Re: How to analyse the source code?

Posted by sheenGeng on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-analyse-the-source-code-tp3193p3202.html

i followed your suggestion and obained [DEBUG] information, but process odometry always crash after
transformFromXYZCorrespondences , is it common ?

PS: my version is pulled from git yesterday

[DEBUG] (2017-05-25 07:47:44.638) VWDictionary.cpp:751::addNewWords() Time to find nn = 0.018890 s
[DEBUG] (2017-05-25 07:47:44.640) VWDictionary.cpp:872::addNewWords() naive search and add ref/words time = 0.001608 s
[DEBUG] (2017-05-25 07:47:44.640) VWDictionary.cpp:874::addNewWords() 489 new words added...
[DEBUG] (2017-05-25 07:47:44.640) VWDictionary.cpp:876::addNewWords() 366 duplicated words added (from current image = 0)...
[DEBUG] (2017-05-25 07:47:44.640) VWDictionary.cpp:877::addNewWords() total time 0.020614s
[DEBUG] (2017-05-25 07:47:44.640) VWDictionary.cpp:520::clear()
[DEBUG] (2017-05-25 07:47:44.644) VWDictionary.cpp:520::clear()
[DEBUG] (2017-05-25 07:47:44.648) RegistrationVis.cpp:1201::computeTransformationImpl()
[DEBUG] (2017-05-25 07:47:44.649) util3d_motion_estimation.cpp:223::estimateMotion3DTo3D() Unique correspondences = 349
[DEBUG] (2017-05-25 07:47:44.649) util3d_registration.cpp:83::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.100000
[rtabmap/rgbd_odometry-2] process has died [pid 21978, exit code -11, cmd /home/sheen/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --udebug rgb/image:=/camera/rgb/image_color depth/image:=/camera/depth/image rgb/camera_info:=/camera/rgb/camera_info odom:=vis_odom __name:=rgbd_odometry __log:=/home/sheen/.ros/log/36e18f56-40d8-11e7-a3c1-a088698161c2/rtabmap-rgbd_odometry-2.log].
log file: /home/sheen/.ros/log/36e18f56-40d8-11e7-a3c1-a088698161c2/rtabmap-rgbd_odometry-2*.log