[DEBUG] (2016-02-05 21:08:44.584) Memory.cpp:4022::createSignature() time keypoints 3D (983) = 0.000611s
[DEBUG] (2016-02-05 21:08:44.584) Memory.cpp:4063::createSignature() ratio=0.000000, meanWordsPerLocation=0
[DEBUG] (2016-02-05 21:08:44.585) Memory.cpp:4149::createSignature() Joining dictionary update thread...
[DEBUG] (2016-02-05 21:08:44.585) Memory.cpp:4151::createSignature() Joining dictionary update thread... thread finished!
[DEBUG] (2016-02-05 21:08:44.585) Memory.cpp:4161::createSignature() time descriptor and memory update (983 of size=32) = 0.000197s
[DEBUG] (2016-02-05 21:08:44.585) VWDictionary.cpp:760::addNewWords() id=1 descriptors=983
[DEBUG] (2016-02-05 21:08:44.586) VWDictionary.cpp:994::addNewWords() naive search and add ref/words time = 0.001271 s
[DEBUG] (2016-02-05 21:08:44.586) VWDictionary.cpp:996::addNewWords() 983 new words added...
[DEBUG] (2016-02-05 21:08:44.586) VWDictionary.cpp:998::addNewWords() 0 duplicated words added (from current image = 0)...
[DEBUG] (2016-02-05 21:08:44.586) VWDictionary.cpp:999::addNewWords() total time 0.001437s
[DEBUG] (2016-02-05 21:08:44.586) Memory.cpp:4171::createSignature() time addNewWords 0.001761s
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:4381::createSignature() time compressing data (id=1) 0.005430s
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:604::update() time creating signature=54.981949 ms
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:722::addSignatureToStm() adding 1
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:1975::getSignatureIdByLabel() label=map0
[ INFO] (2016-02-05 21:08:44.592) Memory.cpp:765::addSignatureToStm() Tagging node 1 with label "map0"
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:776::addSignatureToStm() 983 words ref for the signature 1
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:784::addSignatureToStm() time = 0.000110s
[DEBUG] (2016-02-05 21:08:44.592) Memory.cpp:625::update() time rehearsal=0.227928 ms
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:678::update() totalTimer = 0.055298s
[DEBUG] (2016-02-05 21:08:44.593) Rtabmap.cpp:1953::process() timeUpTo = 0.055450s
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:577::update()
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:586::update() pre-updating...
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:4416::cleanUnusedWords() Removing 0 words (dictionary size=983)...
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:590::update() time preUpdate=0.043154 ms
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:3775::createSignature()
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:3847::createSignature() Start dictionary update thread
[DEBUG] (2016-02-05 21:08:44.593) Memory.cpp:3861::createSignature() convert to grayscale...
[ INFO] [1454724524.595928411]: Odom: quality=126, std dev=0.089087m, update time=0.280437s
[DEBUG] (2016-02-05 21:08:44.596) Memory.cpp:3868::createSignature() Set ROI...
[DEBUG] (2016-02-05 21:08:44.596) Features2d.cpp:291::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000
[DEBUG] (2016-02-05 21:08:44.596) Features2d.cpp:292::computeRoi() roi = 0, 0, 1280, 720
[DEBUG] (2016-02-05 21:08:44.596) Features2d.cpp:319::computeRoi() roi = 0, 0, 1280, 720
[DEBUG] (2016-02-05 21:08:44.596) Memory.cpp:3967::createSignature() Generating keypoints...
[DEBUG] (2016-02-05 21:08:44.600) VWDictionary.cpp:530::update()
[DEBUG] (2016-02-05 21:08:44.601) VWDictionary.cpp:654::update() _mapIndexId.size() = 983, words.size()=983, _dim=32
[DEBUG] (2016-02-05 21:08:44.601) VWDictionary.cpp:655::update() copying data = 0.001056 s
[DEBUG] (2016-02-05 21:08:44.601) VWDictionary.cpp:674::update() Time to create kd tree = 0.000036 s
[DEBUG] (2016-02-05 21:08:44.601) VWDictionary.cpp:678::update() Dictionary updated! (size=983 added=983 removed=0)
[DEBUG] (2016-02-05 21:08:44.601) VWDictionary.cpp:686::update()
[DEBUG] (2016-02-05 21:08:44.612) Features2d.cpp:418::generateKeypoints() Keypoints extraction time = 0.015471 s, keypoints extracted = 2558
[DEBUG] (2016-02-05 21:08:44.612) Features2d.cpp:207::limitKeypoints() too much words (2558), removing words with the hessian threshold
[DEBUG] (2016-02-05 21:08:44.613) Features2d.cpp:242::limitKeypoints() 1558 keypoints removed, (kept 2558), minimum response=100.000000
[DEBUG] (2016-02-05 21:08:44.614) Features2d.cpp:243::limitKeypoints() removing words time = 0.001669 s
[DEBUG] (2016-02-05 21:08:44.615) Memory.cpp:3971::createSignature() time keypoints (1000) = 0.021973s
[DEBUG] (2016-02-05 21:08:44.645) Features2d.cpp:449::generateDescriptors() Descriptors extracted = 998, remaining kpts=998
[DEBUG] (2016-02-05 21:08:44.645) Memory.cpp:4013::createSignature() time descriptors (998) = 0.030831s
[DEBUG] (2016-02-05 21:08:44.646) Memory.cpp:4022::createSignature() time keypoints 3D (998) = 0.000585s
[DEBUG] (2016-02-05 21:08:44.646) Memory.cpp:4063::createSignature() ratio=0.000000, meanWordsPerLocation=983
[DEBUG] (2016-02-05 21:08:44.646) Memory.cpp:4149::createSignature() Joining dictionary update thread...
[DEBUG] (2016-02-05 21:08:44.646) Memory.cpp:4151::createSignature() Joining dictionary update thread... thread finished!
[DEBUG] (2016-02-05 21:08:44.646) Memory.cpp:4161::createSignature() time descriptor and memory update (998 of size=32) = 0.000198s
[DEBUG] (2016-02-05 21:08:44.646) VWDictionary.cpp:760::addNewWords() id=75 descriptors=998
[DEBUG] (2016-02-05 21:08:44.646) VWDictionary.cpp:816::addNewWords() newPts.total()=998
[DEBUG] (2016-02-05 21:08:44.714) VWDictionary.cpp:875::addNewWords() Time to find nn = 0.067341 s
[DEBUG] (2016-02-05 21:08:44.716) VWDictionary.cpp:994::addNewWords() naive search and add ref/words time = 0.002784 s
[DEBUG] (2016-02-05 21:08:44.717) VWDictionary.cpp:996::addNewWords() 889 new words added...
[DEBUG] (2016-02-05 21:08:44.717) VWDictionary.cpp:998::addNewWords() 109 duplicated words added (from current image = 0)...
[DEBUG] (2016-02-05 21:08:44.717) VWDictionary.cpp:999::addNewWords() total time 0.070299s
[DEBUG] (2016-02-05 21:08:44.717) Memory.cpp:4171::createSignature() time addNewWords 0.070720s
[DEBUG] (2016-02-05 21:08:44.720) Memory.cpp:4381::createSignature() time compressing data (id=75) 0.002948s
[DEBUG] (2016-02-05 21:08:44.720) Memory.cpp:604::update() time creating signature=127.754929 ms
[DEBUG] (2016-02-05 21:08:44.720) Memory.cpp:722::addSignatureToStm() adding 75
[DEBUG] (2016-02-05 21:08:44.721) Signature.cpp:99::addLink() Add link 75 to 1 (type=0)
[DEBUG] (2016-02-05 21:08:44.721) Signature.cpp:99::addLink() Add link 1 to 75 (type=0)
[DEBUG] (2016-02-05 21:08:44.721) Memory.cpp:742::addSignatureToStm() Min STM id = 1
[DEBUG] (2016-02-05 21:08:44.721) Memory.cpp:776::addSignatureToStm() 998 words ref for the signature 75
[DEBUG] (2016-02-05 21:08:44.721) Memory.cpp:784::addSignatureToStm() time = 0.000141s
[DEBUG] (2016-02-05 21:08:44.721) Memory.cpp:625::update() time rehearsal=0.270128 ms
[DEBUG] (2016-02-05 21:08:44.721) Memory.cpp:678::update() totalTimer = 0.128095s
[DEBUG] (2016-02-05 21:08:44.721) Rtabmap.cpp:1955::process() timeUpFrom = 0.128173s
[DEBUG] (2016-02-05 21:08:44.721) util3d_registration.cpp:70::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.100000
[DEBUG] (2016-02-05 21:08:44.722) util3d_registration.cpp:119::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 50/49, with an error threshold of 0.100000.
[DEBUG] (2016-02-05 21:08:44.722) util3d_registration.cpp:136::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.100000 (variance=0.003926) on iteration 0 out of 10.
[DEBUG] (2016-02-05 21:08:44.722) util3d_registration.cpp:119::transformFromXYZCorrespondences() RANSAC refineModel: Number of inliers found (before/after): 49/49, with an error threshold of 0.100000.
[DEBUG] (2016-02-05 21:08:44.722) util3d_registration.cpp:136::transformFromXYZCorrespondences() RANSAC refineModel: New estimated error threshold: 0.100000 (variance=0.003703) on iteration 1 out of 10.
[DEBUG] (2016-02-05 21:08:44.722) util3d_registration.cpp:204::transformFromXYZCorrespondences() RANSAC inliers=49/95 tf=xyz=0.098148,-0.214538,-0.119647 rpy=0.019568,-0.040118,0.237013
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:2382::computeVisualTransform() transform=xyz=0.098148,-0.214538,-0.119647 rpy=0.019568,-0.040118,0.237013
[DEBUG] (2016-02-05 21:08:44.723) Rtabmap.cpp:1958::process() timeTransform = 0.002071s
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:363::~Memory()
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:1330::clear()
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:804::moveSignatureToWMFromSTM() Inserting node 1 from STM in WM...
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:804::moveSignatureToWMFromSTM() Inserting node 75 from STM in WM...
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:4416::cleanUnusedWords() Removing 0 words (dictionary size=1872)...
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:1382::clear()
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:1390::clear() deleting from the working and the short-term memory: 1
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:1853::moveToTrash() id=1
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:3156::removeVirtualLinks()
[DEBUG] (2016-02-05 21:08:44.723) Memory.cpp:4391::disableWordsRef() id=1
[DEBUG] (2016-02-05 21:08:44.724) Memory.cpp:4407::disableWordsRef() 983 words total ref removed from signature 1... (total active ref = 998)
[DEBUG] (2016-02-05 21:08:44.725) Memory.cpp:1390::clear() deleting from the working and the short-term memory: 75
[DEBUG] (2016-02-05 21:08:44.725) Memory.cpp:1853::moveToTrash() id=75
[DEBUG] (2016-02-05 21:08:44.725) Memory.cpp:3156::removeVirtualLinks()
[DEBUG] (2016-02-05 21:08:44.725) Memory.cpp:4391::disableWordsRef() id=75
[DEBUG] (2016-02-05 21:08:44.726) Memory.cpp:4407::disableWordsRef() 998 words total ref removed from signature 75... (total active ref = 0)
[DEBUG] (2016-02-05 21:08:44.727) Memory.cpp:1406::clear()
[DEBUG] (2016-02-05 21:08:44.727) Memory.cpp:1412::clear()
[DEBUG] (2016-02-05 21:08:44.727) Memory.cpp:4416::cleanUnusedWords() Removing 1872 words (dictionary size=1872)...
[DEBUG] (2016-02-05 21:08:44.729) VWDictionary.cpp:691::clear()
[DEBUG] (2016-02-05 21:08:44.729) Memory.cpp:1434::clear()
[DEBUG] (2016-02-05 21:08:44.729) VWDictionary.cpp:691::clear()
[rtabmap/rtabmap-7] process has died [pid 21145, exit code -7, cmd /home/ubuntu/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start --udebug rgb/image:=/rgb/image_raw depth/image:=/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info scan:=/scan __name:=rtabmap __log:=/home/ubuntu/.ros/log/7d61b7c2-cc6b-11e5-a8be-0005b7e12d1d/rtabmap-rtabmap-7.log].
log file: /home/ubuntu/.ros/log/7d61b7c2-cc6b-11e5-a8be-0005b7e12d1d/rtabmap-rtabmap-7*.log
[ INFO] [1454724524.870079731]: Odom: quality=127, std dev=0.088736m, update time=0.259692s
[ INFO] [1454724525.097900212]: Odom: quality=184, std dev=0.073721m, update time=0.217388s
[ INFO] [1454724525.326691831]: Odom: quality=133, std dev=0.086711m, update time=0.216616s
[ INFO] [1454724525.553713515]: Odom: quality=219, std dev=0.067574m, update time=0.216044s
[ INFO] [1454724525.778277302]: Odom: quality=306, std dev=0.057166m, update time=0.205684s
[ INFO] [1454724525.982679057]: Odom: quality=548, std dev=0.042718m, update time=0.192645s
[ INFO] [1454724526.179168999]: Odom: quality=601, std dev=0.040791m, update time=0.184195s
[ INFO] [1454724526.371042674]: Odom: quality=551, std dev=0.042601m, update time=0.180277s
[ INFO] [1454724526.571123317]: Odom: quality=589, std dev=0.041204m, update time=0.178612s
[ INFO] [1454724526.759089887]: Odom: quality=666, std dev=0.038749m, update time=0.176658s
[ INFO] [1454724526.950939865]: Odom: quality=574, std dev=0.041739m, update time=0.181641s
[ INFO] [1454724527.139632523]: Odom: quality=577, std dev=0.041631m, update time=0.177729s
[ INFO] [1454724527.382887261]: Odom: quality=583, std dev=0.041416m, update time=0.228660s
[ INFO] [1454724527.625249245]: Odom: quality=665, std dev=0.038778m, update time=0.229215s
[ INFO] [1454724527.810757293]: Odom: quality=685, std dev=0.038208m, update time=0.174078s