0.355698 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 27->28 t=xyz=-0.000374,0.000082,0.000000 rpy=0.000000,-0.000000,-0.326028 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 28->29 t=xyz=-0.000010,-0.000055,0.000000 rpy=0.000000,-0.000000,-0.325678 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 29->30 t=xyz=0.000001,0.000008,0.000000 rpy=0.000000,-0.000000,-0.289550 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 30->31 t=xyz=0.000001,0.000004,0.000000 rpy=0.000000,-0.000000,-0.273493 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 31->32 t=xyz=-0.000422,0.000040,0.000000 rpy=0.000000,-0.000000,-0.280649 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 32->33 t=xyz=-0.000262,-0.000025,0.000000 rpy=0.000000,-0.000000,-0.265465 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 33->34 t=xyz=0.000212,-0.000017,0.000000 rpy=0.000000,-0.000000,-0.225671 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 34->35 t=xyz=0.000551,-0.000050,0.000000 rpy=0.000000,-0.000000,-0.240157 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 35->36 t=xyz=0.001516,-0.000220,0.000000 rpy=0.000000,-0.000000,-0.252375 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 36->37 t=xyz=0.001302,-0.000174,0.000000 rpy=0.000000,-0.000000,-0.336499 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 37->38 t=xyz=0.001896,-0.000274,0.000000 rpy=0.000000,-0.000000,-0.266337 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 38->39 t=xyz=0.001902,-0.000231,0.000000 rpy=0.000000,-0.000000,-0.238237 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 39->40 t=xyz=0.001096,-0.000148,0.000000 rpy=0.000000,-0.000000,-0.351160 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 40->41 t=xyz=0.001061,-0.000090,0.000000 rpy=0.000000,-0.000000,-0.279602 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 41->42 t=xyz=0.000674,-0.000111,0.000000 rpy=0.000000,-0.000000,-0.231082 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 42->43 t=xyz=0.001262,-0.000193,0.000000 rpy=0.000000,-0.000000,-0.269653 rotVar=inf transVar=inf
[ WARN] (2015-04-02 17:00:39.524) Graph.cpp:227::optimize() Link 43->22 t=xyz=-0.022747,0.043094,-0.000000 rpy=-0.000000,0.000000,-0.261506 rotVar=0.001409 transVar=0.001409
[DEBUG] (2015-04-02 17:00:39.524) Graph.cpp:231::optimize() Optimizing graph (pose=23 constraints=23)...
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:240::optimize() fill poses to TORO...
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:266::optimize() fill edges to TORO...
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:343::optimize() buildMST...
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:351::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 17:00:39.526) Graph.cpp:364::optimize() TORO iterate begin (iterations=100)
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 0 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 1 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 2 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 3 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 4 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 5 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 6 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 7 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 8 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 9 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 10 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 11 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 12 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 13 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 14 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 15 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.526) Graph.cpp:403::optimize() iteration 16 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 17 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 18 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 19 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 20 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 21 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 22 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 23 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 24 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 25 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 26 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 27 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 28 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 29 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 30 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 31 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 32 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 33 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 34 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 35 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 36 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 37 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 38 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 39 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 40 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 41 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 42 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 43 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 44 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 45 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 46 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 47 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 48 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 49 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 50 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 51 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 52 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 53 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 54 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 55 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 56 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 57 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 58 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 59 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 60 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 61 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 62 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 63 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 64 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 65 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 66 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 67 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 68 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 69 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 70 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 71 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 72 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 73 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 74 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 75 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 76 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 77 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.527) Graph.cpp:403::optimize() iteration 78 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 79 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 80 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 81 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 82 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 83 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 84 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 85 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 86 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 87 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 88 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 89 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 90 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 91 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 92 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 93 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 94 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 95 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 96 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 97 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 98 global error=-nan error/constraint=-nan
[DEBUG] (2015-04-02 17:00:39.528) Graph.cpp:403::optimize() iteration 99 global error=-nan error/constraint=-nan
[ INFO] (2015-04-02 17:00:39.528) Graph.cpp:416::optimize() TORO iterate end
[FATAL] (2015-04-02 17:00:39.528) Graph.cpp:427::optimize() Condition (!newPose.isNull()) not met! [Optimized pose 22 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.