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ZdenekM

rgbdslam log (after small custom modification)

ZdenekM
Feb 28th, 2012
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  1. Threads used by QThreadPool on this Computer 4. Will increase this by two, b/c the QtRos and loadBag threads are lightweight
  2.  
  3. RTT Preferred Mode is PBuffer.
  4.  
  5. Opened Bagfile /home/imaterna/ros_workspace/turtlebot-datasets/dataset_17_02/2012-02-17-12-09-16.bag
  6.  
  7. Texture for pass 0: creating with size 1 x 1
  8.  
  9. Texture for pass 1: creating with size 1 x 1
  10.  
  11. RTT Preferred Mode is PBuffer.
  12.  
  13. Drawing 0 PointClouds
  14.  
  15. Pause toggled to: false
  16.  
  17. Found Message of /tf
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  427. Found Message of /tf
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  429. Found Message of /tf
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  431. Found Message of /tf
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  433. Found Message of /tf
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  435. Found Message of /tf
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  437. Found Message of /tf
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  439. Found Message of /tf
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  441. Found Message of /tf
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  443. Found Message of /tf
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  445. Found Message of /tf
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  447. Found Message of /tf
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  449. Found Message of /tf
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  451. Found Message of /tf
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  453. Found Message of /tf
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  455. Found Message of /tf
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  457. Found Message of /tf
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  459. Found Message of /tf
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  463. Found Message of /tf
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  473. Found Message of /tf
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  477. Found Message of /tf
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  479. Found Message of /tf
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  483. Found Message of /tf
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  485. Found Message of /tf
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  487. Found Message of /tf
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  489. Found Message of /tf
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  495. Found Message of /tf
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  497. Found Message of /tf
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  499. Found Message of /tf
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  501. Found Message of /tf
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  503. Found Message of /tf
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  505. Found Message of /tf
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  507. Found Message of /tf
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  509. Found Message of /tf
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  511. Found Message of /tf
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  515. Found Message of /tf
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  519. Found Message of /tf
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  521. Found Message of /tf
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  523. Found Message of /tf
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  525. Found Message of /tf
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  527. Found Message of /tf
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  529. Found Message of /tf
  530.  
  531. Found Message of /tf
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  533. Found Message of /tf
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  535. Found Message of /tf
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  537. Found Message of /tf
  538.  
  539. Found Message of /tf
  540.  
  541. Found Message of /tf
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  543. Found Message of /tf
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  545. Found Message of /tf
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  547. Found Message of /tf
  548.  
  549. Found Message of /tf
  550.  
  551. Found Message of /tf
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  553. Found Message of /tf
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  555. Found Message of /tf
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  557. Found Message of /tf
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  559. Found Message of /tf
  560.  
  561. Found Message of /tf
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  563. Found Message of /tf
  564.  
  565. Found Message of /tf
  566.  
  567. Found Message of /tf
  568.  
  569. Found Message of /tf
  570.  
  571. Found Message of /tf
  572.  
  573. Found Message of /tf
  574.  
  575. Found Message of /tf
  576.  
  577. Found Message of /tf
  578.  
  579. Found Message of /tf
  580.  
  581. Found Message of /tf
  582.  
  583. Found Message of /tf
  584.  
  585. Found Message of /tf
  586.  
  587. Found Message of /tf
  588.  
  589. Found Message of /tf
  590.  
  591. Found Message of /camera/rgb/camera_info
  592.  
  593. Found Message of /camera/rgb/image_mono
  594.  
  595. Found Message of /tf
  596.  
  597. Found Message of /tf
  598.  
  599. Found Message of /tf
  600.  
  601. Found Message of /tf
  602.  
  603. Found Message of /tf
  604.  
  605. Found Message of /tf
  606.  
  607. Found Message of /tf
  608.  
  609. Found Message of /tf
  610.  
  611. Found Message of /tf
  612.  
  613. Found Message of /tf
  614.  
  615. Found Message of /tf
  616.  
  617. Found Message of /tf
  618.  
  619. Found Message of /tf
  620.  
  621. Found Message of /tf
  622.  
  623. Found Message of /tf
  624.  
  625. Found Message of /tf
  626.  
  627. Found Message of /tf
  628.  
  629. Found Message of /tf
  630.  
  631. Found Message of /tf
  632.  
  633. Found Message of /tf
  634.  
  635. Found Message of /tf
  636.  
  637. Found Message of /tf
  638.  
  639. Found Message of /tf
  640.  
  641. Found Message of /tf
  642.  
  643. Found Message of /tf
  644.  
  645. Found Message of /tf
  646.  
  647. Found Message of /tf
  648.  
  649. Found Message of /tf
  650.  
  651. Found Message of /tf
  652.  
  653. Found Message of /tf
  654.  
  655. Found Message of /tf
  656.  
  657. Found Message of /tf
  658.  
  659. Found Message of /tf
  660.  
  661. Found Message of /tf
  662.  
  663. Found Message of /tf
  664.  
  665. Found Message of /tf
  666.  
  667. Found Message of /tf
  668.  
  669. Found Message of /tf
  670.  
  671. Found Message of /tf
  672.  
  673. Found Message of /tf
  674.  
  675. Found Message of /tf
  676.  
  677. Found Message of /camera/rgb/camera_info
  678.  
  679. Found Message of /tf
  680.  
  681. Found Message of /camera/rgb/image_mono
  682.  
  683. Found Message of /camera/depth/image_raw
  684.  
  685. Found Message of /camera/depth/image_raw
  686.  
  687. Found Message of /camera/rgb/camera_info
  688.  
  689. First RGBD-Data Received
  690.  
  691. Received data from kinect
  692.  
  693. Depth image time: 1329476960 - 361804228
  694.  
  695. RGB image time: 1329476960 - 361412646
  696.  
  697. Converting Matrix of type CV_8UC1 to RGBA
  698.  
  699. Target Matrix is of type CV_8UC1
  700.  
  701. Created new rgba_buffer with index 0
  702.  
  703. Converting Matrix of type CV_8UC1 to RGBA
  704.  
  705. Target Matrix is of type CV_8UC1
  706.  
  707. Created new rgba_buffer with index 1
  708.  
  709. noCloudCallback runtime: 0.0164317 s
  710.  
  711. Construction of Node with SURF Features
  712.  
  713. Drawing 0 PointClouds
  714.  
  715. Feature Detection runtime: 0.287836 s
  716.  
  717. Feature Extraction runtime: 0.0416024 s
  718.  
  719. Feature Count of Node: 360
  720.  
  721. Node runtime: 0.329735 s
  722.  
  723. waiting time: 0sec
  724.  
  725. Processing Node in parallel to the construction of the next node
  726.  
  727. cameraCallback runtime: 0.330365 s
  728.  
  729. Found Message of /camera/rgb/image_mono
  730.  
  731. New Node with id 0 has address 0x7f7788761060 (GraphManager is 0x7fff6fd77560)
  732.  
  733. Ground Truth Transform for First Node: Translation 0 0 0
  734.  
  735. Ground Truth Transform for First Node: Rotation 0 0 0 1
  736.  
  737. Found Message of /tf
  738.  
  739. Found Message of /tf
  740.  
  741. Found Message of /tf
  742.  
  743. Found Message of /tf
  744.  
  745. Found Message of /tf
  746.  
  747. Received data from kinect
  748.  
  749. Depth image time: 1329476960 - 365731310
  750.  
  751. RGB image time: 1329476960 - 374501451
  752.  
  753. Converting Matrix of type CV_8UC1 to RGBA
  754.  
  755. Target Matrix is of type CV_8UC4
  756.  
  757. Converting Matrix of type CV_8UC1 to RGBA
  758.  
  759. Target Matrix is of type CV_8UC4
  760.  
  761. Built flannIndex (address 0x1267cf0) for Node 0
  762.  
  763. buildFlannIndex runtime: 0.0108182 s
  764.  
  765. Eigen Matrix:
  766. 1 0 0 0
  767. 0 1 0 0
  768. 0 0 1 0
  769. 0 0 0 1
  770.  
  771. QMatrix from conversion:
  772.  
  773. 1,000000 0,000000 0,000000 0,000000
  774.  
  775. 0,000000 1,000000 0,000000 0,000000
  776.  
  777. 0,000000 0,000000 1,000000 0,000000
  778.  
  779. 0,000000 0,000000 0,000000 1,000000
  780.  
  781. QMatrix Latest Transform:
  782.  
  783. 1,000000 0,000000 0,000000 0,000000
  784.  
  785. 0,000000 1,000000 0,000000 0,000000
  786.  
  787. 0,000000 0,000000 1,000000 0,000000
  788.  
  789. 0,000000 0,000000 0,000000 1,000000
  790.  
  791. GraphManager is thread 2128774912, New Node is at (0x7f7788761060, 0x7f7788761060)
  792.  
  793. Number of features to draw: 0
  794.  
  795. Converting Matrix of type CV_8UC1 to RGBA
  796.  
  797. Target Matrix is of type CV_8UC1
  798.  
  799. Created new rgba_buffer with index 2
  800.  
  801. processNode runtime: 0.0171407 s
  802.  
  803. pc pointer in addPointCloud: 0x7f77887627c0 (this is 0x7f778807ffe0 in thread -1843246496)
  804.  
  805. Making GL list from point-cloud pointer 0x7f77887627c0 in thread -1843246496
  806.  
  807. noCloudCallback runtime: 0.0177832 s
  808.  
  809. Construction of Node with SURF Features
  810.  
  811. Compiled pointcloud into list 1
  812.  
  813. pointCloud2GLStrip runtime: 0.186492 s
  814.  
  815. Drawing 1 PointClouds
  816.  
  817. Feature Detection runtime: 0.292265 s
  818.  
  819. Feature 89 has been extracted at NaN depth. Omitting
  820.  
  821. Feature 155 has been extracted at NaN depth. Omitting
  822.  
  823. Feature 158 has been extracted at NaN depth. Omitting
  824.  
  825. Feature 198 has been extracted at NaN depth. Omitting
  826.  
  827. Feature 198 has been extracted at NaN depth. Omitting
  828.  
  829. Feature 224 has been extracted at NaN depth. Omitting
  830.  
  831. Feature 224 has been extracted at NaN depth. Omitting
  832.  
  833. Feature 274 has been extracted at NaN depth. Omitting
  834.  
  835. Feature 275 has been extracted at NaN depth. Omitting
  836.  
  837. Feature 275 has been extracted at NaN depth. Omitting
  838.  
  839. Feature 307 has been extracted at NaN depth. Omitting
  840.  
  841. Feature 323 has been extracted at NaN depth. Omitting
  842.  
  843. Feature 323 has been extracted at NaN depth. Omitting
  844.  
  845. Feature 353 has been extracted at NaN depth. Omitting
  846.  
  847. Feature 358 has been extracted at NaN depth. Omitting
  848.  
  849. Feature Extraction runtime: 0.041026 s
  850.  
  851. Feature Count of Node: 359
  852.  
  853. Node runtime: 0.333851 s
  854.  
  855. waiting time: 0sec
  856.  
  857. Processing Node in parallel to the construction of the next node
  858.  
  859. cameraCallback runtime: 0.334174 s
  860.  
  861. Found Message of /camera/depth/image_raw
  862.  
  863. New Node with id 1 has address 0x7f7788761ac0 (GraphManager is 0x7fff6fd77560)
  864.  
  865. Graphsize: 1
  866.  
  867. Comparing new node (1) with previous node 0
  868.  
  869. Found Message of /camera/rgb/camera_info
  870.  
  871. Found Message of /camera/rgb/image_mono
  872.  
  873. Found Message of /tf
  874.  
  875. Found Message of /tf
  876.  
  877. Received data from kinect
  878.  
  879. Depth image time: 1329476960 - 401520001
  880.  
  881. RGB image time: 1329476960 - 406336488
  882.  
  883. Converting Matrix of type CV_8UC1 to RGBA
  884.  
  885. Target Matrix is of type CV_8UC4
  886.  
  887. Converting Matrix of type CV_8UC1 to RGBA
  888.  
  889. Target Matrix is of type CV_8UC4
  890.  
  891. Flann knnsearch runtime: 0.017628 s
  892.  
  893. Feature Matches between Nodes 1 ( 359 features) and 0 ( 360 features) in segment 1/1 (features 0 to 359 of first node): 303. Percentage: 84,401114%, Avg NN Ratio: 0,245722
  894.  
  895. count_matrix( 2, 1) = 303;
  896.  
  897. dista_matrix( 2, 1) = 0,137480;
  898.  
  899. Feature Matches between Nodes 1 ( 359 features) and 0 ( 360 features): 303
  900.  
  901. findPairsFlann runtime: 0.0179385 s
  902.  
  903. found 303 inital matches
  904.  
  905. noCloudCallback runtime: 0.0179757 s
  906.  
  907. Construction of Node with SURF Features
  908.  
  909. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  910.  
  911. getRelativeTransformationTo runtime: 0.0136915 s
  912.  
  913. RANSAC found no valid trafo, but had initially 303 feature matches with average ratio 0,137480
  914.  
  915. Node ID's to compare with candidate for node 1. Sequential:
  916.  
  917. Running node comparisons in parallel in 4 (of 6) available threads
  918.  
  919. Choosing new initial node, because it has more features
  920.  
  921. addNode runtime: 0.0325646 s
  922.  
  923. Converting Matrix of type CV_8UC1 to RGBA
  924.  
  925. Target Matrix is of type CV_8UC4
  926.  
  927. processNode runtime: 0.0399109 s
  928.  
  929. Feature Detection runtime: 0.296992 s
  930.  
  931. Feature Extraction runtime: 0.040706 s
  932.  
  933. Feature Count of Node: 359
  934.  
  935. Node runtime: 0.337976 s
  936.  
  937. waiting time: 0sec
  938.  
  939. Processing Node in parallel to the construction of the next node
  940.  
  941. cameraCallback runtime: 0.338691 s
  942.  
  943. New Node with id 1 has address 0x12cbe30 (GraphManager is 0x7fff6fd77560)
  944.  
  945. Graphsize: 1
  946.  
  947. Comparing new node (1) with previous node 0
  948.  
  949. Found Message of /camera/depth/image_raw
  950.  
  951. Found Message of /camera/rgb/camera_info
  952.  
  953. Found Message of /camera/rgb/image_mono
  954.  
  955. Found Message of /tf
  956.  
  957. Found Message of /tf
  958.  
  959. Received data from kinect
  960.  
  961. Depth image time: 1329476960 - 433514549
  962.  
  963. RGB image time: 1329476960 - 442287391
  964.  
  965. Converting Matrix of type CV_8UC1 to RGBA
  966.  
  967. Target Matrix is of type CV_8UC4
  968.  
  969. Converting Matrix of type CV_8UC1 to RGBA
  970.  
  971. Target Matrix is of type CV_8UC4
  972.  
  973. Flann knnsearch runtime: 0.0194633 s
  974.  
  975. Feature Matches between Nodes 1 ( 359 features) and 0 ( 360 features) in segment 1/1 (features 0 to 359 of first node): 283. Percentage: 78,830084%, Avg NN Ratio: 0,275930
  976.  
  977. count_matrix( 2, 1) = 283;
  978.  
  979. dista_matrix( 2, 1) = 0,127351;
  980.  
  981. Feature Matches between Nodes 1 ( 359 features) and 0 ( 360 features): 283
  982.  
  983. findPairsFlann runtime: 0.0197177 s
  984.  
  985. found 283 inital matches
  986.  
  987. noCloudCallback runtime: 0.0177978 s
  988.  
  989. Construction of Node with SURF Features
  990.  
  991. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  992.  
  993. getRelativeTransformationTo runtime: 0.0176245 s
  994.  
  995. RANSAC found no valid trafo, but had initially 283 feature matches with average ratio 0,127351
  996.  
  997. Node ID's to compare with candidate for node 1. Sequential:
  998.  
  999. Running node comparisons in parallel in 4 (of 6) available threads
  1000.  
  1001. Choosing new initial node, because it has more features
  1002.  
  1003. addNode runtime: 0.0376777 s
  1004.  
  1005. Converting Matrix of type CV_8UC1 to RGBA
  1006.  
  1007. Target Matrix is of type CV_8UC4
  1008.  
  1009. processNode runtime: 0.0450541 s
  1010.  
  1011. Feature Detection runtime: 0.298181 s
  1012.  
  1013. Feature 79 has been extracted at NaN depth. Omitting
  1014.  
  1015. Feature 154 has been extracted at NaN depth. Omitting
  1016.  
  1017. Feature 155 has been extracted at NaN depth. Omitting
  1018.  
  1019. Feature 197 has been extracted at NaN depth. Omitting
  1020.  
  1021. Feature 197 has been extracted at NaN depth. Omitting
  1022.  
  1023. Feature 198 has been extracted at NaN depth. Omitting
  1024.  
  1025. Feature 218 has been extracted at NaN depth. Omitting
  1026.  
  1027. Feature 218 has been extracted at NaN depth. Omitting
  1028.  
  1029. Feature 218 has been extracted at NaN depth. Omitting
  1030.  
  1031. Feature 268 has been extracted at NaN depth. Omitting
  1032.  
  1033. Feature 269 has been extracted at NaN depth. Omitting
  1034.  
  1035. Feature 269 has been extracted at NaN depth. Omitting
  1036.  
  1037. Feature 300 has been extracted at NaN depth. Omitting
  1038.  
  1039. Feature 316 has been extracted at NaN depth. Omitting
  1040.  
  1041. Feature 348 has been extracted at NaN depth. Omitting
  1042.  
  1043. Feature Extraction runtime: 0.0413155 s
  1044.  
  1045. Feature Count of Node: 355
  1046.  
  1047. Node runtime: 0.340062 s
  1048.  
  1049. waiting time: 0sec
  1050.  
  1051. Processing Node in parallel to the construction of the next node
  1052.  
  1053. cameraCallback runtime: 0.340782 s
  1054.  
  1055. New Node with id 1 has address 0x7f77880487f0 (GraphManager is 0x7fff6fd77560)
  1056.  
  1057. Graphsize: 1
  1058.  
  1059. Comparing new node (1) with previous node 0
  1060.  
  1061. Found Message of /camera/depth/image_raw
  1062.  
  1063. Found Message of /camera/rgb/camera_info
  1064.  
  1065. Found Message of /tf
  1066.  
  1067. Found Message of /tf
  1068.  
  1069. Found Message of /camera/rgb/image_mono
  1070.  
  1071. Found Message of /tf
  1072.  
  1073. Found Message of /tf
  1074.  
  1075. Found Message of /tf
  1076.  
  1077. Found Message of /tf
  1078.  
  1079. Received data from kinect
  1080.  
  1081. Depth image time: 1329476960 - 465744032
  1082.  
  1083. RGB image time: 1329476960 - 474332159
  1084.  
  1085. Converting Matrix of type CV_8UC1 to RGBA
  1086.  
  1087. Target Matrix is of type CV_8UC4
  1088.  
  1089. Converting Matrix of type CV_8UC1 to RGBA
  1090.  
  1091. Target Matrix is of type CV_8UC4
  1092.  
  1093. createXYZRGBPointCloud runtime: 0.012837 s
  1094.  
  1095. noCloudCallback runtime: 0.0234066 s
  1096.  
  1097. Flann knnsearch runtime: 0.0267076 s
  1098.  
  1099. Feature Matches between Nodes 1 ( 355 features) and 0 ( 360 features) in segment 1/1 (features 0 to 355 of first node): 273. Percentage: 76,901408%, Avg NN Ratio: 0,294036
  1100.  
  1101. count_matrix( 2, 1) = 273;
  1102.  
  1103. dista_matrix( 2, 1) = 0,132546;
  1104.  
  1105. Feature Matches between Nodes 1 ( 355 features) and 0 ( 360 features): 273
  1106.  
  1107. findPairsFlann runtime: 0.0278186 s
  1108.  
  1109. found 273 inital matches
  1110.  
  1111. Construction of Node with SURF Features
  1112.  
  1113. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1114.  
  1115. getRelativeTransformationTo runtime: 0.0247629 s
  1116.  
  1117. RANSAC found no valid trafo, but had initially 273 feature matches with average ratio 0,132546
  1118.  
  1119. Node ID's to compare with candidate for node 1. Sequential:
  1120.  
  1121. Running node comparisons in parallel in 4 (of 6) available threads
  1122.  
  1123. Choosing new initial node, because it has more features
  1124.  
  1125. addNode runtime: 0.0538979 s
  1126.  
  1127. Converting Matrix of type CV_8UC1 to RGBA
  1128.  
  1129. Target Matrix is of type CV_8UC4
  1130.  
  1131. processNode runtime: 0.0609955 s
  1132.  
  1133. Feature Detection runtime: 0.287452 s
  1134.  
  1135. Feature Extraction runtime: 0.0423699 s
  1136.  
  1137. Feature Count of Node: 370
  1138.  
  1139. Node runtime: 0.330102 s
  1140.  
  1141. waiting time: 0sec
  1142.  
  1143. Processing Node in parallel to the construction of the next node
  1144.  
  1145. cameraCallback runtime: 0.3333 s
  1146.  
  1147. Found Message of /camera/depth/image_raw
  1148.  
  1149. New Node with id 1 has address 0x7f7788763480 (GraphManager is 0x7fff6fd77560)
  1150.  
  1151. Graphsize: 1
  1152.  
  1153. Comparing new node (1) with previous node 0
  1154.  
  1155. Found Message of /camera/rgb/camera_info
  1156.  
  1157. Found Message of /camera/rgb/image_mono
  1158.  
  1159. Found Message of /tf
  1160.  
  1161. Received data from kinect
  1162.  
  1163. Depth image time: 1329476960 - 501715536
  1164.  
  1165. RGB image time: 1329476960 - 506628959
  1166.  
  1167. Converting Matrix of type CV_8UC1 to RGBA
  1168.  
  1169. Target Matrix is of type CV_8UC4
  1170.  
  1171. Converting Matrix of type CV_8UC1 to RGBA
  1172.  
  1173. Target Matrix is of type CV_8UC4
  1174.  
  1175. Construction of Node with SURF Features
  1176.  
  1177. Flann knnsearch runtime: 0.0248322 s
  1178.  
  1179. Feature Matches between Nodes 1 ( 370 features) and 0 ( 360 features) in segment 1/1 (features 0 to 370 of first node): 283. Percentage: 76,486486%, Avg NN Ratio: 0,302246
  1180.  
  1181. count_matrix( 2, 1) = 283;
  1182.  
  1183. dista_matrix( 2, 1) = 0,136398;
  1184.  
  1185. Feature Matches between Nodes 1 ( 370 features) and 0 ( 360 features): 283
  1186.  
  1187. findPairsFlann runtime: 0.0253455 s
  1188.  
  1189. found 283 inital matches
  1190.  
  1191. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1192.  
  1193. getRelativeTransformationTo runtime: 0.0168555 s
  1194.  
  1195. RANSAC found no valid trafo, but had initially 283 feature matches with average ratio 0,136398
  1196.  
  1197. Node ID's to compare with candidate for node 1. Sequential:
  1198.  
  1199. Running node comparisons in parallel in 4 (of 6) available threads
  1200.  
  1201. Choosing new initial node, because it has more features
  1202.  
  1203. New Node with id 0 has address 0x7f7788763480 (GraphManager is 0x7fff6fd77560)
  1204.  
  1205. Ground Truth Transform for First Node: Translation 0 0 0
  1206.  
  1207. Ground Truth Transform for First Node: Rotation 0 0 0 1
  1208.  
  1209. Drawing 0 PointClouds
  1210.  
  1211. Built flannIndex (address 0x7f77802fb590) for Node 0
  1212.  
  1213. buildFlannIndex runtime: 0.0122327 s
  1214.  
  1215. Eigen Matrix:
  1216. 1 0 0 0
  1217. 0 1 0 0
  1218. 0 0 1 0
  1219. 0 0 0 1
  1220.  
  1221. QMatrix from conversion:
  1222.  
  1223. 1,000000 0,000000 0,000000 0,000000
  1224.  
  1225. 0,000000 1,000000 0,000000 0,000000
  1226.  
  1227. 0,000000 0,000000 1,000000 0,000000
  1228.  
  1229. 0,000000 0,000000 0,000000 1,000000
  1230.  
  1231. QMatrix Latest Transform:
  1232.  
  1233. 1,000000 0,000000 0,000000 0,000000
  1234.  
  1235. 0,000000 1,000000 0,000000 0,000000
  1236.  
  1237. 0,000000 0,000000 1,000000 0,000000
  1238.  
  1239. 0,000000 0,000000 0,000000 1,000000
  1240.  
  1241. GraphManager is thread 2128774912, New Node is at (0x7f7788763480, 0x7f7788763480)
  1242.  
  1243. Number of features to draw: 0
  1244.  
  1245. pc pointer in addPointCloud: 0x7f778804d550 (this is 0x7f778807ffe0 in thread -1843246496)
  1246.  
  1247. Making GL list from point-cloud pointer 0x7f778804d550 in thread -1843246496
  1248.  
  1249. Converting Matrix of type CV_8UC1 to RGBA
  1250.  
  1251. Target Matrix is of type CV_8UC4
  1252.  
  1253. processNode runtime: 0.064045 s
  1254.  
  1255. Compiled pointcloud into list 1
  1256.  
  1257. pointCloud2GLStrip runtime: 0.183032 s
  1258.  
  1259. Drawing 1 PointClouds
  1260.  
  1261. Feature Detection runtime: 0.30308 s
  1262.  
  1263. Feature 84 has been extracted at NaN depth. Omitting
  1264.  
  1265. Feature 144 has been extracted at NaN depth. Omitting
  1266.  
  1267. Feature 146 has been extracted at NaN depth. Omitting
  1268.  
  1269. Feature 195 has been extracted at NaN depth. Omitting
  1270.  
  1271. Feature 195 has been extracted at NaN depth. Omitting
  1272.  
  1273. Feature 220 has been extracted at NaN depth. Omitting
  1274.  
  1275. Feature 220 has been extracted at NaN depth. Omitting
  1276.  
  1277. Feature 273 has been extracted at NaN depth. Omitting
  1278.  
  1279. Feature 274 has been extracted at NaN depth. Omitting
  1280.  
  1281. Feature 300 has been extracted at NaN depth. Omitting
  1282.  
  1283. Feature 315 has been extracted at NaN depth. Omitting
  1284.  
  1285. Feature 348 has been extracted at NaN depth. Omitting
  1286.  
  1287. Feature Extraction runtime: 0.0402305 s
  1288.  
  1289. Feature Count of Node: 355
  1290.  
  1291. Node runtime: 0.343767 s
  1292.  
  1293. waiting time: 0sec
  1294.  
  1295. Processing Node in parallel to the construction of the next node
  1296.  
  1297. cameraCallback runtime: 0.34412 s
  1298.  
  1299. Found Message of /camera/depth/image_raw
  1300.  
  1301. New Node with id 1 has address 0x7f77880487f0 (GraphManager is 0x7fff6fd77560)
  1302.  
  1303. Graphsize: 1
  1304.  
  1305. Comparing new node (1) with previous node 0
  1306.  
  1307. Found Message of /tf
  1308.  
  1309. Found Message of /camera/rgb/camera_info
  1310.  
  1311. Found Message of /camera/rgb/image_mono
  1312.  
  1313. Found Message of /tf
  1314.  
  1315. Found Message of /tf
  1316.  
  1317. Received data from kinect
  1318.  
  1319. Depth image time: 1329476960 - 533723160
  1320.  
  1321. RGB image time: 1329476960 - 542398074
  1322.  
  1323. Converting Matrix of type CV_8UC1 to RGBA
  1324.  
  1325. Target Matrix is of type CV_8UC4
  1326.  
  1327. Converting Matrix of type CV_8UC1 to RGBA
  1328.  
  1329. Target Matrix is of type CV_8UC4
  1330.  
  1331. Flann knnsearch runtime: 0.0168984 s
  1332.  
  1333. Feature Matches between Nodes 1 ( 355 features) and 0 ( 370 features) in segment 1/1 (features 0 to 355 of first node): 290. Percentage: 81,690141%, Avg NN Ratio: 0,262659
  1334.  
  1335. count_matrix( 2, 1) = 290;
  1336.  
  1337. dista_matrix( 2, 1) = 0,137539;
  1338.  
  1339. Feature Matches between Nodes 1 ( 355 features) and 0 ( 370 features): 290
  1340.  
  1341. findPairsFlann runtime: 0.0171185 s
  1342.  
  1343. found 290 inital matches
  1344.  
  1345. noCloudCallback runtime: 0.0180617 s
  1346.  
  1347. Construction of Node with SURF Features
  1348.  
  1349. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1350.  
  1351. getRelativeTransformationTo runtime: 0.0136619 s
  1352.  
  1353. RANSAC found no valid trafo, but had initially 290 feature matches with average ratio 0,137539
  1354.  
  1355. Node ID's to compare with candidate for node 1. Sequential:
  1356.  
  1357. Running node comparisons in parallel in 4 (of 6) available threads
  1358.  
  1359. Choosing new initial node, because it has more features
  1360.  
  1361. addNode runtime: 0.031184 s
  1362.  
  1363. Converting Matrix of type CV_8UC1 to RGBA
  1364.  
  1365. Target Matrix is of type CV_8UC4
  1366.  
  1367. processNode runtime: 0.0377758 s
  1368.  
  1369. Feature Detection runtime: 0.291924 s
  1370.  
  1371. Feature Extraction runtime: 0.0529904 s
  1372.  
  1373. Feature Count of Node: 375
  1374.  
  1375. Node runtime: 0.345291 s
  1376.  
  1377. waiting time: 0sec
  1378.  
  1379. Processing Node in parallel to the construction of the next node
  1380.  
  1381. New Node with id 1 has address 0x7f7780319de0 (GraphManager is 0x7fff6fd77560)
  1382.  
  1383. Graphsize: 1
  1384.  
  1385. Comparing new node (1) with previous node 0
  1386.  
  1387. cameraCallback runtime: 0.352417 s
  1388.  
  1389. Found Message of /camera/depth/image_raw
  1390.  
  1391. Flann knnsearch runtime: 0.0120416 s
  1392.  
  1393. Feature Matches between Nodes 1 ( 375 features) and 0 ( 370 features) in segment 1/1 (features 0 to 375 of first node): 285. Percentage: 76,000000%, Avg NN Ratio: 0,307380
  1394.  
  1395. count_matrix( 2, 1) = 285;
  1396.  
  1397. Found Message of /camera/rgb/camera_info
  1398.  
  1399. dista_matrix( 2, 1) = 0,137166;
  1400.  
  1401. Feature Matches between Nodes 1 ( 375 features) and 0 ( 370 features): 285
  1402.  
  1403. findPairsFlann runtime: 0.0124427 s
  1404.  
  1405. Found Message of /tf
  1406.  
  1407. found 285 inital matches
  1408.  
  1409. Found Message of /camera/rgb/image_mono
  1410.  
  1411. Found Message of /tf
  1412.  
  1413. Found Message of /tf
  1414.  
  1415. Found Message of /tf
  1416.  
  1417. Found Message of /tf
  1418.  
  1419. Received data from kinect
  1420.  
  1421. Depth image time: 1329476960 - 565953455
  1422.  
  1423. RGB image time: 1329476960 - 574507248
  1424.  
  1425. Converting Matrix of type CV_8UC1 to RGBA
  1426.  
  1427. Target Matrix is of type CV_8UC4
  1428.  
  1429. Converting Matrix of type CV_8UC1 to RGBA
  1430.  
  1431. Target Matrix is of type CV_8UC4
  1432.  
  1433. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1434.  
  1435. getRelativeTransformationTo runtime: 0.016877 s
  1436.  
  1437. RANSAC found no valid trafo, but had initially 285 feature matches with average ratio 0,137166
  1438.  
  1439. Node ID's to compare with candidate for node 1. Sequential:
  1440.  
  1441. Running node comparisons in parallel in 4 (of 6) available threads
  1442.  
  1443. Choosing new initial node, because it has more features
  1444.  
  1445. createXYZRGBPointCloud runtime: 0.0103533 s
  1446.  
  1447. noCloudCallback runtime: 0.0180416 s
  1448.  
  1449. Construction of Node with SURF Features
  1450.  
  1451. New Node with id 0 has address 0x7f7780319de0 (GraphManager is 0x7fff6fd77560)
  1452.  
  1453. Ground Truth Transform for First Node: Translation 0 0 0
  1454.  
  1455. Ground Truth Transform for First Node: Rotation 0 0 0 1
  1456.  
  1457. Drawing 0 PointClouds
  1458.  
  1459. Built flannIndex (address 0x114ab10) for Node 0
  1460.  
  1461. Eigen Matrix:
  1462. 1 0 0 0
  1463. 0 1 0 0
  1464. 0 0 1 0
  1465. 0 0 0 1
  1466.  
  1467. QMatrix from conversion:
  1468.  
  1469. 1,000000 0,000000 0,000000 0,000000
  1470.  
  1471. 0,000000 1,000000 0,000000 0,000000
  1472.  
  1473. 0,000000 0,000000 1,000000 0,000000
  1474.  
  1475. 0,000000 0,000000 0,000000 1,000000
  1476.  
  1477. QMatrix Latest Transform:
  1478.  
  1479. 1,000000 0,000000 0,000000 0,000000
  1480.  
  1481. 0,000000 1,000000 0,000000 0,000000
  1482.  
  1483. 0,000000 0,000000 1,000000 0,000000
  1484.  
  1485. 0,000000 0,000000 0,000000 1,000000
  1486.  
  1487. GraphManager is thread 2128774912, New Node is at (0x7f7780319de0, 0x7f7780319de0)
  1488.  
  1489. Number of features to draw: 0
  1490.  
  1491. pc pointer in addPointCloud: 0x7f778029ebf0 (this is 0x7f778807ffe0 in thread -1843246496)
  1492.  
  1493. Making GL list from point-cloud pointer 0x7f778029ebf0 in thread -1843246496
  1494.  
  1495. Converting Matrix of type CV_8UC1 to RGBA
  1496.  
  1497. Target Matrix is of type CV_8UC4
  1498.  
  1499. processNode runtime: 0.046906 s
  1500.  
  1501. Compiled pointcloud into list 1
  1502.  
  1503. pointCloud2GLStrip runtime: 0.205067 s
  1504.  
  1505. Drawing 1 PointClouds
  1506.  
  1507. Feature Detection runtime: 0.343989 s
  1508.  
  1509. Feature Extraction runtime: 0.0498241 s
  1510.  
  1511. Feature Count of Node: 367
  1512.  
  1513. Node runtime: 0.394075 s
  1514.  
  1515. waiting time: 0sec
  1516.  
  1517. Processing Node in parallel to the construction of the next node
  1518.  
  1519. cameraCallback runtime: 0.394432 s
  1520.  
  1521. Found Message of /camera/depth/image_raw
  1522.  
  1523. New Node with id 1 has address 0x7f7780315b70 (GraphManager is 0x7fff6fd77560)
  1524.  
  1525. Graphsize: 1
  1526.  
  1527. Comparing new node (1) with previous node 0
  1528.  
  1529. Found Message of /camera/rgb/camera_info
  1530.  
  1531. Found Message of /camera/rgb/image_mono
  1532.  
  1533. Found Message of /tf
  1534.  
  1535. Received data from kinect
  1536.  
  1537. Depth image time: 1329476960 - 601452437
  1538.  
  1539. RGB image time: 1329476960 - 606556377
  1540.  
  1541. Converting Matrix of type CV_8UC1 to RGBA
  1542.  
  1543. Target Matrix is of type CV_8UC4
  1544.  
  1545. Converting Matrix of type CV_8UC1 to RGBA
  1546.  
  1547. Target Matrix is of type CV_8UC4
  1548.  
  1549. Flann knnsearch runtime: 0.0189749 s
  1550.  
  1551. Feature Matches between Nodes 1 ( 367 features) and 0 ( 375 features) in segment 1/1 (features 0 to 367 of first node): 295. Percentage: 80,381471%, Avg NN Ratio: 0,265510
  1552.  
  1553. count_matrix( 2, 1) = 295;
  1554.  
  1555. dista_matrix( 2, 1) = 0,124377;
  1556.  
  1557. Feature Matches between Nodes 1 ( 367 features) and 0 ( 375 features): 295
  1558.  
  1559. findPairsFlann runtime: 0.0192334 s
  1560.  
  1561. found 295 inital matches
  1562.  
  1563. createXYZRGBPointCloud runtime: 0.0106208 s
  1564.  
  1565. noCloudCallback runtime: 0.0191569 s
  1566.  
  1567. Construction of Node with SURF Features
  1568.  
  1569. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1570.  
  1571. getRelativeTransformationTo runtime: 0.0158943 s
  1572.  
  1573. RANSAC found no valid trafo, but had initially 295 feature matches with average ratio 0,124377
  1574.  
  1575. Node ID's to compare with candidate for node 1. Sequential:
  1576.  
  1577. Running node comparisons in parallel in 4 (of 6) available threads
  1578.  
  1579. Choosing new initial node, because it has more features
  1580.  
  1581. addNode runtime: 0.0364666 s
  1582.  
  1583. Converting Matrix of type CV_8UC1 to RGBA
  1584.  
  1585. Target Matrix is of type CV_8UC4
  1586.  
  1587. processNode runtime: 0.0437971 s
  1588.  
  1589. Feature Detection runtime: 0.302529 s
  1590.  
  1591. Feature 82 has been extracted at NaN depth. Omitting
  1592.  
  1593. Feature 93 has been extracted at NaN depth. Omitting
  1594.  
  1595. Feature 133 has been extracted at NaN depth. Omitting
  1596.  
  1597. Feature 136 has been extracted at NaN depth. Omitting
  1598.  
  1599. Feature 150 has been extracted at NaN depth. Omitting
  1600.  
  1601. Feature 154 has been extracted at NaN depth. Omitting
  1602.  
  1603. Feature 161 has been extracted at NaN depth. Omitting
  1604.  
  1605. Feature 162 has been extracted at NaN depth. Omitting
  1606.  
  1607. Feature 162 has been extracted at NaN depth. Omitting
  1608.  
  1609. Feature 191 has been extracted at NaN depth. Omitting
  1610.  
  1611. Feature 199 has been extracted at NaN depth. Omitting
  1612.  
  1613. Feature 229 has been extracted at NaN depth. Omitting
  1614.  
  1615. Feature 274 has been extracted at NaN depth. Omitting
  1616.  
  1617. Feature 282 has been extracted at NaN depth. Omitting
  1618.  
  1619. Feature 282 has been extracted at NaN depth. Omitting
  1620.  
  1621. Feature 282 has been extracted at NaN depth. Omitting
  1622.  
  1623. Feature 295 has been extracted at NaN depth. Omitting
  1624.  
  1625. Feature 301 has been extracted at NaN depth. Omitting
  1626.  
  1627. Feature 301 has been extracted at NaN depth. Omitting
  1628.  
  1629. Feature 312 has been extracted at NaN depth. Omitting
  1630.  
  1631. Feature 312 has been extracted at NaN depth. Omitting
  1632.  
  1633. Feature 328 has been extracted at NaN depth. Omitting
  1634.  
  1635. Feature 328 has been extracted at NaN depth. Omitting
  1636.  
  1637. Feature Extraction runtime: 0.0387536 s
  1638.  
  1639. Feature Count of Node: 346
  1640.  
  1641. Node runtime: 0.34216 s
  1642.  
  1643. waiting time: 0sec
  1644.  
  1645. Processing Node in parallel to the construction of the next node
  1646.  
  1647. cameraCallback runtime: 0.342506 s
  1648.  
  1649. Found Message of /camera/depth/image_raw
  1650.  
  1651. New Node with id 1 has address 0x12ba6f0 (GraphManager is 0x7fff6fd77560)
  1652.  
  1653. Graphsize: 1
  1654.  
  1655. Comparing new node (1) with previous node 0
  1656.  
  1657. Found Message of /tf
  1658.  
  1659. Found Message of /camera/rgb/camera_info
  1660.  
  1661. Found Message of /camera/rgb/image_mono
  1662.  
  1663. Found Message of /tf
  1664.  
  1665. Received data from kinect
  1666.  
  1667. Depth image time: 1329476960 - 633577733
  1668.  
  1669. RGB image time: 1329476960 - 642307502
  1670.  
  1671. Converting Matrix of type CV_8UC1 to RGBA
  1672.  
  1673. Target Matrix is of type CV_8UC4
  1674.  
  1675. Converting Matrix of type CV_8UC1 to RGBA
  1676.  
  1677. Target Matrix is of type CV_8UC4
  1678.  
  1679. Flann knnsearch runtime: 0.019845 s
  1680.  
  1681. Feature Matches between Nodes 1 ( 346 features) and 0 ( 375 features) in segment 1/1 (features 0 to 346 of first node): 270. Percentage: 78,034682%, Avg NN Ratio: 0,296061
  1682.  
  1683. count_matrix( 2, 1) = 270;
  1684.  
  1685. dista_matrix( 2, 1) = 0,146423;
  1686.  
  1687. Feature Matches between Nodes 1 ( 346 features) and 0 ( 375 features): 270
  1688.  
  1689. findPairsFlann runtime: 0.0207095 s
  1690.  
  1691. found 270 inital matches
  1692.  
  1693. createXYZRGBPointCloud runtime: 0.0178912 s
  1694.  
  1695. noCloudCallback runtime: 0.0255024 s
  1696.  
  1697. Construction of Node with SURF Features
  1698.  
  1699. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1700.  
  1701. getRelativeTransformationTo runtime: 0.0146648 s
  1702.  
  1703. RANSAC found no valid trafo, but had initially 270 feature matches with average ratio 0,146423
  1704.  
  1705. Node ID's to compare with candidate for node 1. Sequential:
  1706.  
  1707. Running node comparisons in parallel in 4 (of 6) available threads
  1708.  
  1709. Choosing new initial node, because it has more features
  1710.  
  1711. addNode runtime: 0.0369435 s
  1712.  
  1713. Converting Matrix of type CV_8UC1 to RGBA
  1714.  
  1715. Target Matrix is of type CV_8UC4
  1716.  
  1717. processNode runtime: 0.0432702 s
  1718.  
  1719. Feature Detection runtime: 0.298494 s
  1720.  
  1721. Feature Extraction runtime: 0.0416366 s
  1722.  
  1723. Feature Count of Node: 367
  1724.  
  1725. Node runtime: 0.340438 s
  1726.  
  1727. waiting time: 0sec
  1728.  
  1729. Processing Node in parallel to the construction of the next node
  1730.  
  1731. New Node with id 1 has address 0x7f778803c7d0 (GraphManager is 0x7fff6fd77560)
  1732.  
  1733. Graphsize: 1
  1734.  
  1735. Comparing new node (1) with previous node 0
  1736.  
  1737. cameraCallback runtime: 0.347644 s
  1738.  
  1739. Found Message of /camera/depth/image_raw
  1740.  
  1741. Found Message of /camera/rgb/camera_info
  1742.  
  1743. Found Message of /tf
  1744.  
  1745. Found Message of /camera/rgb/image_mono
  1746.  
  1747. Found Message of /tf
  1748.  
  1749. Found Message of /tf
  1750.  
  1751. Found Message of /tf
  1752.  
  1753. Found Message of /tf
  1754.  
  1755. Received data from kinect
  1756.  
  1757. Depth image time: 1329476960 - 665856758
  1758.  
  1759. RGB image time: 1329476960 - 674512347
  1760.  
  1761. Converting Matrix of type CV_8UC1 to RGBA
  1762.  
  1763. Target Matrix is of type CV_8UC4
  1764.  
  1765. Flann knnsearch runtime: 0.0155241 s
  1766.  
  1767. Feature Matches between Nodes 1 ( 367 features) and 0 ( 375 features) in segment 1/1 (features 0 to 367 of first node): 297. Percentage: 80,926431%, Avg NN Ratio: 0,273276
  1768.  
  1769. count_matrix( 2, 1) = 297;
  1770.  
  1771. dista_matrix( 2, 1) = 0,140314;
  1772.  
  1773. Feature Matches between Nodes 1 ( 367 features) and 0 ( 375 features): 297
  1774.  
  1775. findPairsFlann runtime: 0.0157953 s
  1776.  
  1777. found 297 inital matches
  1778.  
  1779. Converting Matrix of type CV_8UC1 to RGBA
  1780.  
  1781. Target Matrix is of type CV_8UC4
  1782.  
  1783. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1784.  
  1785. getRelativeTransformationTo runtime: 0.0112694 s
  1786.  
  1787. RANSAC found no valid trafo, but had initially 297 feature matches with average ratio 0,140314
  1788.  
  1789. Node ID's to compare with candidate for node 1. Sequential:
  1790.  
  1791. Running node comparisons in parallel in 4 (of 6) available threads
  1792.  
  1793. Choosing new initial node, because it has more features
  1794.  
  1795. addNode runtime: 0.0273517 s
  1796.  
  1797. Converting Matrix of type CV_8UC1 to RGBA
  1798.  
  1799. Target Matrix is of type CV_8UC4
  1800.  
  1801. processNode runtime: 0.0313633 s
  1802.  
  1803. createXYZRGBPointCloud runtime: 0.0367656 s
  1804.  
  1805. noCloudCallback runtime: 0.043794 s
  1806.  
  1807. Construction of Node with SURF Features
  1808.  
  1809. Feature Detection runtime: 0.287524 s
  1810.  
  1811. Feature Extraction runtime: 0.0404087 s
  1812.  
  1813. Feature Count of Node: 354
  1814.  
  1815. Node runtime: 0.328189 s
  1816.  
  1817. waiting time: 0sec
  1818.  
  1819. Processing Node in parallel to the construction of the next node
  1820.  
  1821. cameraCallback runtime: 0.328486 s
  1822.  
  1823. New Node with id 1 has address 0x7f778803c750 (GraphManager is 0x7fff6fd77560)
  1824.  
  1825. Graphsize: 1
  1826.  
  1827. Comparing new node (1) with previous node 0
  1828.  
  1829. Found Message of /camera/depth/image_raw
  1830.  
  1831. Found Message of /camera/rgb/camera_info
  1832.  
  1833. Found Message of /camera/rgb/image_mono
  1834.  
  1835. Found Message of /tf
  1836.  
  1837. Found Message of /tf
  1838.  
  1839. Received data from kinect
  1840.  
  1841. Depth image time: 1329476960 - 701934884
  1842.  
  1843. RGB image time: 1329476960 - 706558845
  1844.  
  1845. Converting Matrix of type CV_8UC1 to RGBA
  1846.  
  1847. Target Matrix is of type CV_8UC4
  1848.  
  1849. Converting Matrix of type CV_8UC1 to RGBA
  1850.  
  1851. Target Matrix is of type CV_8UC4
  1852.  
  1853. Flann knnsearch runtime: 0.0173697 s
  1854.  
  1855. Feature Matches between Nodes 1 ( 354 features) and 0 ( 375 features) in segment 1/1 (features 0 to 354 of first node): 275. Percentage: 77,683616%, Avg NN Ratio: 0,295708
  1856.  
  1857. count_matrix( 2, 1) = 275;
  1858.  
  1859. dista_matrix( 2, 1) = 0,144222;
  1860.  
  1861. Feature Matches between Nodes 1 ( 354 features) and 0 ( 375 features): 275
  1862.  
  1863. findPairsFlann runtime: 0.0176296 s
  1864.  
  1865. found 275 inital matches
  1866.  
  1867. createXYZRGBPointCloud runtime: 0.0100739 s
  1868.  
  1869. noCloudCallback runtime: 0.0165695 s
  1870.  
  1871. Construction of Node with SURF Features
  1872.  
  1873. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  1874.  
  1875. getRelativeTransformationTo runtime: 0.0175663 s
  1876.  
  1877. RANSAC found no valid trafo, but had initially 275 feature matches with average ratio 0,144222
  1878.  
  1879. Node ID's to compare with candidate for node 1. Sequential:
  1880.  
  1881. Running node comparisons in parallel in 4 (of 6) available threads
  1882.  
  1883. Choosing new initial node, because it has more features
  1884.  
  1885. addNode runtime: 0.0355446 s
  1886.  
  1887. Converting Matrix of type CV_8UC1 to RGBA
  1888.  
  1889. Target Matrix is of type CV_8UC4
  1890.  
  1891. processNode runtime: 0.0414716 s
  1892.  
  1893. Feature Detection runtime: 0.283167 s
  1894.  
  1895. Feature 89 has been extracted at NaN depth. Omitting
  1896.  
  1897. Feature 89 has been extracted at NaN depth. Omitting
  1898.  
  1899. Feature 149 has been extracted at NaN depth. Omitting
  1900.  
  1901. Feature 149 has been extracted at NaN depth. Omitting
  1902.  
  1903. Feature 150 has been extracted at NaN depth. Omitting
  1904.  
  1905. Feature 150 has been extracted at NaN depth. Omitting
  1906.  
  1907. Feature 196 has been extracted at NaN depth. Omitting
  1908.  
  1909. Feature 197 has been extracted at NaN depth. Omitting
  1910.  
  1911. Feature 199 has been extracted at NaN depth. Omitting
  1912.  
  1913. Feature 218 has been extracted at NaN depth. Omitting
  1914.  
  1915. Feature 221 has been extracted at NaN depth. Omitting
  1916.  
  1917. Feature 221 has been extracted at NaN depth. Omitting
  1918.  
  1919. Feature 272 has been extracted at NaN depth. Omitting
  1920.  
  1921. Feature 272 has been extracted at NaN depth. Omitting
  1922.  
  1923. Feature 276 has been extracted at NaN depth. Omitting
  1924.  
  1925. Feature 276 has been extracted at NaN depth. Omitting
  1926.  
  1927. Feature 297 has been extracted at NaN depth. Omitting
  1928.  
  1929. Feature 311 has been extracted at NaN depth. Omitting
  1930.  
  1931. Feature 311 has been extracted at NaN depth. Omitting
  1932.  
  1933. Feature 318 has been extracted at NaN depth. Omitting
  1934.  
  1935. Feature 329 has been extracted at NaN depth. Omitting
  1936.  
  1937. Feature 329 has been extracted at NaN depth. Omitting
  1938.  
  1939. Feature 330 has been extracted at NaN depth. Omitting
  1940.  
  1941. Feature 335 has been extracted at NaN depth. Omitting
  1942.  
  1943. Feature 340 has been extracted at NaN depth. Omitting
  1944.  
  1945. Feature Extraction runtime: 0.0372367 s
  1946.  
  1947. Feature Count of Node: 341
  1948.  
  1949. Node runtime: 0.321219 s
  1950.  
  1951. waiting time: 0sec
  1952.  
  1953. Processing Node in parallel to the construction of the next node
  1954.  
  1955. cameraCallback runtime: 0.321526 s
  1956.  
  1957. New Node with id 1 has address 0x7f778804cfe0 (GraphManager is 0x7fff6fd77560)
  1958.  
  1959. Graphsize: 1
  1960.  
  1961. Comparing new node (1) with previous node 0
  1962.  
  1963. Found Message of /camera/depth/image_raw
  1964.  
  1965. Found Message of /camera/rgb/camera_info
  1966.  
  1967. Found Message of /camera/rgb/image_mono
  1968.  
  1969. Found Message of /tf
  1970.  
  1971. Found Message of /tf
  1972.  
  1973. Received data from kinect
  1974.  
  1975. Depth image time: 1329476960 - 733790649
  1976.  
  1977. RGB image time: 1329476960 - 742470704
  1978.  
  1979. Converting Matrix of type CV_8UC1 to RGBA
  1980.  
  1981. Target Matrix is of type CV_8UC4
  1982.  
  1983. Converting Matrix of type CV_8UC1 to RGBA
  1984.  
  1985. Target Matrix is of type CV_8UC4
  1986.  
  1987. noCloudCallback runtime: 0.0155351 s
  1988.  
  1989. Construction of Node with SURF Features
  1990.  
  1991. Flann knnsearch runtime: 0.0227506 s
  1992.  
  1993. Feature Matches between Nodes 1 ( 341 features) and 0 ( 375 features) in segment 1/1 (features 0 to 341 of first node): 259. Percentage: 75,953079%, Avg NN Ratio: 0,310095
  1994.  
  1995. count_matrix( 2, 1) = 259;
  1996.  
  1997. dista_matrix( 2, 1) = 0,149867;
  1998.  
  1999. Feature Matches between Nodes 1 ( 341 features) and 0 ( 375 features): 259
  2000.  
  2001. findPairsFlann runtime: 0.0229672 s
  2002.  
  2003. found 259 inital matches
  2004.  
  2005. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2006.  
  2007. getRelativeTransformationTo runtime: 0.0120261 s
  2008.  
  2009. RANSAC found no valid trafo, but had initially 259 feature matches with average ratio 0,149867
  2010.  
  2011. Node ID's to compare with candidate for node 1. Sequential:
  2012.  
  2013. Running node comparisons in parallel in 4 (of 6) available threads
  2014.  
  2015. Choosing new initial node, because it has more features
  2016.  
  2017. addNode runtime: 0.0353735 s
  2018.  
  2019. Converting Matrix of type CV_8UC1 to RGBA
  2020.  
  2021. Target Matrix is of type CV_8UC4
  2022.  
  2023. processNode runtime: 0.0425817 s
  2024.  
  2025. Feature Detection runtime: 0.301254 s
  2026.  
  2027. Feature Extraction runtime: 0.0404171 s
  2028.  
  2029. Feature Count of Node: 367
  2030.  
  2031. Node runtime: 0.341906 s
  2032.  
  2033. waiting time: 0sec
  2034.  
  2035. Processing Node in parallel to the construction of the next node
  2036.  
  2037. cameraCallback runtime: 0.342633 s
  2038.  
  2039. New Node with id 1 has address 0x7f7780311ba0 (GraphManager is 0x7fff6fd77560)
  2040.  
  2041. Graphsize: 1
  2042.  
  2043. Comparing new node (1) with previous node 0
  2044.  
  2045. Found Message of /camera/depth/image_raw
  2046.  
  2047. Found Message of /camera/rgb/camera_info
  2048.  
  2049. Found Message of /tf
  2050.  
  2051. Found Message of /tf
  2052.  
  2053. Found Message of /camera/rgb/image_mono
  2054.  
  2055. Found Message of /tf
  2056.  
  2057. Found Message of /tf
  2058.  
  2059. Found Message of /tf
  2060.  
  2061. Found Message of /tf
  2062.  
  2063. Received data from kinect
  2064.  
  2065. Depth image time: 1329476960 - 765745117
  2066.  
  2067. RGB image time: 1329476960 - 774477200
  2068.  
  2069. Converting Matrix of type CV_8UC1 to RGBA
  2070.  
  2071. Target Matrix is of type CV_8UC4
  2072.  
  2073. Converting Matrix of type CV_8UC1 to RGBA
  2074.  
  2075. Target Matrix is of type CV_8UC4
  2076.  
  2077. Flann knnsearch runtime: 0.0183944 s
  2078.  
  2079. Feature Matches between Nodes 1 ( 367 features) and 0 ( 375 features) in segment 1/1 (features 0 to 367 of first node): 269. Percentage: 73,297003%, Avg NN Ratio: 0,326108
  2080.  
  2081. count_matrix( 2, 1) = 269;
  2082.  
  2083. dista_matrix( 2, 1) = 0,136683;
  2084.  
  2085. Feature Matches between Nodes 1 ( 367 features) and 0 ( 375 features): 269
  2086.  
  2087. findPairsFlann runtime: 0.0190256 s
  2088.  
  2089. found 269 inital matches
  2090.  
  2091. noCloudCallback runtime: 0.0158473 s
  2092.  
  2093. Construction of Node with SURF Features
  2094.  
  2095. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2096.  
  2097. getRelativeTransformationTo runtime: 0.0129423 s
  2098.  
  2099. RANSAC found no valid trafo, but had initially 269 feature matches with average ratio 0,136683
  2100.  
  2101. Node ID's to compare with candidate for node 1. Sequential:
  2102.  
  2103. Running node comparisons in parallel in 4 (of 6) available threads
  2104.  
  2105. Choosing new initial node, because it has more features
  2106.  
  2107. addNode runtime: 0.0326415 s
  2108.  
  2109. Converting Matrix of type CV_8UC1 to RGBA
  2110.  
  2111. Target Matrix is of type CV_8UC4
  2112.  
  2113. processNode runtime: 0.0385787 s
  2114.  
  2115. Feature Detection runtime: 0.290155 s
  2116.  
  2117. Feature Extraction runtime: 0.0397227 s
  2118.  
  2119. Feature Count of Node: 359
  2120.  
  2121. Node runtime: 0.330143 s
  2122.  
  2123. waiting time: 0sec
  2124.  
  2125. Processing Node in parallel to the construction of the next node
  2126.  
  2127. cameraCallback runtime: 0.33046 s
  2128.  
  2129. Found Message of /camera/depth/image_raw
  2130.  
  2131. New Node with id 1 has address 0x7f7780312b10 (GraphManager is 0x7fff6fd77560)
  2132.  
  2133. Graphsize: 1
  2134.  
  2135. Comparing new node (1) with previous node 0
  2136.  
  2137. Found Message of /camera/rgb/camera_info
  2138.  
  2139. Found Message of /camera/rgb/image_mono
  2140.  
  2141. Found Message of /tf
  2142.  
  2143. Received data from kinect
  2144.  
  2145. Depth image time: 1329476960 - 801538724
  2146.  
  2147. RGB image time: 1329476960 - 806565413
  2148.  
  2149. Converting Matrix of type CV_8UC1 to RGBA
  2150.  
  2151. Target Matrix is of type CV_8UC4
  2152.  
  2153. Converting Matrix of type CV_8UC1 to RGBA
  2154.  
  2155. Target Matrix is of type CV_8UC4
  2156.  
  2157. Flann knnsearch runtime: 0.0178028 s
  2158.  
  2159. Feature Matches between Nodes 1 ( 359 features) and 0 ( 375 features) in segment 1/1 (features 0 to 359 of first node): 269. Percentage: 74,930362%, Avg NN Ratio: 0,329025
  2160.  
  2161. count_matrix( 2, 1) = 269;
  2162.  
  2163. dista_matrix( 2, 1) = 0,160341;
  2164.  
  2165. Feature Matches between Nodes 1 ( 359 features) and 0 ( 375 features): 269
  2166.  
  2167. findPairsFlann runtime: 0.0180328 s
  2168.  
  2169. found 269 inital matches
  2170.  
  2171. noCloudCallback runtime: 0.0163841 s
  2172.  
  2173. Construction of Node with SURF Features
  2174.  
  2175. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2176.  
  2177. getRelativeTransformationTo runtime: 0.0138435 s
  2178.  
  2179. RANSAC found no valid trafo, but had initially 269 feature matches with average ratio 0,160341
  2180.  
  2181. Node ID's to compare with candidate for node 1. Sequential:
  2182.  
  2183. Running node comparisons in parallel in 4 (of 6) available threads
  2184.  
  2185. Choosing new initial node, because it has more features
  2186.  
  2187. addNode runtime: 0.0324568 s
  2188.  
  2189. Converting Matrix of type CV_8UC1 to RGBA
  2190.  
  2191. Target Matrix is of type CV_8UC4
  2192.  
  2193. processNode runtime: 0.0427976 s
  2194.  
  2195. Feature Detection runtime: 0.294502 s
  2196.  
  2197. Feature 60 has been extracted at NaN depth. Omitting
  2198.  
  2199. Feature 60 has been extracted at NaN depth. Omitting
  2200.  
  2201. Feature 60 has been extracted at NaN depth. Omitting
  2202.  
  2203. Feature 60 has been extracted at NaN depth. Omitting
  2204.  
  2205. Feature 61 has been extracted at NaN depth. Omitting
  2206.  
  2207. Feature 61 has been extracted at NaN depth. Omitting
  2208.  
  2209. Feature 61 has been extracted at NaN depth. Omitting
  2210.  
  2211. Feature 62 has been extracted at NaN depth. Omitting
  2212.  
  2213. Feature 65 has been extracted at NaN depth. Omitting
  2214.  
  2215. Feature 65 has been extracted at NaN depth. Omitting
  2216.  
  2217. Feature 65 has been extracted at NaN depth. Omitting
  2218.  
  2219. Feature 65 has been extracted at NaN depth. Omitting
  2220.  
  2221. Feature 66 has been extracted at NaN depth. Omitting
  2222.  
  2223. Feature 66 has been extracted at NaN depth. Omitting
  2224.  
  2225. Feature 66 has been extracted at NaN depth. Omitting
  2226.  
  2227. Feature 67 has been extracted at NaN depth. Omitting
  2228.  
  2229. Feature 67 has been extracted at NaN depth. Omitting
  2230.  
  2231. Feature 67 has been extracted at NaN depth. Omitting
  2232.  
  2233. Feature 67 has been extracted at NaN depth. Omitting
  2234.  
  2235. Feature 68 has been extracted at NaN depth. Omitting
  2236.  
  2237. Feature 68 has been extracted at NaN depth. Omitting
  2238.  
  2239. Feature 68 has been extracted at NaN depth. Omitting
  2240.  
  2241. Feature 68 has been extracted at NaN depth. Omitting
  2242.  
  2243. Feature 69 has been extracted at NaN depth. Omitting
  2244.  
  2245. Feature 105 has been extracted at NaN depth. Omitting
  2246.  
  2247. Feature 105 has been extracted at NaN depth. Omitting
  2248.  
  2249. Feature 106 has been extracted at NaN depth. Omitting
  2250.  
  2251. Feature 106 has been extracted at NaN depth. Omitting
  2252.  
  2253. Feature 107 has been extracted at NaN depth. Omitting
  2254.  
  2255. Feature 107 has been extracted at NaN depth. Omitting
  2256.  
  2257. Feature 110 has been extracted at NaN depth. Omitting
  2258.  
  2259. Feature 111 has been extracted at NaN depth. Omitting
  2260.  
  2261. Feature 111 has been extracted at NaN depth. Omitting
  2262.  
  2263. Feature 111 has been extracted at NaN depth. Omitting
  2264.  
  2265. Feature 111 has been extracted at NaN depth. Omitting
  2266.  
  2267. Feature 111 has been extracted at NaN depth. Omitting
  2268.  
  2269. Feature 114 has been extracted at NaN depth. Omitting
  2270.  
  2271. Feature 114 has been extracted at NaN depth. Omitting
  2272.  
  2273. Feature 114 has been extracted at NaN depth. Omitting
  2274.  
  2275. Feature 114 has been extracted at NaN depth. Omitting
  2276.  
  2277. Feature 114 has been extracted at NaN depth. Omitting
  2278.  
  2279. Feature 114 has been extracted at NaN depth. Omitting
  2280.  
  2281. Feature 116 has been extracted at NaN depth. Omitting
  2282.  
  2283. Feature 117 has been extracted at NaN depth. Omitting
  2284.  
  2285. Feature 117 has been extracted at NaN depth. Omitting
  2286.  
  2287. Feature 117 has been extracted at NaN depth. Omitting
  2288.  
  2289. Feature 117 has been extracted at NaN depth. Omitting
  2290.  
  2291. Feature 144 has been extracted at NaN depth. Omitting
  2292.  
  2293. Feature 144 has been extracted at NaN depth. Omitting
  2294.  
  2295. Feature 144 has been extracted at NaN depth. Omitting
  2296.  
  2297. Feature 145 has been extracted at NaN depth. Omitting
  2298.  
  2299. Feature 145 has been extracted at NaN depth. Omitting
  2300.  
  2301. Feature 145 has been extracted at NaN depth. Omitting
  2302.  
  2303. Feature 145 has been extracted at NaN depth. Omitting
  2304.  
  2305. Feature 146 has been extracted at NaN depth. Omitting
  2306.  
  2307. Feature 146 has been extracted at NaN depth. Omitting
  2308.  
  2309. Feature 146 has been extracted at NaN depth. Omitting
  2310.  
  2311. Feature 146 has been extracted at NaN depth. Omitting
  2312.  
  2313. Feature 146 has been extracted at NaN depth. Omitting
  2314.  
  2315. Feature 147 has been extracted at NaN depth. Omitting
  2316.  
  2317. Feature 147 has been extracted at NaN depth. Omitting
  2318.  
  2319. Feature 147 has been extracted at NaN depth. Omitting
  2320.  
  2321. Feature 148 has been extracted at NaN depth. Omitting
  2322.  
  2323. Feature 162 has been extracted at NaN depth. Omitting
  2324.  
  2325. Feature 162 has been extracted at NaN depth. Omitting
  2326.  
  2327. Feature 164 has been extracted at NaN depth. Omitting
  2328.  
  2329. Feature 165 has been extracted at NaN depth. Omitting
  2330.  
  2331. Feature 165 has been extracted at NaN depth. Omitting
  2332.  
  2333. Feature 165 has been extracted at NaN depth. Omitting
  2334.  
  2335. Feature 165 has been extracted at NaN depth. Omitting
  2336.  
  2337. Feature 194 has been extracted at NaN depth. Omitting
  2338.  
  2339. Feature 194 has been extracted at NaN depth. Omitting
  2340.  
  2341. Feature 194 has been extracted at NaN depth. Omitting
  2342.  
  2343. Feature 194 has been extracted at NaN depth. Omitting
  2344.  
  2345. Feature 194 has been extracted at NaN depth. Omitting
  2346.  
  2347. Feature 196 has been extracted at NaN depth. Omitting
  2348.  
  2349. Feature 196 has been extracted at NaN depth. Omitting
  2350.  
  2351. Feature 196 has been extracted at NaN depth. Omitting
  2352.  
  2353. Feature 196 has been extracted at NaN depth. Omitting
  2354.  
  2355. Feature 197 has been extracted at NaN depth. Omitting
  2356.  
  2357. Feature 197 has been extracted at NaN depth. Omitting
  2358.  
  2359. Feature 197 has been extracted at NaN depth. Omitting
  2360.  
  2361. Feature 197 has been extracted at NaN depth. Omitting
  2362.  
  2363. Feature 197 has been extracted at NaN depth. Omitting
  2364.  
  2365. Feature 197 has been extracted at NaN depth. Omitting
  2366.  
  2367. Feature 197 has been extracted at NaN depth. Omitting
  2368.  
  2369. Feature 198 has been extracted at NaN depth. Omitting
  2370.  
  2371. Feature 198 has been extracted at NaN depth. Omitting
  2372.  
  2373. Feature 198 has been extracted at NaN depth. Omitting
  2374.  
  2375. Feature 198 has been extracted at NaN depth. Omitting
  2376.  
  2377. Feature 200 has been extracted at NaN depth. Omitting
  2378.  
  2379. Feature 200 has been extracted at NaN depth. Omitting
  2380.  
  2381. Feature 210 has been extracted at NaN depth. Omitting
  2382.  
  2383. Feature 211 has been extracted at NaN depth. Omitting
  2384.  
  2385. Feature 211 has been extracted at NaN depth. Omitting
  2386.  
  2387. Feature 211 has been extracted at NaN depth. Omitting
  2388.  
  2389. Feature 211 has been extracted at NaN depth. Omitting
  2390.  
  2391. Feature 211 has been extracted at NaN depth. Omitting
  2392.  
  2393. Feature 211 has been extracted at NaN depth. Omitting
  2394.  
  2395. Feature 211 has been extracted at NaN depth. Omitting
  2396.  
  2397. Feature 211 has been extracted at NaN depth. Omitting
  2398.  
  2399. Feature 211 has been extracted at NaN depth. Omitting
  2400.  
  2401. Feature 221 has been extracted at NaN depth. Omitting
  2402.  
  2403. Feature 223 has been extracted at NaN depth. Omitting
  2404.  
  2405. Feature 223 has been extracted at NaN depth. Omitting
  2406.  
  2407. Feature 224 has been extracted at NaN depth. Omitting
  2408.  
  2409. Feature 224 has been extracted at NaN depth. Omitting
  2410.  
  2411. Feature 228 has been extracted at NaN depth. Omitting
  2412.  
  2413. Feature 228 has been extracted at NaN depth. Omitting
  2414.  
  2415. Feature 234 has been extracted at NaN depth. Omitting
  2416.  
  2417. Feature 236 has been extracted at NaN depth. Omitting
  2418.  
  2419. Feature 236 has been extracted at NaN depth. Omitting
  2420.  
  2421. Feature 236 has been extracted at NaN depth. Omitting
  2422.  
  2423. Feature 236 has been extracted at NaN depth. Omitting
  2424.  
  2425. Feature 236 has been extracted at NaN depth. Omitting
  2426.  
  2427. Feature 236 has been extracted at NaN depth. Omitting
  2428.  
  2429. Feature 240 has been extracted at NaN depth. Omitting
  2430.  
  2431. Feature Extraction runtime: 0.0282975 s
  2432.  
  2433. Feature Count of Node: 246
  2434.  
  2435. Node runtime: 0.325443 s
  2436.  
  2437. waiting time: 0sec
  2438.  
  2439. Processing Node in parallel to the construction of the next node
  2440.  
  2441. cameraCallback runtime: 0.325997 s
  2442.  
  2443. Found Message of /camera/depth/image_raw
  2444.  
  2445. New Node with id 1 has address 0x7f7788751a00 (GraphManager is 0x7fff6fd77560)
  2446.  
  2447. Graphsize: 1
  2448.  
  2449. Comparing new node (1) with previous node 0
  2450.  
  2451. Found Message of /tf
  2452.  
  2453. Found Message of /camera/rgb/camera_info
  2454.  
  2455. Found Message of /camera/rgb/image_mono
  2456.  
  2457. Found Message of /tf
  2458.  
  2459. Found Message of /tf
  2460.  
  2461. Received data from kinect
  2462.  
  2463. Depth image time: 1329476960 - 833653265
  2464.  
  2465. RGB image time: 1329476960 - 842451533
  2466.  
  2467. Converting Matrix of type CV_8UC1 to RGBA
  2468.  
  2469. Target Matrix is of type CV_8UC4
  2470.  
  2471. Converting Matrix of type CV_8UC1 to RGBA
  2472.  
  2473. Target Matrix is of type CV_8UC4
  2474.  
  2475. Flann knnsearch runtime: 0.0145448 s
  2476.  
  2477. Feature Matches between Nodes 1 ( 246 features) and 0 ( 375 features) in segment 1/1 (features 0 to 246 of first node): 177. Percentage: 71,951220%, Avg NN Ratio: 0,353373
  2478.  
  2479. count_matrix( 2, 1) = 177;
  2480.  
  2481. dista_matrix( 2, 1) = 0,164680;
  2482.  
  2483. Feature Matches between Nodes 1 ( 246 features) and 0 ( 375 features): 177
  2484.  
  2485. findPairsFlann runtime: 0.0150375 s
  2486.  
  2487. found 177 inital matches
  2488.  
  2489. createXYZRGBPointCloud runtime: 0.0142977 s
  2490.  
  2491. noCloudCallback runtime: 0.0211416 s
  2492.  
  2493. Construction of Node with SURF Features
  2494.  
  2495. Sum of Covariances not invertible:
  2496. -nan -nan -nan
  2497. -nan -nan -nan
  2498. -nan -nan -nan
  2499.  
  2500. mu_1, mu_2, (all in frame 2):
  2501. -1.89478e-19
  2502. -1.57567e-19
  2503. 5.24084e-19
  2504. -1.83298e-16
  2505. -1.31372e-16
  2506. 5.4522e-16
  2507. delta_mu_1, delta_mu_2,
  2508. -nan
  2509. -nan
  2510. -nan
  2511. -nan
  2512. -nan
  2513. -nan
  2514. x_ml
  2515. -nan
  2516. -nan
  2517. -nan
  2518.  
  2519. Covariance of mu_1:
  2520. 0 0 0
  2521. 0 0 0
  2522. 0 0 0
  2523.  
  2524. Covariance of mu_2:
  2525. 5.45611e-21 0 0
  2526. 0 5.83888e-21 0
  2527. 0 0 4.9706e-66
  2528.  
  2529. Covariance of mu_1 in frame 2:
  2530. 0 0 0
  2531. 0 0 0
  2532. 0 0 0
  2533.  
  2534. Inverse Covariance of mu_1:
  2535. -nan -nan -nan
  2536. -nan -nan -nan
  2537. -nan -nan -nan
  2538.  
  2539. Inverse Covariance of mu_2:
  2540. 1.83281e+20 0 0
  2541. 0 1.71266e+20 0
  2542. 0 0 2.01183e+65
  2543.  
  2544. Inverse Covariance of mu_1 in frame 2:
  2545. -nan -nan -nan
  2546. -nan -nan -nan
  2547. -nan -nan -nan
  2548.  
  2549. Sum of Covariances not invertible:
  2550. -nan -nan -nan
  2551. -nan -nan -nan
  2552. -nan -nan -nan
  2553.  
  2554. mu_1, mu_2, (all in frame 2):
  2555. -1.89478e-19
  2556. -1.57567e-19
  2557. 5.24084e-19
  2558. -4.18444e-17
  2559. -3.15332e-17
  2560. 1.25893e-16
  2561. delta_mu_1, delta_mu_2,
  2562. -nan
  2563. -nan
  2564. -nan
  2565. -nan
  2566. -nan
  2567. -nan
  2568. x_ml
  2569. -nan
  2570. -nan
  2571. -nan
  2572.  
  2573. Covariance of mu_1:
  2574. 0 0 0
  2575. 0 0 0
  2576. 0 0 0
  2577.  
  2578. Covariance of mu_2:
  2579. 1.25983e-21 0 0
  2580. 0 1.34822e-21 0
  2581. 0 0 1.41296e-68
  2582.  
  2583. Covariance of mu_1 in frame 2:
  2584. 0 0 0
  2585. 0 0 0
  2586. 0 0 0
  2587.  
  2588. Inverse Covariance of mu_1:
  2589. -nan -nan -nan
  2590. -nan -nan -nan
  2591. -nan -nan -nan
  2592.  
  2593. Inverse Covariance of mu_2:
  2594. 7.93756e+20 0 0
  2595. 0 7.4172e+20 0
  2596. 0 0 7.07735e+67
  2597.  
  2598. Inverse Covariance of mu_1 in frame 2:
  2599. -nan -nan -nan
  2600. -nan -nan -nan
  2601. -nan -nan -nan
  2602.  
  2603. Transformation from and for 3 samples results in an error of 1000000000,000000 and 0 inliers.
  2604.  
  2605. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2606.  
  2607. getRelativeTransformationTo runtime: 0.0156448 s
  2608.  
  2609. RANSAC found no valid trafo, but had initially 177 feature matches with average ratio 0,164680
  2610.  
  2611. Node ID's to compare with candidate for node 1. Sequential:
  2612.  
  2613. Running node comparisons in parallel in 4 (of 6) available threads
  2614.  
  2615. Choosing new initial node, because it has more features
  2616.  
  2617. addNode runtime: 0.031367 s
  2618.  
  2619. Converting Matrix of type CV_8UC1 to RGBA
  2620.  
  2621. Target Matrix is of type CV_8UC4
  2622.  
  2623. processNode runtime: 0.0384221 s
  2624.  
  2625. Feature Detection runtime: 0.291177 s
  2626.  
  2627. Feature Extraction runtime: 0.0409136 s
  2628.  
  2629. Feature Count of Node: 362
  2630.  
  2631. Node runtime: 0.332363 s
  2632.  
  2633. waiting time: 0sec
  2634.  
  2635. Processing Node in parallel to the construction of the next node
  2636.  
  2637. cameraCallback runtime: 0.332683 s
  2638.  
  2639. Found Message of /camera/depth/image_raw
  2640.  
  2641. New Node with id 1 has address 0x12cb4c0 (GraphManager is 0x7fff6fd77560)
  2642.  
  2643. Graphsize: 1
  2644.  
  2645. Comparing new node (1) with previous node 0
  2646.  
  2647. Found Message of /camera/rgb/camera_info
  2648.  
  2649. Found Message of /tf
  2650.  
  2651. Found Message of /camera/rgb/image_mono
  2652.  
  2653. Found Message of /tf
  2654.  
  2655. Found Message of /tf
  2656.  
  2657. Found Message of /tf
  2658.  
  2659. Found Message of /tf
  2660.  
  2661. Received data from kinect
  2662.  
  2663. Depth image time: 1329476960 - 865945734
  2664.  
  2665. RGB image time: 1329476960 - 874514332
  2666.  
  2667. Converting Matrix of type CV_8UC1 to RGBA
  2668.  
  2669. Target Matrix is of type CV_8UC4
  2670.  
  2671. Converting Matrix of type CV_8UC1 to RGBA
  2672.  
  2673. Target Matrix is of type CV_8UC4
  2674.  
  2675. Flann knnsearch runtime: 0.0184413 s
  2676.  
  2677. Feature Matches between Nodes 1 ( 362 features) and 0 ( 375 features) in segment 1/1 (features 0 to 362 of first node): 264. Percentage: 72,928177%, Avg NN Ratio: 0,335654
  2678.  
  2679. count_matrix( 2, 1) = 264;
  2680.  
  2681. dista_matrix( 2, 1) = 0,152172;
  2682.  
  2683. Feature Matches between Nodes 1 ( 362 features) and 0 ( 375 features): 264
  2684.  
  2685. findPairsFlann runtime: 0.0186684 s
  2686.  
  2687. found 264 inital matches
  2688.  
  2689. noCloudCallback runtime: 0.016933 s
  2690.  
  2691. Construction of Node with SURF Features
  2692.  
  2693. Sum of Covariances not invertible:
  2694. -nan -nan -nan
  2695. -nan -nan -nan
  2696. -nan -nan -nan
  2697.  
  2698. mu_1, mu_2, (all in frame 2):
  2699. 2.60126e-19
  2700. 1.59453e-19
  2701. -7.16017e-19
  2702. -4.18444e-17
  2703. -3.82475e-17
  2704. 1.25893e-16
  2705. delta_mu_1, delta_mu_2,
  2706. -nan
  2707. -nan
  2708. -nan
  2709. -nan
  2710. -nan
  2711. -nan
  2712. x_ml
  2713. -nan
  2714. -nan
  2715. -nan
  2716.  
  2717. Covariance of mu_1:
  2718. 0 0 0
  2719. 0 0 0
  2720. 0 0 0
  2721.  
  2722. Covariance of mu_2:
  2723. 1.25983e-21 0 0
  2724. 0 1.34822e-21 0
  2725. 0 0 1.41296e-68
  2726.  
  2727. Covariance of mu_1 in frame 2:
  2728. 0 0 0
  2729. -0 0 0
  2730. -0 0 0
  2731.  
  2732. Inverse Covariance of mu_1:
  2733. -nan -nan -nan
  2734. -nan -nan -nan
  2735. -nan -nan -nan
  2736.  
  2737. Inverse Covariance of mu_2:
  2738. 7.93756e+20 0 0
  2739. 0 7.4172e+20 0
  2740. 0 0 7.07735e+67
  2741.  
  2742. Inverse Covariance of mu_1 in frame 2:
  2743. -nan -nan -nan
  2744. -nan -nan -nan
  2745. -nan -nan -nan
  2746.  
  2747. Transformation from and for 3 samples results in an error of 1000000000,000000 and 0 inliers.
  2748.  
  2749. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2750.  
  2751. getRelativeTransformationTo runtime: 0.015564 s
  2752.  
  2753. RANSAC found no valid trafo, but had initially 264 feature matches with average ratio 0,152172
  2754.  
  2755. Node ID's to compare with candidate for node 1. Sequential:
  2756.  
  2757. Running node comparisons in parallel in 4 (of 6) available threads
  2758.  
  2759. Choosing new initial node, because it has more features
  2760.  
  2761. addNode runtime: 0.0349188 s
  2762.  
  2763. Converting Matrix of type CV_8UC1 to RGBA
  2764.  
  2765. Target Matrix is of type CV_8UC4
  2766.  
  2767. processNode runtime: 0.0418802 s
  2768.  
  2769. Feature Detection runtime: 0.299176 s
  2770.  
  2771. Feature Extraction runtime: 0.0391157 s
  2772.  
  2773. Feature Count of Node: 351
  2774.  
  2775. Node runtime: 0.33858 s
  2776.  
  2777. waiting time: 0sec
  2778.  
  2779. Processing Node in parallel to the construction of the next node
  2780.  
  2781. cameraCallback runtime: 0.339273 s
  2782.  
  2783. New Node with id 1 has address 0x7f77887560e0 (GraphManager is 0x7fff6fd77560)
  2784.  
  2785. Graphsize: 1
  2786.  
  2787. Comparing new node (1) with previous node 0
  2788.  
  2789. Found Message of /camera/depth/image_raw
  2790.  
  2791. Found Message of /camera/rgb/camera_info
  2792.  
  2793. Found Message of /camera/rgb/image_mono
  2794.  
  2795. Found Message of /tf
  2796.  
  2797. Received data from kinect
  2798.  
  2799. Depth image time: 1329476960 - 901642857
  2800.  
  2801. RGB image time: 1329476960 - 906571274
  2802.  
  2803. Converting Matrix of type CV_8UC1 to RGBA
  2804.  
  2805. Target Matrix is of type CV_8UC4
  2806.  
  2807. Converting Matrix of type CV_8UC1 to RGBA
  2808.  
  2809. Target Matrix is of type CV_8UC4
  2810.  
  2811. noCloudCallback runtime: 0.0158704 s
  2812.  
  2813. Construction of Node with SURF Features
  2814.  
  2815. Flann knnsearch runtime: 0.028552 s
  2816.  
  2817. Feature Matches between Nodes 1 ( 351 features) and 0 ( 375 features) in segment 1/1 (features 0 to 351 of first node): 262. Percentage: 74,643875%, Avg NN Ratio: 0,327163
  2818.  
  2819. count_matrix( 2, 1) = 262;
  2820.  
  2821. dista_matrix( 2, 1) = 0,149959;
  2822.  
  2823. Feature Matches between Nodes 1 ( 351 features) and 0 ( 375 features): 262
  2824.  
  2825. findPairsFlann runtime: 0.0287967 s
  2826.  
  2827. found 262 inital matches
  2828.  
  2829. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2830.  
  2831. getRelativeTransformationTo runtime: 0.0129321 s
  2832.  
  2833. RANSAC found no valid trafo, but had initially 262 feature matches with average ratio 0,149959
  2834.  
  2835. Node ID's to compare with candidate for node 1. Sequential:
  2836.  
  2837. Running node comparisons in parallel in 4 (of 6) available threads
  2838.  
  2839. Choosing new initial node, because it has more features
  2840.  
  2841. addNode runtime: 0.0420125 s
  2842.  
  2843. Converting Matrix of type CV_8UC1 to RGBA
  2844.  
  2845. Target Matrix is of type CV_8UC4
  2846.  
  2847. processNode runtime: 0.0499635 s
  2848.  
  2849. Feature Detection runtime: 0.295475 s
  2850.  
  2851. Feature Extraction runtime: 0.0396785 s
  2852.  
  2853. Feature Count of Node: 371
  2854.  
  2855. Node runtime: 0.335428 s
  2856.  
  2857. waiting time: 0sec
  2858.  
  2859. Processing Node in parallel to the construction of the next node
  2860.  
  2861. cameraCallback runtime: 0.335801 s
  2862.  
  2863. Found Message of /camera/depth/image_raw
  2864.  
  2865. New Node with id 1 has address 0x7f777804cf00 (GraphManager is 0x7fff6fd77560)
  2866.  
  2867. Graphsize: 1
  2868.  
  2869. Comparing new node (1) with previous node 0
  2870.  
  2871. Found Message of /tf
  2872.  
  2873. Found Message of /camera/rgb/camera_info
  2874.  
  2875. Found Message of /camera/rgb/image_mono
  2876.  
  2877. Found Message of /tf
  2878.  
  2879. Received data from kinect
  2880.  
  2881. Depth image time: 1329476960 - 933873025
  2882.  
  2883. RGB image time: 1329476960 - 942420621
  2884.  
  2885. Converting Matrix of type CV_8UC1 to RGBA
  2886.  
  2887. Target Matrix is of type CV_8UC4
  2888.  
  2889. Converting Matrix of type CV_8UC1 to RGBA
  2890.  
  2891. Target Matrix is of type CV_8UC4
  2892.  
  2893. Flann knnsearch runtime: 0.0187084 s
  2894.  
  2895. Feature Matches between Nodes 1 ( 371 features) and 0 ( 375 features) in segment 1/1 (features 0 to 371 of first node): 261. Percentage: 70,350404%, Avg NN Ratio: 0,360426
  2896.  
  2897. count_matrix( 2, 1) = 261;
  2898.  
  2899. dista_matrix( 2, 1) = 0,163009;
  2900.  
  2901. Feature Matches between Nodes 1 ( 371 features) and 0 ( 375 features): 261
  2902.  
  2903. findPairsFlann runtime: 0.0194341 s
  2904.  
  2905. found 261 inital matches
  2906.  
  2907. createXYZRGBPointCloud runtime: 0.0181276 s
  2908.  
  2909. noCloudCallback runtime: 0.0262811 s
  2910.  
  2911. Construction of Node with SURF Features
  2912.  
  2913. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2914.  
  2915. getRelativeTransformationTo runtime: 0.0168137 s
  2916.  
  2917. RANSAC found no valid trafo, but had initially 261 feature matches with average ratio 0,163009
  2918.  
  2919. Node ID's to compare with candidate for node 1. Sequential:
  2920.  
  2921. Running node comparisons in parallel in 4 (of 6) available threads
  2922.  
  2923. Choosing new initial node, because it has more features
  2924.  
  2925. addNode runtime: 0.037416 s
  2926.  
  2927. Converting Matrix of type CV_8UC1 to RGBA
  2928.  
  2929. Target Matrix is of type CV_8UC4
  2930.  
  2931. processNode runtime: 0.0451434 s
  2932.  
  2933. Feature Detection runtime: 0.290896 s
  2934.  
  2935. Feature Extraction runtime: 0.0390986 s
  2936.  
  2937. Feature Count of Node: 355
  2938.  
  2939. Node runtime: 0.330257 s
  2940.  
  2941. waiting time: 0sec
  2942.  
  2943. Processing Node in parallel to the construction of the next node
  2944.  
  2945. cameraCallback runtime: 0.330629 s
  2946.  
  2947. New Node with id 1 has address 0x7f7780312b10 (GraphManager is 0x7fff6fd77560)
  2948.  
  2949. Graphsize: 1
  2950.  
  2951. Comparing new node (1) with previous node 0
  2952.  
  2953. Found Message of /camera/depth/image_raw
  2954.  
  2955. Found Message of /camera/rgb/camera_info
  2956.  
  2957. Found Message of /tf
  2958.  
  2959. Found Message of /camera/rgb/image_mono
  2960.  
  2961. Found Message of /tf
  2962.  
  2963. Found Message of /tf
  2964.  
  2965. Found Message of /tf
  2966.  
  2967. Found Message of /tf
  2968.  
  2969. Received data from kinect
  2970.  
  2971. Depth image time: 1329476960 - 965673400
  2972.  
  2973. RGB image time: 1329476960 - 974520089
  2974.  
  2975. Converting Matrix of type CV_8UC1 to RGBA
  2976.  
  2977. Target Matrix is of type CV_8UC4
  2978.  
  2979. Converting Matrix of type CV_8UC1 to RGBA
  2980.  
  2981. Target Matrix is of type CV_8UC4
  2982.  
  2983. Flann knnsearch runtime: 0.0184299 s
  2984.  
  2985. Feature Matches between Nodes 1 ( 355 features) and 0 ( 375 features) in segment 1/1 (features 0 to 355 of first node): 266. Percentage: 74,929577%, Avg NN Ratio: 0,326461
  2986.  
  2987. count_matrix( 2, 1) = 266;
  2988.  
  2989. dista_matrix( 2, 1) = 0,154513;
  2990.  
  2991. Feature Matches between Nodes 1 ( 355 features) and 0 ( 375 features): 266
  2992.  
  2993. findPairsFlann runtime: 0.0190724 s
  2994.  
  2995. found 266 inital matches
  2996.  
  2997. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  2998.  
  2999. getRelativeTransformationTo runtime: 0.0135182 s
  3000.  
  3001. RANSAC found no valid trafo, but had initially 266 feature matches with average ratio 0,154513
  3002.  
  3003. Node ID's to compare with candidate for node 1. Sequential:
  3004.  
  3005. Running node comparisons in parallel in 4 (of 6) available threads
  3006.  
  3007. Choosing new initial node, because it has more features
  3008.  
  3009. addNode runtime: 0.0333474 s
  3010.  
  3011. Converting Matrix of type CV_8UC1 to RGBA
  3012.  
  3013. Target Matrix is of type CV_8UC4
  3014.  
  3015. processNode runtime: 0.0489203 s
  3016.  
  3017. createXYZRGBPointCloud runtime: 0.0394326 s
  3018.  
  3019. noCloudCallback runtime: 0.0462744 s
  3020.  
  3021. Construction of Node with SURF Features
  3022.  
  3023. Feature Detection runtime: 0.286266 s
  3024.  
  3025. Feature Extraction runtime: 0.0416903 s
  3026.  
  3027. Feature Count of Node: 369
  3028.  
  3029. Node runtime: 0.328237 s
  3030.  
  3031. waiting time: 0sec
  3032.  
  3033. Processing Node in parallel to the construction of the next node
  3034.  
  3035. cameraCallback runtime: 0.329051 s
  3036.  
  3037. Found Message of /camera/depth/image_raw
  3038.  
  3039. New Node with id 1 has address 0x12bdd00 (GraphManager is 0x7fff6fd77560)
  3040.  
  3041. Graphsize: 1
  3042.  
  3043. Comparing new node (1) with previous node 0
  3044.  
  3045. Found Message of /camera/rgb/camera_info
  3046.  
  3047. Found Message of /camera/rgb/image_mono
  3048.  
  3049. Found Message of /tf
  3050.  
  3051. Found Message of /tf
  3052.  
  3053. Received data from kinect
  3054.  
  3055. Depth image time: 1329476961 - 1689656
  3056.  
  3057. RGB image time: 1329476961 - 6497338
  3058.  
  3059. Converting Matrix of type CV_8UC1 to RGBA
  3060.  
  3061. Target Matrix is of type CV_8UC4
  3062.  
  3063. Converting Matrix of type CV_8UC1 to RGBA
  3064.  
  3065. Target Matrix is of type CV_8UC4
  3066.  
  3067. Flann knnsearch runtime: 0.0180602 s
  3068.  
  3069. Feature Matches between Nodes 1 ( 369 features) and 0 ( 375 features) in segment 1/1 (features 0 to 369 of first node): 269. Percentage: 72,899729%, Avg NN Ratio: 0,346363
  3070.  
  3071. count_matrix( 2, 1) = 269;
  3072.  
  3073. dista_matrix( 2, 1) = 0,161722;
  3074.  
  3075. Feature Matches between Nodes 1 ( 369 features) and 0 ( 375 features): 269
  3076.  
  3077. findPairsFlann runtime: 0.0183279 s
  3078.  
  3079. found 269 inital matches
  3080.  
  3081. createXYZRGBPointCloud runtime: 0.0131235 s
  3082.  
  3083. noCloudCallback runtime: 0.0210906 s
  3084.  
  3085. Construction of Node with SURF Features
  3086.  
  3087. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  3088.  
  3089. getRelativeTransformationTo runtime: 0.0141956 s
  3090.  
  3091. RANSAC found no valid trafo, but had initially 269 feature matches with average ratio 0,161722
  3092.  
  3093. Node ID's to compare with candidate for node 1. Sequential:
  3094.  
  3095. Running node comparisons in parallel in 4 (of 6) available threads
  3096.  
  3097. Choosing new initial node, because it has more features
  3098.  
  3099. addNode runtime: 0.0328687 s
  3100.  
  3101. Converting Matrix of type CV_8UC1 to RGBA
  3102.  
  3103. Target Matrix is of type CV_8UC4
  3104.  
  3105. processNode runtime: 0.039489 s
  3106.  
  3107. Feature Detection runtime: 0.289181 s
  3108.  
  3109. Feature Extraction runtime: 0.0394101 s
  3110.  
  3111. Feature Count of Node: 350
  3112.  
  3113. Node runtime: 0.328868 s
  3114.  
  3115. waiting time: 0sec
  3116.  
  3117. Processing Node in parallel to the construction of the next node
  3118.  
  3119. cameraCallback runtime: 0.329537 s
  3120.  
  3121. Found Message of /camera/depth/image_raw
  3122.  
  3123. New Node with id 1 has address 0x7f77887561f0 (GraphManager is 0x7fff6fd77560)
  3124.  
  3125. Graphsize: 1
  3126.  
  3127. Comparing new node (1) with previous node 0
  3128.  
  3129. Found Message of /camera/rgb/camera_info
  3130.  
  3131. Found Message of /camera/rgb/image_mono
  3132.  
  3133. Found Message of /tf
  3134.  
  3135. Found Message of /tf
  3136.  
  3137. Received data from kinect
  3138.  
  3139. Flann knnsearch runtime: 0.0129168 s
  3140.  
  3141. Feature Matches between Nodes 1 ( 350 features) and 0 ( 375 features) in segment 1/1 (features 0 to 350 of first node): 250. Percentage: 71,428571%, Avg NN Ratio: 0,346462
  3142.  
  3143. count_matrix( 2, 1) = 250;
  3144.  
  3145. dista_matrix( 2, 1) = 0,156963;
  3146.  
  3147. Feature Matches between Nodes 1 ( 350 features) and 0 ( 375 features): 250
  3148.  
  3149. findPairsFlann runtime: 0.0131556 s
  3150.  
  3151. found 250 inital matches
  3152.  
  3153. Depth image time: 1329476961 - 33574110
  3154.  
  3155. RGB image time: 1329476961 - 42597865
  3156.  
  3157. Converting Matrix of type CV_8UC1 to RGBA
  3158.  
  3159. Target Matrix is of type CV_8UC4
  3160.  
  3161. Converting Matrix of type CV_8UC1 to RGBA
  3162.  
  3163. Target Matrix is of type CV_8UC4
  3164.  
  3165. Transformation from and for 3 samples results in an error of 1000000000,000000 and 0 inliers.
  3166.  
  3167. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  3168.  
  3169. getRelativeTransformationTo runtime: 0.0128372 s
  3170.  
  3171. RANSAC found no valid trafo, but had initially 250 feature matches with average ratio 0,156963
  3172.  
  3173. Node ID's to compare with candidate for node 1. Sequential:
  3174.  
  3175. Running node comparisons in parallel in 4 (of 6) available threads
  3176.  
  3177. Choosing new initial node, because it has more features
  3178.  
  3179. addNode runtime: 0.0263225 s
  3180.  
  3181. noCloudCallback runtime: 0.0167655 s
  3182.  
  3183. Construction of Node with SURF Features
  3184.  
  3185. Converting Matrix of type CV_8UC1 to RGBA
  3186.  
  3187. Target Matrix is of type CV_8UC4
  3188.  
  3189. processNode runtime: 0.0334841 s
  3190.  
  3191. Feature Detection runtime: 0.28862 s
  3192.  
  3193. Feature 59 has been extracted at NaN depth. Omitting
  3194.  
  3195. Feature 59 has been extracted at NaN depth. Omitting
  3196.  
  3197. Feature 59 has been extracted at NaN depth. Omitting
  3198.  
  3199. Feature 59 has been extracted at NaN depth. Omitting
  3200.  
  3201. Feature 59 has been extracted at NaN depth. Omitting
  3202.  
  3203. Feature 59 has been extracted at NaN depth. Omitting
  3204.  
  3205. Feature 59 has been extracted at NaN depth. Omitting
  3206.  
  3207. Feature 59 has been extracted at NaN depth. Omitting
  3208.  
  3209. Feature 60 has been extracted at NaN depth. Omitting
  3210.  
  3211. Feature 61 has been extracted at NaN depth. Omitting
  3212.  
  3213. Feature 64 has been extracted at NaN depth. Omitting
  3214.  
  3215. Feature 64 has been extracted at NaN depth. Omitting
  3216.  
  3217. Feature 64 has been extracted at NaN depth. Omitting
  3218.  
  3219. Feature 64 has been extracted at NaN depth. Omitting
  3220.  
  3221. Feature 64 has been extracted at NaN depth. Omitting
  3222.  
  3223. Feature 65 has been extracted at NaN depth. Omitting
  3224.  
  3225. Feature 65 has been extracted at NaN depth. Omitting
  3226.  
  3227. Feature 66 has been extracted at NaN depth. Omitting
  3228.  
  3229. Feature 66 has been extracted at NaN depth. Omitting
  3230.  
  3231. Feature 66 has been extracted at NaN depth. Omitting
  3232.  
  3233. Feature 66 has been extracted at NaN depth. Omitting
  3234.  
  3235. Feature 67 has been extracted at NaN depth. Omitting
  3236.  
  3237. Feature 67 has been extracted at NaN depth. Omitting
  3238.  
  3239. Feature 68 has been extracted at NaN depth. Omitting
  3240.  
  3241. Feature 69 has been extracted at NaN depth. Omitting
  3242.  
  3243. Feature 69 has been extracted at NaN depth. Omitting
  3244.  
  3245. Feature 69 has been extracted at NaN depth. Omitting
  3246.  
  3247. Feature 104 has been extracted at NaN depth. Omitting
  3248.  
  3249. Feature 104 has been extracted at NaN depth. Omitting
  3250.  
  3251. Feature 104 has been extracted at NaN depth. Omitting
  3252.  
  3253. Feature 104 has been extracted at NaN depth. Omitting
  3254.  
  3255. Feature 104 has been extracted at NaN depth. Omitting
  3256.  
  3257. Feature 104 has been extracted at NaN depth. Omitting
  3258.  
  3259. Feature 105 has been extracted at NaN depth. Omitting
  3260.  
  3261. Feature 107 has been extracted at NaN depth. Omitting
  3262.  
  3263. Feature 108 has been extracted at NaN depth. Omitting
  3264.  
  3265. Feature 109 has been extracted at NaN depth. Omitting
  3266.  
  3267. Feature 109 has been extracted at NaN depth. Omitting
  3268.  
  3269. Feature 109 has been extracted at NaN depth. Omitting
  3270.  
  3271. Feature 109 has been extracted at NaN depth. Omitting
  3272.  
  3273. Feature 109 has been extracted at NaN depth. Omitting
  3274.  
  3275. Feature 110 has been extracted at NaN depth. Omitting
  3276.  
  3277. Feature 110 has been extracted at NaN depth. Omitting
  3278.  
  3279. Feature 110 has been extracted at NaN depth. Omitting
  3280.  
  3281. Feature 111 has been extracted at NaN depth. Omitting
  3282.  
  3283. Feature 111 has been extracted at NaN depth. Omitting
  3284.  
  3285. Feature 113 has been extracted at NaN depth. Omitting
  3286.  
  3287. Feature 114 has been extracted at NaN depth. Omitting
  3288.  
  3289. Feature 114 has been extracted at NaN depth. Omitting
  3290.  
  3291. Feature 114 has been extracted at NaN depth. Omitting
  3292.  
  3293. Feature 114 has been extracted at NaN depth. Omitting
  3294.  
  3295. Feature 114 has been extracted at NaN depth. Omitting
  3296.  
  3297. Feature 135 has been extracted at NaN depth. Omitting
  3298.  
  3299. Feature 135 has been extracted at NaN depth. Omitting
  3300.  
  3301. Feature 135 has been extracted at NaN depth. Omitting
  3302.  
  3303. Feature 136 has been extracted at NaN depth. Omitting
  3304.  
  3305. Feature 136 has been extracted at NaN depth. Omitting
  3306.  
  3307. Feature 136 has been extracted at NaN depth. Omitting
  3308.  
  3309. Feature 136 has been extracted at NaN depth. Omitting
  3310.  
  3311. Feature 136 has been extracted at NaN depth. Omitting
  3312.  
  3313. Feature 136 has been extracted at NaN depth. Omitting
  3314.  
  3315. Feature 136 has been extracted at NaN depth. Omitting
  3316.  
  3317. Feature 136 has been extracted at NaN depth. Omitting
  3318.  
  3319. Feature 136 has been extracted at NaN depth. Omitting
  3320.  
  3321. Feature 136 has been extracted at NaN depth. Omitting
  3322.  
  3323. Feature 136 has been extracted at NaN depth. Omitting
  3324.  
  3325. Feature 136 has been extracted at NaN depth. Omitting
  3326.  
  3327. Feature 136 has been extracted at NaN depth. Omitting
  3328.  
  3329. Feature 136 has been extracted at NaN depth. Omitting
  3330.  
  3331. Feature 136 has been extracted at NaN depth. Omitting
  3332.  
  3333. Feature 136 has been extracted at NaN depth. Omitting
  3334.  
  3335. Feature 149 has been extracted at NaN depth. Omitting
  3336.  
  3337. Feature 149 has been extracted at NaN depth. Omitting
  3338.  
  3339. Feature 151 has been extracted at NaN depth. Omitting
  3340.  
  3341. Feature 152 has been extracted at NaN depth. Omitting
  3342.  
  3343. Feature 152 has been extracted at NaN depth. Omitting
  3344.  
  3345. Feature 152 has been extracted at NaN depth. Omitting
  3346.  
  3347. Feature 177 has been extracted at NaN depth. Omitting
  3348.  
  3349. Feature 177 has been extracted at NaN depth. Omitting
  3350.  
  3351. Feature 177 has been extracted at NaN depth. Omitting
  3352.  
  3353. Feature 177 has been extracted at NaN depth. Omitting
  3354.  
  3355. Feature 179 has been extracted at NaN depth. Omitting
  3356.  
  3357. Feature 179 has been extracted at NaN depth. Omitting
  3358.  
  3359. Feature 179 has been extracted at NaN depth. Omitting
  3360.  
  3361. Feature 179 has been extracted at NaN depth. Omitting
  3362.  
  3363. Feature 180 has been extracted at NaN depth. Omitting
  3364.  
  3365. Feature 180 has been extracted at NaN depth. Omitting
  3366.  
  3367. Feature 181 has been extracted at NaN depth. Omitting
  3368.  
  3369. Feature 181 has been extracted at NaN depth. Omitting
  3370.  
  3371. Feature 181 has been extracted at NaN depth. Omitting
  3372.  
  3373. Feature 181 has been extracted at NaN depth. Omitting
  3374.  
  3375. Feature 181 has been extracted at NaN depth. Omitting
  3376.  
  3377. Feature 182 has been extracted at NaN depth. Omitting
  3378.  
  3379. Feature 182 has been extracted at NaN depth. Omitting
  3380.  
  3381. Feature 182 has been extracted at NaN depth. Omitting
  3382.  
  3383. Feature 182 has been extracted at NaN depth. Omitting
  3384.  
  3385. Feature 184 has been extracted at NaN depth. Omitting
  3386.  
  3387. Feature 184 has been extracted at NaN depth. Omitting
  3388.  
  3389. Feature 184 has been extracted at NaN depth. Omitting
  3390.  
  3391. Feature 196 has been extracted at NaN depth. Omitting
  3392.  
  3393. Feature 198 has been extracted at NaN depth. Omitting
  3394.  
  3395. Feature 198 has been extracted at NaN depth. Omitting
  3396.  
  3397. Feature 198 has been extracted at NaN depth. Omitting
  3398.  
  3399. Feature 198 has been extracted at NaN depth. Omitting
  3400.  
  3401. Feature 198 has been extracted at NaN depth. Omitting
  3402.  
  3403. Feature 198 has been extracted at NaN depth. Omitting
  3404.  
  3405. Feature 198 has been extracted at NaN depth. Omitting
  3406.  
  3407. Feature 198 has been extracted at NaN depth. Omitting
  3408.  
  3409. Feature 205 has been extracted at NaN depth. Omitting
  3410.  
  3411. Feature 208 has been extracted at NaN depth. Omitting
  3412.  
  3413. Feature 208 has been extracted at NaN depth. Omitting
  3414.  
  3415. Feature 209 has been extracted at NaN depth. Omitting
  3416.  
  3417. Feature 209 has been extracted at NaN depth. Omitting
  3418.  
  3419. Feature 212 has been extracted at NaN depth. Omitting
  3420.  
  3421. Feature 212 has been extracted at NaN depth. Omitting
  3422.  
  3423. Feature 219 has been extracted at NaN depth. Omitting
  3424.  
  3425. Feature 219 has been extracted at NaN depth. Omitting
  3426.  
  3427. Feature 219 has been extracted at NaN depth. Omitting
  3428.  
  3429. Feature 219 has been extracted at NaN depth. Omitting
  3430.  
  3431. Feature 219 has been extracted at NaN depth. Omitting
  3432.  
  3433. Feature Extraction runtime: 0.0284844 s
  3434.  
  3435. Feature Count of Node: 232
  3436.  
  3437. Node runtime: 0.319764 s
  3438.  
  3439. waiting time: 0sec
  3440.  
  3441. Processing Node in parallel to the construction of the next node
  3442.  
  3443. cameraCallback runtime: 0.320132 s
  3444.  
  3445. Found Message of /camera/depth/image_raw
  3446.  
  3447. New Node with id 1 has address 0x7f77887569d0 (GraphManager is 0x7fff6fd77560)
  3448.  
  3449. Graphsize: 1
  3450.  
  3451. Comparing new node (1) with previous node 0
  3452.  
  3453. Flann knnsearch runtime: 0.00766681 s
  3454.  
  3455. Feature Matches between Nodes 1 ( 232 features) and 0 ( 375 features) in segment 1/1 (features 0 to 232 of first node): 163. Percentage: 70,258621%, Avg NN Ratio: 0,371372
  3456.  
  3457. count_matrix( 2, 1) = 163;
  3458.  
  3459. dista_matrix( 2, 1) = 0,172657;
  3460.  
  3461. Feature Matches between Nodes 1 ( 232 features) and 0 ( 375 features): 163
  3462.  
  3463. found 163 inital matches
  3464.  
  3465. Sum of Covariances not invertible:
  3466. -nan -nan -nan
  3467. -nan -nan -nan
  3468. -nan -nan -nan
  3469.  
  3470. mu_1, mu_2, (all in frame 2):
  3471. -3.67991e-19
  3472. -3.38147e-19
  3473. 1.06223e-18
  3474. -1.83298e-16
  3475. -1.61489e-16
  3476. 5.4522e-16
  3477. delta_mu_1, delta_mu_2,
  3478. -nan
  3479. -nan
  3480. -nan
  3481. -nan
  3482. -nan
  3483. -nan
  3484. x_ml
  3485. -nan
  3486. -nan
  3487. -nan
  3488.  
  3489. Covariance of mu_1:
  3490. 0 0 0
  3491. 0 0 0
  3492. 0 0 0
  3493.  
  3494. Covariance of mu_2:
  3495. 5.45611e-21 0 0
  3496. 0 5.83888e-21 0
  3497. 0 0 4.9706e-66
  3498.  
  3499. Found Message of /camera/rgb/camera_info
  3500.  
  3501. Covariance of mu_1 in frame 2:
  3502. 0 0 -0
  3503. 0 0 -0
  3504. 0 0 0
  3505.  
  3506. Inverse Covariance of mu_1:
  3507. -nan -nan -nan
  3508. -nan -nan -nan
  3509. -nan -nan -nan
  3510.  
  3511. Inverse Covariance of mu_2:
  3512. 1.83281e+20 0 0
  3513. 0 1.71266e+20 0
  3514. 0 0 2.01183e+65
  3515.  
  3516. Inverse Covariance of mu_1 in frame 2:
  3517. -nan -nan -nan
  3518. -nan -nan -nan
  3519. -nan -nan -nan
  3520.  
  3521. Sum of Covariances not invertible:
  3522. -nan -nan -nan
  3523. -nan -nan -nan
  3524. -nan -nan -nan
  3525.  
  3526. mu_1, mu_2, (all in frame 2):
  3527. -3.67991e-19
  3528. -3.38147e-19
  3529. 1.06223e-18
  3530. -1.0605e-17
  3531. -9.81492e-18
  3532. 3.19061e-17
  3533. delta_mu_1, delta_mu_2,
  3534. -nan
  3535. -nan
  3536. -nan
  3537. -nan
  3538. -nan
  3539. -nan
  3540. x_ml
  3541. -nan
  3542. -nan
  3543. -nan
  3544.  
  3545. Covariance of mu_1:
  3546. 0 0 0
  3547. 0 0 0
  3548. 0 0 0
  3549.  
  3550. Covariance of mu_2:
  3551. 3.1929e-22 0 0
  3552. 0 3.4169e-22 0
  3553. 0 0 5.82931e-71
  3554.  
  3555. Covariance of mu_1 in frame 2:
  3556. 0 0 -0
  3557. 0 0 -0
  3558. 0 0 0
  3559.  
  3560. Inverse Covariance of mu_1:
  3561. -nan -nan -nan
  3562. -nan -nan -nan
  3563. -nan -nan -nan
  3564.  
  3565. Inverse Covariance of mu_2:
  3566. 3.13195e+21 0 0
  3567. 0 2.92663e+21 0
  3568. 0 0 1.71547e+70
  3569.  
  3570. Inverse Covariance of mu_1 in frame 2:
  3571. -nan -nan -nan
  3572. -nan -nan -nan
  3573. -nan -nan -nan
  3574.  
  3575. Transformation from and for 3 samples results in an error of 1000000000,000000 and 0 inliers.
  3576.  
  3577. Found Message of /camera/rgb/image_mono
  3578.  
  3579. Found Message of /tf
  3580.  
  3581. Found Message of /tf
  3582.  
  3583. Found Message of /tf
  3584.  
  3585. Found Message of /tf
  3586.  
  3587. Found Message of /tf
  3588.  
  3589. Found Message of /tf
  3590.  
  3591. Received data from kinect
  3592.  
  3593. Depth image time: 1329476961 - 65658940
  3594.  
  3595. RGB image time: 1329476961 - 74496878
  3596.  
  3597. Converting Matrix of type CV_8UC1 to RGBA
  3598.  
  3599. Target Matrix is of type CV_8UC4
  3600.  
  3601. Sum of Covariances not invertible:
  3602. -nan -nan -nan
  3603. -nan -nan -nan
  3604. -nan -nan -nan
  3605.  
  3606. mu_1, mu_2, (all in frame 2):
  3607. 2.40881e-19
  3608. 8.45002e-20
  3609. -7.36637e-19
  3610. -1.0605e-17
  3611. -9.81492e-18
  3612. 3.19061e-17
  3613. delta_mu_1, delta_mu_2,
  3614. -nan
  3615. -nan
  3616. -nan
  3617. -nan
  3618. -nan
  3619. -nan
  3620. x_ml
  3621. -nan
  3622. -nan
  3623. -nan
  3624.  
  3625. Covariance of mu_1:
  3626. 0 0 0
  3627. 0 0 0
  3628. 0 0 0
  3629.  
  3630. Covariance of mu_2:
  3631. 3.1929e-22 0 0
  3632. 0 3.4169e-22 0
  3633. 0 0 5.82931e-71
  3634.  
  3635. Covariance of mu_1 in frame 2:
  3636. 0 0 0
  3637. -0 0 0
  3638. -0 0 0
  3639.  
  3640. Inverse Covariance of mu_1:
  3641. -nan -nan -nan
  3642. -nan -nan -nan
  3643. -nan -nan -nan
  3644.  
  3645. Inverse Covariance of mu_2:
  3646. 3.13195e+21 0 0
  3647. 0 2.92663e+21 0
  3648. 0 0 1.71547e+70
  3649.  
  3650. Inverse Covariance of mu_1 in frame 2:
  3651. -nan -nan -nan
  3652. -nan -nan -nan
  3653. -nan -nan -nan
  3654.  
  3655. Transformation from and for 3 samples results in an error of 1000000000,000000 and 0 inliers.
  3656.  
  3657. Converting Matrix of type CV_8UC1 to RGBA
  3658.  
  3659. Target Matrix is of type CV_8UC4
  3660.  
  3661. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  3662.  
  3663. getRelativeTransformationTo runtime: 0.0149929 s
  3664.  
  3665. RANSAC found no valid trafo, but had initially 163 feature matches with average ratio 0,172657
  3666.  
  3667. Node ID's to compare with candidate for node 1. Sequential:
  3668.  
  3669. Running node comparisons in parallel in 4 (of 6) available threads
  3670.  
  3671. Choosing new initial node, because it has more features
  3672.  
  3673. addNode runtime: 0.0232989 s
  3674.  
  3675. Converting Matrix of type CV_8UC1 to RGBA
  3676.  
  3677. Target Matrix is of type CV_8UC4
  3678.  
  3679. noCloudCallback runtime: 0.0134754 s
  3680.  
  3681. Construction of Node with SURF Features
  3682.  
  3683. processNode runtime: 0.0282282 s
  3684.  
  3685. Feature Detection runtime: 0.28587 s
  3686.  
  3687. Feature 88 has been extracted at NaN depth. Omitting
  3688.  
  3689. Feature 88 has been extracted at NaN depth. Omitting
  3690.  
  3691. Feature 89 has been extracted at NaN depth. Omitting
  3692.  
  3693. Feature 156 has been extracted at NaN depth. Omitting
  3694.  
  3695. Feature 156 has been extracted at NaN depth. Omitting
  3696.  
  3697. Feature 156 has been extracted at NaN depth. Omitting
  3698.  
  3699. Feature 157 has been extracted at NaN depth. Omitting
  3700.  
  3701. Feature 203 has been extracted at NaN depth. Omitting
  3702.  
  3703. Feature 203 has been extracted at NaN depth. Omitting
  3704.  
  3705. Feature 221 has been extracted at NaN depth. Omitting
  3706.  
  3707. Feature 221 has been extracted at NaN depth. Omitting
  3708.  
  3709. Feature 221 has been extracted at NaN depth. Omitting
  3710.  
  3711. Feature 269 has been extracted at NaN depth. Omitting
  3712.  
  3713. Feature 270 has been extracted at NaN depth. Omitting
  3714.  
  3715. Feature 271 has been extracted at NaN depth. Omitting
  3716.  
  3717. Feature 273 has been extracted at NaN depth. Omitting
  3718.  
  3719. Feature 294 has been extracted at NaN depth. Omitting
  3720.  
  3721. Feature 306 has been extracted at NaN depth. Omitting
  3722.  
  3723. Feature 306 has been extracted at NaN depth. Omitting
  3724.  
  3725. Feature 313 has been extracted at NaN depth. Omitting
  3726.  
  3727. Feature 313 has been extracted at NaN depth. Omitting
  3728.  
  3729. Feature 323 has been extracted at NaN depth. Omitting
  3730.  
  3731. Feature 324 has been extracted at NaN depth. Omitting
  3732.  
  3733. Feature 327 has been extracted at NaN depth. Omitting
  3734.  
  3735. Feature Extraction runtime: 0.0361861 s
  3736.  
  3737. Feature Count of Node: 335
  3738.  
  3739. Node runtime: 0.322784 s
  3740.  
  3741. waiting time: 0sec
  3742.  
  3743. Processing Node in parallel to the construction of the next node
  3744.  
  3745. cameraCallback runtime: 0.323114 s
  3746.  
  3747. New Node with id 1 has address 0x12bdd00 (GraphManager is 0x7fff6fd77560)
  3748.  
  3749. Graphsize: 1
  3750.  
  3751. Comparing new node (1) with previous node 0
  3752.  
  3753. Found Message of /camera/depth/image_raw
  3754.  
  3755. Found Message of /camera/rgb/camera_info
  3756.  
  3757. Found Message of /camera/rgb/image_mono
  3758.  
  3759. Found Message of /tf
  3760.  
  3761. Received data from kinect
  3762.  
  3763. Depth image time: 1329476961 - 101664125
  3764.  
  3765. RGB image time: 1329476961 - 106612507
  3766.  
  3767. Converting Matrix of type CV_8UC1 to RGBA
  3768.  
  3769. Target Matrix is of type CV_8UC4
  3770.  
  3771. Converting Matrix of type CV_8UC1 to RGBA
  3772.  
  3773. Target Matrix is of type CV_8UC4
  3774.  
  3775. Flann knnsearch runtime: 0.0193425 s
  3776.  
  3777. Feature Matches between Nodes 1 ( 335 features) and 0 ( 375 features) in segment 1/1 (features 0 to 335 of first node): 230. Percentage: 68,656716%, Avg NN Ratio: 0,369061
  3778.  
  3779. count_matrix( 2, 1) = 230;
  3780.  
  3781. dista_matrix( 2, 1) = 0,152474;
  3782.  
  3783. Feature Matches between Nodes 1 ( 335 features) and 0 ( 375 features): 230
  3784.  
  3785. findPairsFlann runtime: 0.0196002 s
  3786.  
  3787. found 230 inital matches
  3788.  
  3789. noCloudCallback runtime: 0.0168218 s
  3790.  
  3791. Construction of Node with SURF Features
  3792.  
  3793. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  3794.  
  3795. getRelativeTransformationTo runtime: 0.0127579 s
  3796.  
  3797. RANSAC found no valid trafo, but had initially 230 feature matches with average ratio 0,152474
  3798.  
  3799. Node ID's to compare with candidate for node 1. Sequential:
  3800.  
  3801. Running node comparisons in parallel in 4 (of 6) available threads
  3802.  
  3803. Choosing new initial node, because it has more features
  3804.  
  3805. addNode runtime: 0.0327628 s
  3806.  
  3807. Converting Matrix of type CV_8UC1 to RGBA
  3808.  
  3809. Target Matrix is of type CV_8UC4
  3810.  
  3811. processNode runtime: 0.0388426 s
  3812.  
  3813. Feature Detection runtime: 0.291789 s
  3814.  
  3815. Feature 58 has been extracted at NaN depth. Omitting
  3816.  
  3817. Feature 58 has been extracted at NaN depth. Omitting
  3818.  
  3819. Feature 58 has been extracted at NaN depth. Omitting
  3820.  
  3821. Feature 58 has been extracted at NaN depth. Omitting
  3822.  
  3823. Feature 58 has been extracted at NaN depth. Omitting
  3824.  
  3825. Feature 58 has been extracted at NaN depth. Omitting
  3826.  
  3827. Feature 58 has been extracted at NaN depth. Omitting
  3828.  
  3829. Feature 58 has been extracted at NaN depth. Omitting
  3830.  
  3831. Feature 58 has been extracted at NaN depth. Omitting
  3832.  
  3833. Feature 58 has been extracted at NaN depth. Omitting
  3834.  
  3835. Feature 58 has been extracted at NaN depth. Omitting
  3836.  
  3837. Feature 58 has been extracted at NaN depth. Omitting
  3838.  
  3839. Feature 58 has been extracted at NaN depth. Omitting
  3840.  
  3841. Feature 58 has been extracted at NaN depth. Omitting
  3842.  
  3843. Feature 58 has been extracted at NaN depth. Omitting
  3844.  
  3845. Feature 58 has been extracted at NaN depth. Omitting
  3846.  
  3847. Feature 58 has been extracted at NaN depth. Omitting
  3848.  
  3849. Feature 58 has been extracted at NaN depth. Omitting
  3850.  
  3851. Feature 58 has been extracted at NaN depth. Omitting
  3852.  
  3853. Feature 58 has been extracted at NaN depth. Omitting
  3854.  
  3855. Feature 58 has been extracted at NaN depth. Omitting
  3856.  
  3857. Feature 58 has been extracted at NaN depth. Omitting
  3858.  
  3859. Feature 58 has been extracted at NaN depth. Omitting
  3860.  
  3861. Feature 58 has been extracted at NaN depth. Omitting
  3862.  
  3863. Feature 58 has been extracted at NaN depth. Omitting
  3864.  
  3865. Feature 58 has been extracted at NaN depth. Omitting
  3866.  
  3867. Feature 58 has been extracted at NaN depth. Omitting
  3868.  
  3869. Feature 58 has been extracted at NaN depth. Omitting
  3870.  
  3871. Feature 58 has been extracted at NaN depth. Omitting
  3872.  
  3873. Feature 58 has been extracted at NaN depth. Omitting
  3874.  
  3875. Feature 58 has been extracted at NaN depth. Omitting
  3876.  
  3877. Feature 58 has been extracted at NaN depth. Omitting
  3878.  
  3879. Feature 58 has been extracted at NaN depth. Omitting
  3880.  
  3881. Feature 58 has been extracted at NaN depth. Omitting
  3882.  
  3883. Feature 58 has been extracted at NaN depth. Omitting
  3884.  
  3885. Feature 58 has been extracted at NaN depth. Omitting
  3886.  
  3887. Feature 58 has been extracted at NaN depth. Omitting
  3888.  
  3889. Feature 97 has been extracted at NaN depth. Omitting
  3890.  
  3891. Feature 97 has been extracted at NaN depth. Omitting
  3892.  
  3893. Feature 97 has been extracted at NaN depth. Omitting
  3894.  
  3895. Feature 97 has been extracted at NaN depth. Omitting
  3896.  
  3897. Feature 97 has been extracted at NaN depth. Omitting
  3898.  
  3899. Feature 97 has been extracted at NaN depth. Omitting
  3900.  
  3901. Feature 97 has been extracted at NaN depth. Omitting
  3902.  
  3903. Feature 97 has been extracted at NaN depth. Omitting
  3904.  
  3905. Feature 97 has been extracted at NaN depth. Omitting
  3906.  
  3907. Feature 97 has been extracted at NaN depth. Omitting
  3908.  
  3909. Feature 97 has been extracted at NaN depth. Omitting
  3910.  
  3911. Feature 97 has been extracted at NaN depth. Omitting
  3912.  
  3913. Feature 97 has been extracted at NaN depth. Omitting
  3914.  
  3915. Feature 97 has been extracted at NaN depth. Omitting
  3916.  
  3917. Feature 97 has been extracted at NaN depth. Omitting
  3918.  
  3919. Feature 97 has been extracted at NaN depth. Omitting
  3920.  
  3921. Feature 97 has been extracted at NaN depth. Omitting
  3922.  
  3923. Feature 97 has been extracted at NaN depth. Omitting
  3924.  
  3925. Feature 97 has been extracted at NaN depth. Omitting
  3926.  
  3927. Feature 97 has been extracted at NaN depth. Omitting
  3928.  
  3929. Feature 97 has been extracted at NaN depth. Omitting
  3930.  
  3931. Feature 97 has been extracted at NaN depth. Omitting
  3932.  
  3933. Feature 97 has been extracted at NaN depth. Omitting
  3934.  
  3935. Feature 97 has been extracted at NaN depth. Omitting
  3936.  
  3937. Feature 97 has been extracted at NaN depth. Omitting
  3938.  
  3939. Feature 97 has been extracted at NaN depth. Omitting
  3940.  
  3941. Feature 97 has been extracted at NaN depth. Omitting
  3942.  
  3943. Feature 130 has been extracted at NaN depth. Omitting
  3944.  
  3945. Feature 130 has been extracted at NaN depth. Omitting
  3946.  
  3947. Feature 130 has been extracted at NaN depth. Omitting
  3948.  
  3949. Feature 130 has been extracted at NaN depth. Omitting
  3950.  
  3951. Feature 130 has been extracted at NaN depth. Omitting
  3952.  
  3953. Feature 130 has been extracted at NaN depth. Omitting
  3954.  
  3955. Feature 130 has been extracted at NaN depth. Omitting
  3956.  
  3957. Feature 130 has been extracted at NaN depth. Omitting
  3958.  
  3959. Feature 130 has been extracted at NaN depth. Omitting
  3960.  
  3961. Feature 130 has been extracted at NaN depth. Omitting
  3962.  
  3963. Feature 130 has been extracted at NaN depth. Omitting
  3964.  
  3965. Feature 130 has been extracted at NaN depth. Omitting
  3966.  
  3967. Feature 130 has been extracted at NaN depth. Omitting
  3968.  
  3969. Feature 130 has been extracted at NaN depth. Omitting
  3970.  
  3971. Feature 130 has been extracted at NaN depth. Omitting
  3972.  
  3973. Feature 130 has been extracted at NaN depth. Omitting
  3974.  
  3975. Feature 130 has been extracted at NaN depth. Omitting
  3976.  
  3977. Feature 130 has been extracted at NaN depth. Omitting
  3978.  
  3979. Feature 145 has been extracted at NaN depth. Omitting
  3980.  
  3981. Feature 145 has been extracted at NaN depth. Omitting
  3982.  
  3983. Feature 145 has been extracted at NaN depth. Omitting
  3984.  
  3985. Feature 145 has been extracted at NaN depth. Omitting
  3986.  
  3987. Feature 176 has been extracted at NaN depth. Omitting
  3988.  
  3989. Feature 176 has been extracted at NaN depth. Omitting
  3990.  
  3991. Feature 176 has been extracted at NaN depth. Omitting
  3992.  
  3993. Feature 176 has been extracted at NaN depth. Omitting
  3994.  
  3995. Feature 176 has been extracted at NaN depth. Omitting
  3996.  
  3997. Feature 176 has been extracted at NaN depth. Omitting
  3998.  
  3999. Feature 176 has been extracted at NaN depth. Omitting
  4000.  
  4001. Feature 176 has been extracted at NaN depth. Omitting
  4002.  
  4003. Feature 176 has been extracted at NaN depth. Omitting
  4004.  
  4005. Feature 176 has been extracted at NaN depth. Omitting
  4006.  
  4007. Feature 176 has been extracted at NaN depth. Omitting
  4008.  
  4009. Feature 176 has been extracted at NaN depth. Omitting
  4010.  
  4011. Feature 176 has been extracted at NaN depth. Omitting
  4012.  
  4013. Feature 176 has been extracted at NaN depth. Omitting
  4014.  
  4015. Feature 176 has been extracted at NaN depth. Omitting
  4016.  
  4017. Feature 176 has been extracted at NaN depth. Omitting
  4018.  
  4019. Feature 176 has been extracted at NaN depth. Omitting
  4020.  
  4021. Feature 176 has been extracted at NaN depth. Omitting
  4022.  
  4023. Feature 176 has been extracted at NaN depth. Omitting
  4024.  
  4025. Feature 176 has been extracted at NaN depth. Omitting
  4026.  
  4027. Feature 198 has been extracted at NaN depth. Omitting
  4028.  
  4029. Feature 198 has been extracted at NaN depth. Omitting
  4030.  
  4031. Feature 198 has been extracted at NaN depth. Omitting
  4032.  
  4033. Feature 198 has been extracted at NaN depth. Omitting
  4034.  
  4035. Feature 198 has been extracted at NaN depth. Omitting
  4036.  
  4037. Feature 198 has been extracted at NaN depth. Omitting
  4038.  
  4039. Feature 198 has been extracted at NaN depth. Omitting
  4040.  
  4041. Feature 198 has been extracted at NaN depth. Omitting
  4042.  
  4043. Feature 198 has been extracted at NaN depth. Omitting
  4044.  
  4045. Feature 198 has been extracted at NaN depth. Omitting
  4046.  
  4047. Feature 206 has been extracted at NaN depth. Omitting
  4048.  
  4049. Feature 206 has been extracted at NaN depth. Omitting
  4050.  
  4051. Feature 206 has been extracted at NaN depth. Omitting
  4052.  
  4053. Feature 206 has been extracted at NaN depth. Omitting
  4054.  
  4055. Feature 215 has been extracted at NaN depth. Omitting
  4056.  
  4057. Feature 222 has been extracted at NaN depth. Omitting
  4058.  
  4059. Feature 222 has been extracted at NaN depth. Omitting
  4060.  
  4061. Feature 222 has been extracted at NaN depth. Omitting
  4062.  
  4063. Feature 222 has been extracted at NaN depth. Omitting
  4064.  
  4065. Feature Extraction runtime: 0.0290759 s
  4066.  
  4067. Feature Count of Node: 237
  4068.  
  4069. Node runtime: 0.323662 s
  4070.  
  4071. waiting time: 0sec
  4072.  
  4073. Processing Node in parallel to the construction of the next node
  4074.  
  4075. New Node with id 1 has address 0x7f7788756fe0 (GraphManager is 0x7fff6fd77560)
  4076.  
  4077. Graphsize: 1
  4078.  
  4079. Comparing new node (1) with previous node 0
  4080.  
  4081. cameraCallback runtime: 0.328412 s
  4082.  
  4083. Found Message of /camera/depth/image_raw
  4084.  
  4085. Found Message of /tf
  4086.  
  4087. Found Message of /camera/rgb/camera_info
  4088.  
  4089. Found Message of /camera/rgb/image_mono
  4090.  
  4091. Found Message of /tf
  4092.  
  4093. Found Message of /tf
  4094.  
  4095. Flann knnsearch runtime: 0.00945935 s
  4096.  
  4097. Feature Matches between Nodes 1 ( 237 features) and 0 ( 375 features) in segment 1/1 (features 0 to 237 of first node): 174. Percentage: 73,417722%, Avg NN Ratio: 0,357494
  4098.  
  4099. count_matrix( 2, 1) = 174;
  4100.  
  4101. dista_matrix( 2, 1) = 0,174777;
  4102.  
  4103. Feature Matches between Nodes 1 ( 237 features) and 0 ( 375 features): 174
  4104.  
  4105. found 174 inital matches
  4106.  
  4107. Received data from kinect
  4108.  
  4109. Depth image time: 1329476961 - 133569408
  4110.  
  4111. RGB image time: 1329476961 - 142516444
  4112.  
  4113. Converting Matrix of type CV_8UC1 to RGBA
  4114.  
  4115. Target Matrix is of type CV_8UC4
  4116.  
  4117. Converting Matrix of type CV_8UC1 to RGBA
  4118.  
  4119. Target Matrix is of type CV_8UC4
  4120.  
  4121. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  4122.  
  4123. getRelativeTransformationTo runtime: 0.0161516 s
  4124.  
  4125. RANSAC found no valid trafo, but had initially 174 feature matches with average ratio 0,174777
  4126.  
  4127. Node ID's to compare with candidate for node 1. Sequential:
  4128.  
  4129. Running node comparisons in parallel in 4 (of 6) available threads
  4130.  
  4131. Choosing new initial node, because it has more features
  4132.  
  4133. addNode runtime: 0.0260916 s
  4134.  
  4135. noCloudCallback runtime: 0.0193769 s
  4136.  
  4137. Construction of Node with SURF Features
  4138.  
  4139. Converting Matrix of type CV_8UC1 to RGBA
  4140.  
  4141. Target Matrix is of type CV_8UC4
  4142.  
  4143. processNode runtime: 0.0383253 s
  4144.  
  4145. Feature Detection runtime: 0.287229 s
  4146.  
  4147. Feature 141 has been extracted at NaN depth. Omitting
  4148.  
  4149. Feature Extraction runtime: 0.0389479 s
  4150.  
  4151. Feature Count of Node: 339
  4152.  
  4153. Node runtime: 0.326474 s
  4154.  
  4155. waiting time: 0sec
  4156.  
  4157. Processing Node in parallel to the construction of the next node
  4158.  
  4159. cameraCallback runtime: 0.326913 s
  4160.  
  4161. Found Message of /camera/depth/image_raw
  4162.  
  4163. New Node with id 1 has address 0x12be1a0 (GraphManager is 0x7fff6fd77560)
  4164.  
  4165. Graphsize: 1
  4166.  
  4167. Comparing new node (1) with previous node 0
  4168.  
  4169. Found Message of /camera/rgb/camera_info
  4170.  
  4171. Found Message of /tf
  4172.  
  4173. Found Message of /camera/rgb/image_mono
  4174.  
  4175. Found Message of /tf
  4176.  
  4177. Found Message of /tf
  4178.  
  4179. Found Message of /tf
  4180.  
  4181. Found Message of /tf
  4182.  
  4183. Received data from kinect
  4184.  
  4185. Depth image time: 1329476961 - 165547891
  4186.  
  4187. RGB image time: 1329476961 - 174441139
  4188.  
  4189. Converting Matrix of type CV_8UC1 to RGBA
  4190.  
  4191. Target Matrix is of type CV_8UC4
  4192.  
  4193. Converting Matrix of type CV_8UC1 to RGBA
  4194.  
  4195. Target Matrix is of type CV_8UC4
  4196.  
  4197. Flann knnsearch runtime: 0.0164445 s
  4198.  
  4199. Feature Matches between Nodes 1 ( 339 features) and 0 ( 375 features) in segment 1/1 (features 0 to 339 of first node): 246. Percentage: 72,566372%, Avg NN Ratio: 0,347953
  4200.  
  4201. count_matrix( 2, 1) = 246;
  4202.  
  4203. dista_matrix( 2, 1) = 0,161027;
  4204.  
  4205. Feature Matches between Nodes 1 ( 339 features) and 0 ( 375 features): 246
  4206.  
  4207. findPairsFlann runtime: 0.0166537 s
  4208.  
  4209. found 246 inital matches
  4210.  
  4211. noCloudCallback runtime: 0.0159617 s
  4212.  
  4213. Construction of Node with SURF Features
  4214.  
  4215. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  4216.  
  4217. getRelativeTransformationTo runtime: 0.0119668 s
  4218.  
  4219. RANSAC found no valid trafo, but had initially 246 feature matches with average ratio 0,161027
  4220.  
  4221. Node ID's to compare with candidate for node 1. Sequential:
  4222.  
  4223. Running node comparisons in parallel in 4 (of 6) available threads
  4224.  
  4225. Choosing new initial node, because it has more features
  4226.  
  4227. addNode runtime: 0.0290633 s
  4228.  
  4229. Converting Matrix of type CV_8UC1 to RGBA
  4230.  
  4231. Target Matrix is of type CV_8UC4
  4232.  
  4233. processNode runtime: 0.0351422 s
  4234.  
  4235. Feature Detection runtime: 0.289641 s
  4236.  
  4237. Feature 69 has been extracted at NaN depth. Omitting
  4238.  
  4239. Feature 69 has been extracted at NaN depth. Omitting
  4240.  
  4241. Feature 69 has been extracted at NaN depth. Omitting
  4242.  
  4243. Feature 69 has been extracted at NaN depth. Omitting
  4244.  
  4245. Feature 69 has been extracted at NaN depth. Omitting
  4246.  
  4247. Feature 70 has been extracted at NaN depth. Omitting
  4248.  
  4249. Feature 70 has been extracted at NaN depth. Omitting
  4250.  
  4251. Feature 70 has been extracted at NaN depth. Omitting
  4252.  
  4253. Feature 70 has been extracted at NaN depth. Omitting
  4254.  
  4255. Feature 71 has been extracted at NaN depth. Omitting
  4256.  
  4257. Feature 73 has been extracted at NaN depth. Omitting
  4258.  
  4259. Feature 74 has been extracted at NaN depth. Omitting
  4260.  
  4261. Feature 74 has been extracted at NaN depth. Omitting
  4262.  
  4263. Feature 74 has been extracted at NaN depth. Omitting
  4264.  
  4265. Feature 75 has been extracted at NaN depth. Omitting
  4266.  
  4267. Feature 75 has been extracted at NaN depth. Omitting
  4268.  
  4269. Feature 75 has been extracted at NaN depth. Omitting
  4270.  
  4271. Feature 76 has been extracted at NaN depth. Omitting
  4272.  
  4273. Feature 76 has been extracted at NaN depth. Omitting
  4274.  
  4275. Feature 76 has been extracted at NaN depth. Omitting
  4276.  
  4277. Feature 77 has been extracted at NaN depth. Omitting
  4278.  
  4279. Feature 77 has been extracted at NaN depth. Omitting
  4280.  
  4281. Feature 77 has been extracted at NaN depth. Omitting
  4282.  
  4283. Feature 77 has been extracted at NaN depth. Omitting
  4284.  
  4285. Feature 78 has been extracted at NaN depth. Omitting
  4286.  
  4287. Feature 78 has been extracted at NaN depth. Omitting
  4288.  
  4289. Feature 113 has been extracted at NaN depth. Omitting
  4290.  
  4291. Feature 113 has been extracted at NaN depth. Omitting
  4292.  
  4293. Feature 114 has been extracted at NaN depth. Omitting
  4294.  
  4295. Feature 114 has been extracted at NaN depth. Omitting
  4296.  
  4297. Feature 115 has been extracted at NaN depth. Omitting
  4298.  
  4299. Feature 115 has been extracted at NaN depth. Omitting
  4300.  
  4301. Feature 119 has been extracted at NaN depth. Omitting
  4302.  
  4303. Feature 120 has been extracted at NaN depth. Omitting
  4304.  
  4305. Feature 120 has been extracted at NaN depth. Omitting
  4306.  
  4307. Feature 120 has been extracted at NaN depth. Omitting
  4308.  
  4309. Feature 120 has been extracted at NaN depth. Omitting
  4310.  
  4311. Feature 120 has been extracted at NaN depth. Omitting
  4312.  
  4313. Feature 121 has been extracted at NaN depth. Omitting
  4314.  
  4315. Feature 121 has been extracted at NaN depth. Omitting
  4316.  
  4317. Feature 122 has been extracted at NaN depth. Omitting
  4318.  
  4319. Feature 122 has been extracted at NaN depth. Omitting
  4320.  
  4321. Feature 123 has been extracted at NaN depth. Omitting
  4322.  
  4323. Feature 123 has been extracted at NaN depth. Omitting
  4324.  
  4325. Feature 125 has been extracted at NaN depth. Omitting
  4326.  
  4327. Feature 126 has been extracted at NaN depth. Omitting
  4328.  
  4329. Feature 126 has been extracted at NaN depth. Omitting
  4330.  
  4331. Feature 126 has been extracted at NaN depth. Omitting
  4332.  
  4333. Feature 147 has been extracted at NaN depth. Omitting
  4334.  
  4335. Feature 147 has been extracted at NaN depth. Omitting
  4336.  
  4337. Feature 147 has been extracted at NaN depth. Omitting
  4338.  
  4339. Feature 148 has been extracted at NaN depth. Omitting
  4340.  
  4341. Feature 148 has been extracted at NaN depth. Omitting
  4342.  
  4343. Feature 148 has been extracted at NaN depth. Omitting
  4344.  
  4345. Feature 148 has been extracted at NaN depth. Omitting
  4346.  
  4347. Feature 148 has been extracted at NaN depth. Omitting
  4348.  
  4349. Feature 148 has been extracted at NaN depth. Omitting
  4350.  
  4351. Feature 148 has been extracted at NaN depth. Omitting
  4352.  
  4353. Feature 148 has been extracted at NaN depth. Omitting
  4354.  
  4355. Feature 149 has been extracted at NaN depth. Omitting
  4356.  
  4357. Feature 149 has been extracted at NaN depth. Omitting
  4358.  
  4359. Feature 149 has been extracted at NaN depth. Omitting
  4360.  
  4361. Feature 149 has been extracted at NaN depth. Omitting
  4362.  
  4363. Feature 149 has been extracted at NaN depth. Omitting
  4364.  
  4365. Feature 149 has been extracted at NaN depth. Omitting
  4366.  
  4367. Feature 149 has been extracted at NaN depth. Omitting
  4368.  
  4369. Feature 150 has been extracted at NaN depth. Omitting
  4370.  
  4371. Feature 160 has been extracted at NaN depth. Omitting
  4372.  
  4373. Feature 160 has been extracted at NaN depth. Omitting
  4374.  
  4375. Feature 160 has been extracted at NaN depth. Omitting
  4376.  
  4377. Feature 161 has been extracted at NaN depth. Omitting
  4378.  
  4379. Feature 162 has been extracted at NaN depth. Omitting
  4380.  
  4381. Feature 162 has been extracted at NaN depth. Omitting
  4382.  
  4383. Feature 162 has been extracted at NaN depth. Omitting
  4384.  
  4385. Feature 187 has been extracted at NaN depth. Omitting
  4386.  
  4387. Feature 187 has been extracted at NaN depth. Omitting
  4388.  
  4389. Feature 187 has been extracted at NaN depth. Omitting
  4390.  
  4391. Feature 187 has been extracted at NaN depth. Omitting
  4392.  
  4393. Feature 187 has been extracted at NaN depth. Omitting
  4394.  
  4395. Feature 187 has been extracted at NaN depth. Omitting
  4396.  
  4397. Feature 188 has been extracted at NaN depth. Omitting
  4398.  
  4399. Feature 188 has been extracted at NaN depth. Omitting
  4400.  
  4401. Feature 188 has been extracted at NaN depth. Omitting
  4402.  
  4403. Feature 188 has been extracted at NaN depth. Omitting
  4404.  
  4405. Feature 189 has been extracted at NaN depth. Omitting
  4406.  
  4407. Feature 189 has been extracted at NaN depth. Omitting
  4408.  
  4409. Feature 191 has been extracted at NaN depth. Omitting
  4410.  
  4411. Feature 191 has been extracted at NaN depth. Omitting
  4412.  
  4413. Feature 191 has been extracted at NaN depth. Omitting
  4414.  
  4415. Feature 191 has been extracted at NaN depth. Omitting
  4416.  
  4417. Feature 191 has been extracted at NaN depth. Omitting
  4418.  
  4419. Feature 191 has been extracted at NaN depth. Omitting
  4420.  
  4421. Feature 191 has been extracted at NaN depth. Omitting
  4422.  
  4423. Feature 191 has been extracted at NaN depth. Omitting
  4424.  
  4425. Feature 191 has been extracted at NaN depth. Omitting
  4426.  
  4427. Feature 191 has been extracted at NaN depth. Omitting
  4428.  
  4429. Feature 193 has been extracted at NaN depth. Omitting
  4430.  
  4431. Feature 203 has been extracted at NaN depth. Omitting
  4432.  
  4433. Feature 205 has been extracted at NaN depth. Omitting
  4434.  
  4435. Feature 205 has been extracted at NaN depth. Omitting
  4436.  
  4437. Feature 206 has been extracted at NaN depth. Omitting
  4438.  
  4439. Feature 206 has been extracted at NaN depth. Omitting
  4440.  
  4441. Feature 206 has been extracted at NaN depth. Omitting
  4442.  
  4443. Feature 206 has been extracted at NaN depth. Omitting
  4444.  
  4445. Feature 206 has been extracted at NaN depth. Omitting
  4446.  
  4447. Feature 206 has been extracted at NaN depth. Omitting
  4448.  
  4449. Feature 206 has been extracted at NaN depth. Omitting
  4450.  
  4451. Feature 206 has been extracted at NaN depth. Omitting
  4452.  
  4453. Feature 217 has been extracted at NaN depth. Omitting
  4454.  
  4455. Feature 217 has been extracted at NaN depth. Omitting
  4456.  
  4457. Feature 218 has been extracted at NaN depth. Omitting
  4458.  
  4459. Feature 218 has been extracted at NaN depth. Omitting
  4460.  
  4461. Feature 221 has been extracted at NaN depth. Omitting
  4462.  
  4463. Feature 221 has been extracted at NaN depth. Omitting
  4464.  
  4465. Feature 228 has been extracted at NaN depth. Omitting
  4466.  
  4467. Feature 228 has been extracted at NaN depth. Omitting
  4468.  
  4469. Feature 228 has been extracted at NaN depth. Omitting
  4470.  
  4471. Feature 228 has been extracted at NaN depth. Omitting
  4472.  
  4473. Feature 228 has been extracted at NaN depth. Omitting
  4474.  
  4475. Feature 233 has been extracted at NaN depth. Omitting
  4476.  
  4477. Feature Extraction runtime: 0.0290246 s
  4478.  
  4479. Feature Count of Node: 241
  4480.  
  4481. Node runtime: 0.3213 s
  4482.  
  4483. waiting time: 0sec
  4484.  
  4485. Processing Node in parallel to the construction of the next node
  4486.  
  4487. cameraCallback runtime: 0.322046 s
  4488.  
  4489. New Node with id 1 has address 0x7f7780314500 (GraphManager is 0x7fff6fd77560)
  4490.  
  4491. Graphsize: 1
  4492.  
  4493. Comparing new node (1) with previous node 0
  4494.  
  4495. Found Message of /camera/depth/image_raw
  4496.  
  4497. Found Message of /camera/rgb/camera_info
  4498.  
  4499. Found Message of /camera/rgb/image_mono
  4500.  
  4501. Found Message of /tf
  4502.  
  4503. Received data from kinect
  4504.  
  4505. Depth image time: 1329476961 - 201697118
  4506.  
  4507. RGB image time: 1329476961 - 206556939
  4508.  
  4509. Converting Matrix of type CV_8UC1 to RGBA
  4510.  
  4511. Target Matrix is of type CV_8UC4
  4512.  
  4513. Converting Matrix of type CV_8UC1 to RGBA
  4514.  
  4515. Target Matrix is of type CV_8UC4
  4516.  
  4517. Flann knnsearch runtime: 0.0127261 s
  4518.  
  4519. Feature Matches between Nodes 1 ( 241 features) and 0 ( 375 features) in segment 1/1 (features 0 to 241 of first node): 171. Percentage: 70,954357%, Avg NN Ratio: 0,365268
  4520.  
  4521. count_matrix( 2, 1) = 171;
  4522.  
  4523. dista_matrix( 2, 1) = 0,170897;
  4524.  
  4525. Feature Matches between Nodes 1 ( 241 features) and 0 ( 375 features): 171
  4526.  
  4527. findPairsFlann runtime: 0.0159293 s
  4528.  
  4529. found 171 inital matches
  4530.  
  4531. Sum of Covariances not invertible:
  4532. inf -inf -inf
  4533. -inf inf inf
  4534. -inf inf inf
  4535.  
  4536. mu_1, mu_2, (all in frame 2):
  4537. -1.8025e-20
  4538. -1.74377e-20
  4539. 5.03837e-20
  4540. -3.34776e-20
  4541. -3.1274e-20
  4542. 8.89911e-20
  4543. delta_mu_1, delta_mu_2,
  4544. -nan
  4545. -nan
  4546. -nan
  4547. -nan
  4548. -nan
  4549. -nan
  4550. x_ml
  4551. -nan
  4552. -nan
  4553. -nan
  4554.  
  4555. Covariance of mu_1:
  4556. 2.56203e-24 0 0
  4557. 0 2.74177e-24 0
  4558. 0 0 2.41666e-79
  4559.  
  4560. Covariance of mu_2:
  4561. 8.9055e-25 0 0
  4562. 0 9.53026e-25 0
  4563. 0 0 3.52784e-81
  4564.  
  4565. Covariance of mu_1 in frame 2:
  4566. 2.56182e-24 -6.14451e-27 3.45724e-26
  4567. -6.14451e-27 2.74084e-24 -4.34261e-26
  4568. 3.45724e-26 -4.34261e-26 1.15199e-27
  4569.  
  4570. Inverse Covariance of mu_1:
  4571. 3.90315e+23 0 0
  4572. 0 3.64728e+23 0
  4573. 0 0 4.13794e+78
  4574.  
  4575. Inverse Covariance of mu_2:
  4576. 1.1229e+24 0 0
  4577. 0 1.04929e+24 0
  4578. 0 0 2.8346e+80
  4579.  
  4580. Inverse Covariance of mu_1 in frame 2:
  4581. inf -inf -inf
  4582. -inf inf inf
  4583. -inf inf inf
  4584.  
  4585. Transformation from and for 3 samples results in an error of 1000000000,000000 and 0 inliers.
  4586.  
  4587. noCloudCallback runtime: 0.0157369 s
  4588.  
  4589. Construction of Node with SURF Features
  4590.  
  4591. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  4592.  
  4593. getRelativeTransformationTo runtime: 0.0159419 s
  4594.  
  4595. RANSAC found no valid trafo, but had initially 171 feature matches with average ratio 0,170897
  4596.  
  4597. Node ID's to compare with candidate for node 1. Sequential:
  4598.  
  4599. Running node comparisons in parallel in 4 (of 6) available threads
  4600.  
  4601. Choosing new initial node, because it has more features
  4602.  
  4603. addNode runtime: 0.032611 s
  4604.  
  4605. Converting Matrix of type CV_8UC1 to RGBA
  4606.  
  4607. Target Matrix is of type CV_8UC4
  4608.  
  4609. processNode runtime: 0.0389105 s
  4610.  
  4611. Feature Detection runtime: 0.284482 s
  4612.  
  4613. Feature Extraction runtime: 0.0391438 s
  4614.  
  4615. Feature Count of Node: 332
  4616.  
  4617. Node runtime: 0.323899 s
  4618.  
  4619. waiting time: 0sec
  4620.  
  4621. Processing Node in parallel to the construction of the next node
  4622.  
  4623. cameraCallback runtime: 0.324279 s
  4624.  
  4625. Found Message of /camera/depth/image_raw
  4626.  
  4627. New Node with id 1 has address 0x12baef0 (GraphManager is 0x7fff6fd77560)
  4628.  
  4629. Graphsize: 1
  4630.  
  4631. Comparing new node (1) with previous node 0
  4632.  
  4633. Found Message of /tf
  4634.  
  4635. Found Message of /camera/rgb/camera_info
  4636.  
  4637. Found Message of /camera/rgb/image_mono
  4638.  
  4639. Found Message of /tf
  4640.  
  4641. Received data from kinect
  4642.  
  4643. Depth image time: 1329476961 - 233629942
  4644.  
  4645. RGB image time: 1329476961 - 242620738
  4646.  
  4647. Converting Matrix of type CV_8UC1 to RGBA
  4648.  
  4649. Target Matrix is of type CV_8UC4
  4650.  
  4651. Converting Matrix of type CV_8UC1 to RGBA
  4652.  
  4653. Target Matrix is of type CV_8UC4
  4654.  
  4655. Flann knnsearch runtime: 0.0154739 s
  4656.  
  4657. Feature Matches between Nodes 1 ( 332 features) and 0 ( 375 features) in segment 1/1 (features 0 to 332 of first node): 241. Percentage: 72,590361%, Avg NN Ratio: 0,349034
  4658.  
  4659. count_matrix( 2, 1) = 241;
  4660.  
  4661. dista_matrix( 2, 1) = 0,170830;
  4662.  
  4663. Feature Matches between Nodes 1 ( 332 features) and 0 ( 375 features): 241
  4664.  
  4665. findPairsFlann runtime: 0.0156934 s
  4666.  
  4667. found 241 inital matches
  4668.  
  4669. noCloudCallback runtime: 0.0172242 s
  4670.  
  4671. Construction of Node with SURF Features
  4672.  
  4673. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  4674.  
  4675. getRelativeTransformationTo runtime: 0.0139589 s
  4676.  
  4677. RANSAC found no valid trafo, but had initially 241 feature matches with average ratio 0,170830
  4678.  
  4679. Node ID's to compare with candidate for node 1. Sequential:
  4680.  
  4681. Running node comparisons in parallel in 4 (of 6) available threads
  4682.  
  4683. Choosing new initial node, because it has more features
  4684.  
  4685. addNode runtime: 0.0300336 s
  4686.  
  4687. Converting Matrix of type CV_8UC1 to RGBA
  4688.  
  4689. Target Matrix is of type CV_8UC4
  4690.  
  4691. processNode runtime: 0.0371058 s
  4692.  
  4693. Feature Detection runtime: 0.290596 s
  4694.  
  4695. Feature 50 has been extracted at NaN depth. Omitting
  4696.  
  4697. Feature 50 has been extracted at NaN depth. Omitting
  4698.  
  4699. Feature 51 has been extracted at NaN depth. Omitting
  4700.  
  4701. Feature 51 has been extracted at NaN depth. Omitting
  4702.  
  4703. Feature 51 has been extracted at NaN depth. Omitting
  4704.  
  4705. Feature 52 has been extracted at NaN depth. Omitting
  4706.  
  4707. Feature 55 has been extracted at NaN depth. Omitting
  4708.  
  4709. Feature 55 has been extracted at NaN depth. Omitting
  4710.  
  4711. Feature 55 has been extracted at NaN depth. Omitting
  4712.  
  4713. Feature 55 has been extracted at NaN depth. Omitting
  4714.  
  4715. Feature 55 has been extracted at NaN depth. Omitting
  4716.  
  4717. Feature 55 has been extracted at NaN depth. Omitting
  4718.  
  4719. Feature 55 has been extracted at NaN depth. Omitting
  4720.  
  4721. Feature 55 has been extracted at NaN depth. Omitting
  4722.  
  4723. Feature 56 has been extracted at NaN depth. Omitting
  4724.  
  4725. Feature 56 has been extracted at NaN depth. Omitting
  4726.  
  4727. Feature 56 has been extracted at NaN depth. Omitting
  4728.  
  4729. Feature 56 has been extracted at NaN depth. Omitting
  4730.  
  4731. Feature 56 has been extracted at NaN depth. Omitting
  4732.  
  4733. Feature 56 has been extracted at NaN depth. Omitting
  4734.  
  4735. Feature 56 has been extracted at NaN depth. Omitting
  4736.  
  4737. Feature 56 has been extracted at NaN depth. Omitting
  4738.  
  4739. Feature 56 has been extracted at NaN depth. Omitting
  4740.  
  4741. Feature 57 has been extracted at NaN depth. Omitting
  4742.  
  4743. Feature 57 has been extracted at NaN depth. Omitting
  4744.  
  4745. Feature 91 has been extracted at NaN depth. Omitting
  4746.  
  4747. Feature 91 has been extracted at NaN depth. Omitting
  4748.  
  4749. Feature 91 has been extracted at NaN depth. Omitting
  4750.  
  4751. Feature 92 has been extracted at NaN depth. Omitting
  4752.  
  4753. Feature 92 has been extracted at NaN depth. Omitting
  4754.  
  4755. Feature 92 has been extracted at NaN depth. Omitting
  4756.  
  4757. Feature 93 has been extracted at NaN depth. Omitting
  4758.  
  4759. Feature 96 has been extracted at NaN depth. Omitting
  4760.  
  4761. Feature 97 has been extracted at NaN depth. Omitting
  4762.  
  4763. Feature 98 has been extracted at NaN depth. Omitting
  4764.  
  4765. Feature 98 has been extracted at NaN depth. Omitting
  4766.  
  4767. Feature 98 has been extracted at NaN depth. Omitting
  4768.  
  4769. Feature 98 has been extracted at NaN depth. Omitting
  4770.  
  4771. Feature 101 has been extracted at NaN depth. Omitting
  4772.  
  4773. Feature 101 has been extracted at NaN depth. Omitting
  4774.  
  4775. Feature 101 has been extracted at NaN depth. Omitting
  4776.  
  4777. Feature 103 has been extracted at NaN depth. Omitting
  4778.  
  4779. Feature 104 has been extracted at NaN depth. Omitting
  4780.  
  4781. Feature 104 has been extracted at NaN depth. Omitting
  4782.  
  4783. Feature 104 has been extracted at NaN depth. Omitting
  4784.  
  4785. Feature 128 has been extracted at NaN depth. Omitting
  4786.  
  4787. Feature 128 has been extracted at NaN depth. Omitting
  4788.  
  4789. Feature 128 has been extracted at NaN depth. Omitting
  4790.  
  4791. Feature 129 has been extracted at NaN depth. Omitting
  4792.  
  4793. Feature 129 has been extracted at NaN depth. Omitting
  4794.  
  4795. Feature 130 has been extracted at NaN depth. Omitting
  4796.  
  4797. Feature 130 has been extracted at NaN depth. Omitting
  4798.  
  4799. Feature 130 has been extracted at NaN depth. Omitting
  4800.  
  4801. Feature 130 has been extracted at NaN depth. Omitting
  4802.  
  4803. Feature 130 has been extracted at NaN depth. Omitting
  4804.  
  4805. Feature 130 has been extracted at NaN depth. Omitting
  4806.  
  4807. Feature 130 has been extracted at NaN depth. Omitting
  4808.  
  4809. Feature 130 has been extracted at NaN depth. Omitting
  4810.  
  4811. Feature 130 has been extracted at NaN depth. Omitting
  4812.  
  4813. Feature 130 has been extracted at NaN depth. Omitting
  4814.  
  4815. Feature 130 has been extracted at NaN depth. Omitting
  4816.  
  4817. Feature 130 has been extracted at NaN depth. Omitting
  4818.  
  4819. Feature 130 has been extracted at NaN depth. Omitting
  4820.  
  4821. Feature 130 has been extracted at NaN depth. Omitting
  4822.  
  4823. Feature 130 has been extracted at NaN depth. Omitting
  4824.  
  4825. Feature 130 has been extracted at NaN depth. Omitting
  4826.  
  4827. Feature 142 has been extracted at NaN depth. Omitting
  4828.  
  4829. Feature 142 has been extracted at NaN depth. Omitting
  4830.  
  4831. Feature 142 has been extracted at NaN depth. Omitting
  4832.  
  4833. Feature 143 has been extracted at NaN depth. Omitting
  4834.  
  4835. Feature 144 has been extracted at NaN depth. Omitting
  4836.  
  4837. Feature 144 has been extracted at NaN depth. Omitting
  4838.  
  4839. Feature 170 has been extracted at NaN depth. Omitting
  4840.  
  4841. Feature 170 has been extracted at NaN depth. Omitting
  4842.  
  4843. Feature 170 has been extracted at NaN depth. Omitting
  4844.  
  4845. Feature 170 has been extracted at NaN depth. Omitting
  4846.  
  4847. Feature 170 has been extracted at NaN depth. Omitting
  4848.  
  4849. Feature 170 has been extracted at NaN depth. Omitting
  4850.  
  4851. Feature 171 has been extracted at NaN depth. Omitting
  4852.  
  4853. Feature 171 has been extracted at NaN depth. Omitting
  4854.  
  4855. Feature 171 has been extracted at NaN depth. Omitting
  4856.  
  4857. Feature 172 has been extracted at NaN depth. Omitting
  4858.  
  4859. Feature 172 has been extracted at NaN depth. Omitting
  4860.  
  4861. Feature 173 has been extracted at NaN depth. Omitting
  4862.  
  4863. Feature 173 has been extracted at NaN depth. Omitting
  4864.  
  4865. Feature 173 has been extracted at NaN depth. Omitting
  4866.  
  4867. Feature 173 has been extracted at NaN depth. Omitting
  4868.  
  4869. Feature 173 has been extracted at NaN depth. Omitting
  4870.  
  4871. Feature 174 has been extracted at NaN depth. Omitting
  4872.  
  4873. Feature 174 has been extracted at NaN depth. Omitting
  4874.  
  4875. Feature 174 has been extracted at NaN depth. Omitting
  4876.  
  4877. Feature 174 has been extracted at NaN depth. Omitting
  4878.  
  4879. Feature 176 has been extracted at NaN depth. Omitting
  4880.  
  4881. Feature 176 has been extracted at NaN depth. Omitting
  4882.  
  4883. Feature 187 has been extracted at NaN depth. Omitting
  4884.  
  4885. Feature 189 has been extracted at NaN depth. Omitting
  4886.  
  4887. Feature 189 has been extracted at NaN depth. Omitting
  4888.  
  4889. Feature 190 has been extracted at NaN depth. Omitting
  4890.  
  4891. Feature 190 has been extracted at NaN depth. Omitting
  4892.  
  4893. Feature 190 has been extracted at NaN depth. Omitting
  4894.  
  4895. Feature 190 has been extracted at NaN depth. Omitting
  4896.  
  4897. Feature 190 has been extracted at NaN depth. Omitting
  4898.  
  4899. Feature 190 has been extracted at NaN depth. Omitting
  4900.  
  4901. Feature 190 has been extracted at NaN depth. Omitting
  4902.  
  4903. Feature 190 has been extracted at NaN depth. Omitting
  4904.  
  4905. Feature 190 has been extracted at NaN depth. Omitting
  4906.  
  4907. Feature 198 has been extracted at NaN depth. Omitting
  4908.  
  4909. Feature 200 has been extracted at NaN depth. Omitting
  4910.  
  4911. Feature 200 has been extracted at NaN depth. Omitting
  4912.  
  4913. Feature 201 has been extracted at NaN depth. Omitting
  4914.  
  4915. Feature 201 has been extracted at NaN depth. Omitting
  4916.  
  4917. Feature 205 has been extracted at NaN depth. Omitting
  4918.  
  4919. Feature 205 has been extracted at NaN depth. Omitting
  4920.  
  4921. Feature 205 has been extracted at NaN depth. Omitting
  4922.  
  4923. Feature 214 has been extracted at NaN depth. Omitting
  4924.  
  4925. Feature 214 has been extracted at NaN depth. Omitting
  4926.  
  4927. Feature 214 has been extracted at NaN depth. Omitting
  4928.  
  4929. Feature 214 has been extracted at NaN depth. Omitting
  4930.  
  4931. Feature 214 has been extracted at NaN depth. Omitting
  4932.  
  4933. Feature 214 has been extracted at NaN depth. Omitting
  4934.  
  4935. Feature Extraction runtime: 0.0290014 s
  4936.  
  4937. Feature Count of Node: 227
  4938.  
  4939. Node runtime: 0.322185 s
  4940.  
  4941. waiting time: 0sec
  4942.  
  4943. Processing Node in parallel to the construction of the next node
  4944.  
  4945. cameraCallback runtime: 0.322566 s
  4946.  
  4947. Found Message of /camera/depth/image_raw
  4948.  
  4949. Found Message of /camera/rgb/camera_info
  4950.  
  4951. New Node with id 1 has address 0x12bdfc0 (GraphManager is 0x7fff6fd77560)
  4952.  
  4953. Graphsize: 1
  4954.  
  4955. Comparing new node (1) with previous node 0
  4956.  
  4957. Found Message of /camera/rgb/image_mono
  4958.  
  4959. Found Message of /tf
  4960.  
  4961. Found Message of /tf
  4962.  
  4963. Found Message of /tf
  4964.  
  4965. Found Message of /tf
  4966.  
  4967. Found Message of /tf
  4968.  
  4969. Received data from kinect
  4970.  
  4971. Depth image time: 1329476961 - 265754000
  4972.  
  4973. RGB image time: 1329476961 - 274411856
  4974.  
  4975. Converting Matrix of type CV_8UC1 to RGBA
  4976.  
  4977. Target Matrix is of type CV_8UC4
  4978.  
  4979. Converting Matrix of type CV_8UC1 to RGBA
  4980.  
  4981. Target Matrix is of type CV_8UC4
  4982.  
  4983. Flann knnsearch runtime: 0.0118552 s
  4984.  
  4985. Feature Matches between Nodes 1 ( 227 features) and 0 ( 375 features) in segment 1/1 (features 0 to 227 of first node): 160. Percentage: 70,484581%, Avg NN Ratio: 0,378131
  4986.  
  4987. count_matrix( 2, 1) = 160;
  4988.  
  4989. dista_matrix( 2, 1) = 0,187317;
  4990.  
  4991. Feature Matches between Nodes 1 ( 227 features) and 0 ( 375 features): 160
  4992.  
  4993. findPairsFlann runtime: 0.0120589 s
  4994.  
  4995. found 160 inital matches
  4996.  
  4997. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  4998.  
  4999. getRelativeTransformationTo runtime: 0.0145616 s
  5000.  
  5001. RANSAC found no valid trafo, but had initially 160 feature matches with average ratio 0,187317
  5002.  
  5003. Node ID's to compare with candidate for node 1. Sequential:
  5004.  
  5005. Running node comparisons in parallel in 4 (of 6) available threads
  5006.  
  5007. Choosing new initial node, because it has more features
  5008.  
  5009. addNode runtime: 0.0274678 s
  5010.  
  5011. Converting Matrix of type CV_8UC1 to RGBA
  5012.  
  5013. Target Matrix is of type CV_8UC4
  5014.  
  5015. createXYZRGBPointCloud runtime: 0.0172917 s
  5016.  
  5017. noCloudCallback runtime: 0.0265345 s
  5018.  
  5019. Construction of Node with SURF Features
  5020.  
  5021. processNode runtime: 0.0320895 s
  5022.  
  5023. Feature Detection runtime: 0.28638 s
  5024.  
  5025. Feature Extraction runtime: 0.0420938 s
  5026.  
  5027. Feature Count of Node: 352
  5028.  
  5029. Node runtime: 0.328757 s
  5030.  
  5031. waiting time: 0sec
  5032.  
  5033. Processing Node in parallel to the construction of the next node
  5034.  
  5035. cameraCallback runtime: 0.329128 s
  5036.  
  5037. Found Message of /camera/depth/image_raw
  5038.  
  5039. New Node with id 1 has address 0x7f77887590f0 (GraphManager is 0x7fff6fd77560)
  5040.  
  5041. Graphsize: 1
  5042.  
  5043. Comparing new node (1) with previous node 0
  5044.  
  5045. Found Message of /camera/rgb/camera_info
  5046.  
  5047. Found Message of /camera/rgb/image_mono
  5048.  
  5049. Found Message of /tf
  5050.  
  5051. Found Message of /tf
  5052.  
  5053. Received data from kinect
  5054.  
  5055. Depth image time: 1329476961 - 301575871
  5056.  
  5057. RGB image time: 1329476961 - 306573414
  5058.  
  5059. Converting Matrix of type CV_8UC1 to RGBA
  5060.  
  5061. Target Matrix is of type CV_8UC4
  5062.  
  5063. Converting Matrix of type CV_8UC1 to RGBA
  5064.  
  5065. Target Matrix is of type CV_8UC4
  5066.  
  5067. Flann knnsearch runtime: 0.0144637 s
  5068.  
  5069. Feature Matches between Nodes 1 ( 352 features) and 0 ( 375 features) in segment 1/1 (features 0 to 352 of first node): 252. Percentage: 71,590909%, Avg NN Ratio: 0,352475
  5070.  
  5071. count_matrix( 2, 1) = 252;
  5072.  
  5073. dista_matrix( 2, 1) = 0,163999;
  5074.  
  5075. Feature Matches between Nodes 1 ( 352 features) and 0 ( 375 features): 252
  5076.  
  5077. findPairsFlann runtime: 0.014714 s
  5078.  
  5079. found 252 inital matches
  5080.  
  5081. noCloudCallback runtime: 0.0150058 s
  5082.  
  5083. Construction of Node with SURF Features
  5084.  
  5085. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5086.  
  5087. getRelativeTransformationTo runtime: 0.0146518 s
  5088.  
  5089. RANSAC found no valid trafo, but had initially 252 feature matches with average ratio 0,163999
  5090.  
  5091. Node ID's to compare with candidate for node 1. Sequential:
  5092.  
  5093. Running node comparisons in parallel in 4 (of 6) available threads
  5094.  
  5095. Choosing new initial node, because it has more features
  5096.  
  5097. addNode runtime: 0.0297905 s
  5098.  
  5099. Converting Matrix of type CV_8UC1 to RGBA
  5100.  
  5101. Target Matrix is of type CV_8UC4
  5102.  
  5103. processNode runtime: 0.0376737 s
  5104.  
  5105. Feature Detection runtime: 0.290867 s
  5106.  
  5107. Feature Extraction runtime: 0.0396147 s
  5108.  
  5109. Feature Count of Node: 341
  5110.  
  5111. Node runtime: 0.330756 s
  5112.  
  5113. waiting time: 0sec
  5114.  
  5115. Processing Node in parallel to the construction of the next node
  5116.  
  5117. cameraCallback runtime: 0.331236 s
  5118.  
  5119. Found Message of /camera/depth/image_raw
  5120.  
  5121. Found Message of /camera/rgb/camera_info
  5122.  
  5123. New Node with id 1 has address 0x12bdd00 (GraphManager is 0x7fff6fd77560)
  5124.  
  5125. Graphsize: 1
  5126.  
  5127. Comparing new node (1) with previous node 0
  5128.  
  5129. Found Message of /camera/rgb/image_mono
  5130.  
  5131. Found Message of /tf
  5132.  
  5133. Found Message of /tf
  5134.  
  5135. Received data from kinect
  5136.  
  5137. Depth image time: 1329476961 - 333726810
  5138.  
  5139. RGB image time: 1329476961 - 342293543
  5140.  
  5141. Converting Matrix of type CV_8UC1 to RGBA
  5142.  
  5143. Target Matrix is of type CV_8UC4
  5144.  
  5145. Converting Matrix of type CV_8UC1 to RGBA
  5146.  
  5147. Target Matrix is of type CV_8UC4
  5148.  
  5149. Flann knnsearch runtime: 0.0164805 s
  5150.  
  5151. Feature Matches between Nodes 1 ( 341 features) and 0 ( 375 features) in segment 1/1 (features 0 to 341 of first node): 236. Percentage: 69,208211%, Avg NN Ratio: 0,378686
  5152.  
  5153. count_matrix( 2, 1) = 236;
  5154.  
  5155. dista_matrix( 2, 1) = 0,169079;
  5156.  
  5157. Feature Matches between Nodes 1 ( 341 features) and 0 ( 375 features): 236
  5158.  
  5159. findPairsFlann runtime: 0.0167556 s
  5160.  
  5161. found 236 inital matches
  5162.  
  5163. noCloudCallback runtime: 0.0171461 s
  5164.  
  5165. Construction of Node with SURF Features
  5166.  
  5167. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5168.  
  5169. getRelativeTransformationTo runtime: 0.0136663 s
  5170.  
  5171. RANSAC found no valid trafo, but had initially 236 feature matches with average ratio 0,169079
  5172.  
  5173. Node ID's to compare with candidate for node 1. Sequential:
  5174.  
  5175. Running node comparisons in parallel in 4 (of 6) available threads
  5176.  
  5177. Choosing new initial node, because it has more features
  5178.  
  5179. addNode runtime: 0.0310585 s
  5180.  
  5181. Converting Matrix of type CV_8UC1 to RGBA
  5182.  
  5183. Target Matrix is of type CV_8UC4
  5184.  
  5185. processNode runtime: 0.0370889 s
  5186.  
  5187. Feature Detection runtime: 0.290692 s
  5188.  
  5189. Feature Extraction runtime: 0.0405245 s
  5190.  
  5191. Feature Count of Node: 358
  5192.  
  5193. Node runtime: 0.331481 s
  5194.  
  5195. waiting time: 0sec
  5196.  
  5197. Processing Node in parallel to the construction of the next node
  5198.  
  5199. cameraCallback runtime: 0.331864 s
  5200.  
  5201. Found Message of /camera/depth/image_raw
  5202.  
  5203. New Node with id 1 has address 0x7f7788758e80 (GraphManager is 0x7fff6fd77560)
  5204.  
  5205. Graphsize: 1
  5206.  
  5207. Comparing new node (1) with previous node 0
  5208.  
  5209. Found Message of /camera/rgb/camera_info
  5210.  
  5211. Found Message of /tf
  5212.  
  5213. Found Message of /camera/rgb/image_mono
  5214.  
  5215. Found Message of /tf
  5216.  
  5217. Found Message of /tf
  5218.  
  5219. Found Message of /tf
  5220.  
  5221. Found Message of /tf
  5222.  
  5223. Found Message of /tf
  5224.  
  5225. Received data from kinect
  5226.  
  5227. Depth image time: 1329476961 - 365569399
  5228.  
  5229. RGB image time: 1329476961 - 374286063
  5230.  
  5231. Converting Matrix of type CV_8UC1 to RGBA
  5232.  
  5233. Target Matrix is of type CV_8UC4
  5234.  
  5235. Converting Matrix of type CV_8UC1 to RGBA
  5236.  
  5237. Target Matrix is of type CV_8UC4
  5238.  
  5239. Flann knnsearch runtime: 0.0178121 s
  5240.  
  5241. Feature Matches between Nodes 1 ( 358 features) and 0 ( 375 features) in segment 1/1 (features 0 to 358 of first node): 249. Percentage: 69,553073%, Avg NN Ratio: 0,370538
  5242.  
  5243. count_matrix( 2, 1) = 249;
  5244.  
  5245. dista_matrix( 2, 1) = 0,171977;
  5246.  
  5247. Feature Matches between Nodes 1 ( 358 features) and 0 ( 375 features): 249
  5248.  
  5249. findPairsFlann runtime: 0.0183158 s
  5250.  
  5251. found 249 inital matches
  5252.  
  5253. noCloudCallback runtime: 0.0177413 s
  5254.  
  5255. Construction of Node with SURF Features
  5256.  
  5257. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5258.  
  5259. getRelativeTransformationTo runtime: 0.0133452 s
  5260.  
  5261. RANSAC found no valid trafo, but had initially 249 feature matches with average ratio 0,171977
  5262.  
  5263. Node ID's to compare with candidate for node 1. Sequential:
  5264.  
  5265. Running node comparisons in parallel in 4 (of 6) available threads
  5266.  
  5267. Choosing new initial node, because it has more features
  5268.  
  5269. addNode runtime: 0.032739 s
  5270.  
  5271. Converting Matrix of type CV_8UC1 to RGBA
  5272.  
  5273. Target Matrix is of type CV_8UC4
  5274.  
  5275. processNode runtime: 0.0392422 s
  5276.  
  5277. Feature Detection runtime: 0.283043 s
  5278.  
  5279. Feature 84 has been extracted at NaN depth. Omitting
  5280.  
  5281. Feature 84 has been extracted at NaN depth. Omitting
  5282.  
  5283. Feature 144 has been extracted at NaN depth. Omitting
  5284.  
  5285. Feature 146 has been extracted at NaN depth. Omitting
  5286.  
  5287. Feature 186 has been extracted at NaN depth. Omitting
  5288.  
  5289. Feature 186 has been extracted at NaN depth. Omitting
  5290.  
  5291. Feature 187 has been extracted at NaN depth. Omitting
  5292.  
  5293. Feature 187 has been extracted at NaN depth. Omitting
  5294.  
  5295. Feature 206 has been extracted at NaN depth. Omitting
  5296.  
  5297. Feature 206 has been extracted at NaN depth. Omitting
  5298.  
  5299. Feature 257 has been extracted at NaN depth. Omitting
  5300.  
  5301. Feature 258 has been extracted at NaN depth. Omitting
  5302.  
  5303. Feature 258 has been extracted at NaN depth. Omitting
  5304.  
  5305. Feature 258 has been extracted at NaN depth. Omitting
  5306.  
  5307. Feature 287 has been extracted at NaN depth. Omitting
  5308.  
  5309. Feature 287 has been extracted at NaN depth. Omitting
  5310.  
  5311. Feature 302 has been extracted at NaN depth. Omitting
  5312.  
  5313. Feature 319 has been extracted at NaN depth. Omitting
  5314.  
  5315. Feature 326 has been extracted at NaN depth. Omitting
  5316.  
  5317. Feature 330 has been extracted at NaN depth. Omitting
  5318.  
  5319. Feature Extraction runtime: 0.0389172 s
  5320.  
  5321. Feature Count of Node: 332
  5322.  
  5323. Node runtime: 0.322624 s
  5324.  
  5325. waiting time: 0sec
  5326.  
  5327. Processing Node in parallel to the construction of the next node
  5328.  
  5329. cameraCallback runtime: 0.323035 s
  5330.  
  5331. Found Message of /camera/depth/image_raw
  5332.  
  5333. New Node with id 1 has address 0x7f7788760320 (GraphManager is 0x7fff6fd77560)
  5334.  
  5335. Graphsize: 1
  5336.  
  5337. Comparing new node (1) with previous node 0
  5338.  
  5339. Found Message of /camera/rgb/camera_info
  5340.  
  5341. Found Message of /camera/rgb/image_mono
  5342.  
  5343. Found Message of /tf
  5344.  
  5345. Received data from kinect
  5346.  
  5347. Depth image time: 1329476961 - 401728480
  5348.  
  5349. RGB image time: 1329476961 - 406363821
  5350.  
  5351. Converting Matrix of type CV_8UC1 to RGBA
  5352.  
  5353. Target Matrix is of type CV_8UC4
  5354.  
  5355. Converting Matrix of type CV_8UC1 to RGBA
  5356.  
  5357. Target Matrix is of type CV_8UC4
  5358.  
  5359. Flann knnsearch runtime: 0.0162931 s
  5360.  
  5361. Feature Matches between Nodes 1 ( 332 features) and 0 ( 375 features) in segment 1/1 (features 0 to 332 of first node): 233. Percentage: 70,180723%, Avg NN Ratio: 0,373007
  5362.  
  5363. count_matrix( 2, 1) = 233;
  5364.  
  5365. dista_matrix( 2, 1) = 0,181946;
  5366.  
  5367. Feature Matches between Nodes 1 ( 332 features) and 0 ( 375 features): 233
  5368.  
  5369. findPairsFlann runtime: 0.0165591 s
  5370.  
  5371. found 233 inital matches
  5372.  
  5373. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5374.  
  5375. getRelativeTransformationTo runtime: 0.0120535 s
  5376.  
  5377. RANSAC found no valid trafo, but had initially 233 feature matches with average ratio 0,181946
  5378.  
  5379. Node ID's to compare with candidate for node 1. Sequential:
  5380.  
  5381. Running node comparisons in parallel in 4 (of 6) available threads
  5382.  
  5383. Choosing new initial node, because it has more features
  5384.  
  5385. addNode runtime: 0.0289464 s
  5386.  
  5387. Converting Matrix of type CV_8UC1 to RGBA
  5388.  
  5389. Target Matrix is of type CV_8UC4
  5390.  
  5391. createXYZRGBPointCloud runtime: 0.0241503 s
  5392.  
  5393. noCloudCallback runtime: 0.0319568 s
  5394.  
  5395. Construction of Node with SURF Features
  5396.  
  5397. processNode runtime: 0.0373372 s
  5398.  
  5399. Feature Detection runtime: 0.320122 s
  5400.  
  5401. Feature Extraction runtime: 0.0428246 s
  5402.  
  5403. Feature Count of Node: 363
  5404.  
  5405. Node runtime: 0.363219 s
  5406.  
  5407. waiting time: 0sec
  5408.  
  5409. Processing Node in parallel to the construction of the next node
  5410.  
  5411. cameraCallback runtime: 0.363524 s
  5412.  
  5413. Found Message of /camera/depth/image_raw
  5414.  
  5415. New Node with id 1 has address 0x7f7778097cc0 (GraphManager is 0x7fff6fd77560)
  5416.  
  5417. Graphsize: 1
  5418.  
  5419. Comparing new node (1) with previous node 0
  5420.  
  5421. Found Message of /tf
  5422.  
  5423. Found Message of /camera/rgb/camera_info
  5424.  
  5425. Found Message of /camera/rgb/image_mono
  5426.  
  5427. Found Message of /tf
  5428.  
  5429. Found Message of /tf
  5430.  
  5431. Received data from kinect
  5432.  
  5433. Depth image time: 1329476961 - 433709694
  5434.  
  5435. RGB image time: 1329476961 - 442326180
  5436.  
  5437. Converting Matrix of type CV_8UC1 to RGBA
  5438.  
  5439. Target Matrix is of type CV_8UC4
  5440.  
  5441. Converting Matrix of type CV_8UC1 to RGBA
  5442.  
  5443. Target Matrix is of type CV_8UC4
  5444.  
  5445. Flann knnsearch runtime: 0.017086 s
  5446.  
  5447. Feature Matches between Nodes 1 ( 363 features) and 0 ( 375 features) in segment 1/1 (features 0 to 363 of first node): 246. Percentage: 67,768595%, Avg NN Ratio: 0,390997
  5448.  
  5449. count_matrix( 2, 1) = 246;
  5450.  
  5451. dista_matrix( 2, 1) = 0,181688;
  5452.  
  5453. Feature Matches between Nodes 1 ( 363 features) and 0 ( 375 features): 246
  5454.  
  5455. findPairsFlann runtime: 0.0173182 s
  5456.  
  5457. found 246 inital matches
  5458.  
  5459. noCloudCallback runtime: 0.0178423 s
  5460.  
  5461. Construction of Node with SURF Features
  5462.  
  5463. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5464.  
  5465. getRelativeTransformationTo runtime: 0.0140089 s
  5466.  
  5467. RANSAC found no valid trafo, but had initially 246 feature matches with average ratio 0,181687
  5468.  
  5469. Node ID's to compare with candidate for node 1. Sequential:
  5470.  
  5471. Running node comparisons in parallel in 4 (of 6) available threads
  5472.  
  5473. Choosing new initial node, because it has more features
  5474.  
  5475. addNode runtime: 0.0317557 s
  5476.  
  5477. Converting Matrix of type CV_8UC1 to RGBA
  5478.  
  5479. Target Matrix is of type CV_8UC4
  5480.  
  5481. processNode runtime: 0.0387186 s
  5482.  
  5483. Feature Detection runtime: 0.281721 s
  5484.  
  5485. Feature Extraction runtime: 0.0399868 s
  5486.  
  5487. Feature Count of Node: 345
  5488.  
  5489. Node runtime: 0.321974 s
  5490.  
  5491. waiting time: 0sec
  5492.  
  5493. Processing Node in parallel to the construction of the next node
  5494.  
  5495. cameraCallback runtime: 0.322354 s
  5496.  
  5497. Found Message of /camera/depth/image_raw
  5498.  
  5499. Found Message of /camera/rgb/camera_info
  5500.  
  5501. New Node with id 1 has address 0x7f7778070a00 (GraphManager is 0x7fff6fd77560)
  5502.  
  5503. Graphsize: 1
  5504.  
  5505. Comparing new node (1) with previous node 0
  5506.  
  5507. Found Message of /tf
  5508.  
  5509. Found Message of /camera/rgb/image_mono
  5510.  
  5511. Found Message of /tf
  5512.  
  5513. Found Message of /tf
  5514.  
  5515. Found Message of /tf
  5516.  
  5517. Found Message of /tf
  5518.  
  5519. Received data from kinect
  5520.  
  5521. Depth image time: 1329476961 - 465776887
  5522.  
  5523. RGB image time: 1329476961 - 474451907
  5524.  
  5525. Converting Matrix of type CV_8UC1 to RGBA
  5526.  
  5527. Target Matrix is of type CV_8UC4
  5528.  
  5529. Converting Matrix of type CV_8UC1 to RGBA
  5530.  
  5531. Target Matrix is of type CV_8UC4
  5532.  
  5533. Flann knnsearch runtime: 0.0170253 s
  5534.  
  5535. Feature Matches between Nodes 1 ( 345 features) and 0 ( 375 features) in segment 1/1 (features 0 to 345 of first node): 247. Percentage: 71,594203%, Avg NN Ratio: 0,371435
  5536.  
  5537. count_matrix( 2, 1) = 247;
  5538.  
  5539. dista_matrix( 2, 1) = 0,186580;
  5540.  
  5541. Feature Matches between Nodes 1 ( 345 features) and 0 ( 375 features): 247
  5542.  
  5543. findPairsFlann runtime: 0.0172879 s
  5544.  
  5545. found 247 inital matches
  5546.  
  5547. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5548.  
  5549. getRelativeTransformationTo runtime: 0.0160815 s
  5550.  
  5551. RANSAC found no valid trafo, but had initially 247 feature matches with average ratio 0,186580
  5552.  
  5553. Node ID's to compare with candidate for node 1. Sequential:
  5554.  
  5555. Running node comparisons in parallel in 4 (of 6) available threads
  5556.  
  5557. Choosing new initial node, because it has more features
  5558.  
  5559. addNode runtime: 0.0340562 s
  5560.  
  5561. Converting Matrix of type CV_8UC1 to RGBA
  5562.  
  5563. Target Matrix is of type CV_8UC4
  5564.  
  5565. createXYZRGBPointCloud runtime: 0.027208 s
  5566.  
  5567. noCloudCallback runtime: 0.0353174 s
  5568.  
  5569. Construction of Node with SURF Features
  5570.  
  5571. processNode runtime: 0.0422268 s
  5572.  
  5573. Feature Detection runtime: 0.286868 s
  5574.  
  5575. Feature Extraction runtime: 0.0414082 s
  5576.  
  5577. Feature Count of Node: 362
  5578.  
  5579. Node runtime: 0.328549 s
  5580.  
  5581. waiting time: 0sec
  5582.  
  5583. Processing Node in parallel to the construction of the next node
  5584.  
  5585. New Node with id 1 has address 0x7f7780311410 (GraphManager is 0x7fff6fd77560)
  5586.  
  5587. Graphsize: 1
  5588.  
  5589. Comparing new node (1) with previous node 0
  5590.  
  5591. Flann knnsearch runtime: 0.0118162 s
  5592.  
  5593. Feature Matches between Nodes 1 ( 362 features) and 0 ( 375 features) in segment 1/1 (features 0 to 362 of first node): 248. Percentage: 68,508287%, Avg NN Ratio: 0,381045
  5594.  
  5595. count_matrix( 2, 1) = 248;
  5596.  
  5597. dista_matrix( 2, 1) = 0,174728;
  5598.  
  5599. Feature Matches between Nodes 1 ( 362 features) and 0 ( 375 features): 248
  5600.  
  5601. findPairsFlann runtime: 0.0119778 s
  5602.  
  5603. found 248 inital matches
  5604.  
  5605. cameraCallback runtime: 0.341076 s
  5606.  
  5607. Found Message of /camera/depth/image_raw
  5608.  
  5609. Found Message of /camera/rgb/camera_info
  5610.  
  5611. Found Message of /camera/rgb/image_mono
  5612.  
  5613. Found Message of /tf
  5614.  
  5615. Received data from kinect
  5616.  
  5617. Depth image time: 1329476961 - 501405811
  5618.  
  5619. RGB image time: 1329476961 - 506301768
  5620.  
  5621. Converting Matrix of type CV_8UC1 to RGBA
  5622.  
  5623. Target Matrix is of type CV_8UC4
  5624.  
  5625. Converting Matrix of type CV_8UC1 to RGBA
  5626.  
  5627. Target Matrix is of type CV_8UC4
  5628.  
  5629. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5630.  
  5631. getRelativeTransformationTo runtime: 0.0147494 s
  5632.  
  5633. RANSAC found no valid trafo, but had initially 248 feature matches with average ratio 0,174728
  5634.  
  5635. Node ID's to compare with candidate for node 1. Sequential:
  5636.  
  5637. Running node comparisons in parallel in 4 (of 6) available threads
  5638.  
  5639. Choosing new initial node, because it has more features
  5640.  
  5641. addNode runtime: 0.0270165 s
  5642.  
  5643. Converting Matrix of type CV_8UC1 to RGBA
  5644.  
  5645. Target Matrix is of type CV_8UC4
  5646.  
  5647. processNode runtime: 0.0331385 s
  5648.  
  5649. createXYZRGBPointCloud runtime: 0.0118623 s
  5650.  
  5651. noCloudCallback runtime: 0.0194724 s
  5652.  
  5653. Construction of Node with SURF Features
  5654.  
  5655. Feature Detection runtime: 0.272192 s
  5656.  
  5657. Feature 94 has been extracted at NaN depth. Omitting
  5658.  
  5659. Feature 94 has been extracted at NaN depth. Omitting
  5660.  
  5661. Feature 158 has been extracted at NaN depth. Omitting
  5662.  
  5663. Feature 158 has been extracted at NaN depth. Omitting
  5664.  
  5665. Feature 199 has been extracted at NaN depth. Omitting
  5666.  
  5667. Feature 221 has been extracted at NaN depth. Omitting
  5668.  
  5669. Feature 221 has been extracted at NaN depth. Omitting
  5670.  
  5671. Feature 267 has been extracted at NaN depth. Omitting
  5672.  
  5673. Feature 268 has been extracted at NaN depth. Omitting
  5674.  
  5675. Feature 268 has been extracted at NaN depth. Omitting
  5676.  
  5677. Feature 296 has been extracted at NaN depth. Omitting
  5678.  
  5679. Feature 296 has been extracted at NaN depth. Omitting
  5680.  
  5681. Feature 309 has been extracted at NaN depth. Omitting
  5682.  
  5683. Feature 327 has been extracted at NaN depth. Omitting
  5684.  
  5685. Feature 336 has been extracted at NaN depth. Omitting
  5686.  
  5687. Feature 341 has been extracted at NaN depth. Omitting
  5688.  
  5689. Feature Extraction runtime: 0.0392302 s
  5690.  
  5691. Feature Count of Node: 343
  5692.  
  5693. Node runtime: 0.311939 s
  5694.  
  5695. waiting time: 0sec
  5696.  
  5697. Processing Node in parallel to the construction of the next node
  5698.  
  5699. New Node with id 1 has address 0x7f7780311410 (GraphManager is 0x7fff6fd77560)
  5700.  
  5701. Graphsize: 1
  5702.  
  5703. Comparing new node (1) with previous node 0
  5704.  
  5705. Flann knnsearch runtime: 0.0113403 s
  5706.  
  5707. Feature Matches between Nodes 1 ( 343 features) and 0 ( 375 features) in segment 1/1 (features 0 to 343 of first node): 227. Percentage: 66,180758%, Avg NN Ratio: 0,399129
  5708.  
  5709. count_matrix( 2, 1) = 227;
  5710.  
  5711. dista_matrix( 2, 1) = 0,174172;
  5712.  
  5713. Feature Matches between Nodes 1 ( 343 features) and 0 ( 375 features): 227
  5714.  
  5715. findPairsFlann runtime: 0.0115149 s
  5716.  
  5717. found 227 inital matches
  5718.  
  5719. cameraCallback runtime: 0.32482 s
  5720.  
  5721. Found Message of /camera/depth/image_raw
  5722.  
  5723. Found Message of /tf
  5724.  
  5725. Found Message of /camera/rgb/camera_info
  5726.  
  5727. Found Message of /camera/rgb/image_mono
  5728.  
  5729. Found Message of /tf
  5730.  
  5731. Received data from kinect
  5732.  
  5733. Depth image time: 1329476961 - 533760386
  5734.  
  5735. RGB image time: 1329476961 - 542347065
  5736.  
  5737. Converting Matrix of type CV_8UC1 to RGBA
  5738.  
  5739. Target Matrix is of type CV_8UC4
  5740.  
  5741. Converting Matrix of type CV_8UC1 to RGBA
  5742.  
  5743. Target Matrix is of type CV_8UC4
  5744.  
  5745. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5746.  
  5747. getRelativeTransformationTo runtime: 0.0124303 s
  5748.  
  5749. RANSAC found no valid trafo, but had initially 227 feature matches with average ratio 0,174172
  5750.  
  5751. Node ID's to compare with candidate for node 1. Sequential:
  5752.  
  5753. Running node comparisons in parallel in 4 (of 6) available threads
  5754.  
  5755. Choosing new initial node, because it has more features
  5756.  
  5757. addNode runtime: 0.0241865 s
  5758.  
  5759. Converting Matrix of type CV_8UC1 to RGBA
  5760.  
  5761. Target Matrix is of type CV_8UC4
  5762.  
  5763. processNode runtime: 0.03159 s
  5764.  
  5765. noCloudCallback runtime: 0.0158553 s
  5766.  
  5767. Construction of Node with SURF Features
  5768.  
  5769. Feature Detection runtime: 0.285178 s
  5770.  
  5771. Feature Extraction runtime: 0.0425036 s
  5772.  
  5773. Feature Count of Node: 358
  5774.  
  5775. Node runtime: 0.327949 s
  5776.  
  5777. waiting time: 0sec
  5778.  
  5779. Processing Node in parallel to the construction of the next node
  5780.  
  5781. New Node with id 1 has address 0x7f7780315860 (GraphManager is 0x7fff6fd77560)
  5782.  
  5783. Graphsize: 1
  5784.  
  5785. Comparing new node (1) with previous node 0
  5786.  
  5787. cameraCallback runtime: 0.333126 s
  5788.  
  5789. Found Message of /camera/depth/image_raw
  5790.  
  5791. Found Message of /camera/rgb/camera_info
  5792.  
  5793. Found Message of /camera/rgb/image_mono
  5794.  
  5795. Found Message of /tf
  5796.  
  5797. Found Message of /tf
  5798.  
  5799. Found Message of /tf
  5800.  
  5801. Found Message of /tf
  5802.  
  5803. Found Message of /tf
  5804.  
  5805. Received data from kinect
  5806.  
  5807. Depth image time: 1329476961 - 569724584
  5808.  
  5809. RGB image time: 1329476961 - 574417833
  5810.  
  5811. Converting Matrix of type CV_8UC1 to RGBA
  5812.  
  5813. Target Matrix is of type CV_8UC4
  5814.  
  5815. Flann knnsearch runtime: 0.0144914 s
  5816.  
  5817. Feature Matches between Nodes 1 ( 358 features) and 0 ( 375 features) in segment 1/1 (features 0 to 358 of first node): 244. Percentage: 68,156425%, Avg NN Ratio: 0,383360
  5818.  
  5819. count_matrix( 2, 1) = 244;
  5820.  
  5821. dista_matrix( 2, 1) = 0,170756;
  5822.  
  5823. Feature Matches between Nodes 1 ( 358 features) and 0 ( 375 features): 244
  5824.  
  5825. findPairsFlann runtime: 0.0146906 s
  5826.  
  5827. found 244 inital matches
  5828.  
  5829. Converting Matrix of type CV_8UC1 to RGBA
  5830.  
  5831. Target Matrix is of type CV_8UC4
  5832.  
  5833. noCloudCallback runtime: 0.0146338 s
  5834.  
  5835. Construction of Node with SURF Features
  5836.  
  5837. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5838.  
  5839. getRelativeTransformationTo runtime: 0.0168199 s
  5840.  
  5841. RANSAC found no valid trafo, but had initially 244 feature matches with average ratio 0,170756
  5842.  
  5843. Node ID's to compare with candidate for node 1. Sequential:
  5844.  
  5845. Running node comparisons in parallel in 4 (of 6) available threads
  5846.  
  5847. Choosing new initial node, because it has more features
  5848.  
  5849. addNode runtime: 0.0317555 s
  5850.  
  5851. Converting Matrix of type CV_8UC1 to RGBA
  5852.  
  5853. Target Matrix is of type CV_8UC4
  5854.  
  5855. processNode runtime: 0.0389109 s
  5856.  
  5857. Feature Detection runtime: 0.292286 s
  5858.  
  5859. Feature Extraction runtime: 0.0412604 s
  5860.  
  5861. Feature Count of Node: 348
  5862.  
  5863. Node runtime: 0.333821 s
  5864.  
  5865. waiting time: 0sec
  5866.  
  5867. Processing Node in parallel to the construction of the next node
  5868.  
  5869. New Node with id 1 has address 0x12bdd00 (GraphManager is 0x7fff6fd77560)
  5870.  
  5871. Graphsize: 1
  5872.  
  5873. Comparing new node (1) with previous node 0
  5874.  
  5875. cameraCallback runtime: 0.339468 s
  5876.  
  5877. Found Message of /camera/depth/image_raw
  5878.  
  5879. Flann knnsearch runtime: 0.0119077 s
  5880.  
  5881. Feature Matches between Nodes 1 ( 348 features) and 0 ( 375 features) in segment 1/1 (features 0 to 348 of first node): 245. Percentage: 70,402299%, Avg NN Ratio: 0,375444
  5882.  
  5883. count_matrix( 2, 1) = 245;
  5884.  
  5885. dista_matrix( 2, 1) = 0,184844;
  5886.  
  5887. Feature Matches between Nodes 1 ( 348 features) and 0 ( 375 features): 245
  5888.  
  5889. findPairsFlann runtime: 0.0120679 s
  5890.  
  5891. found 245 inital matches
  5892.  
  5893. Found Message of /camera/rgb/camera_info
  5894.  
  5895. Found Message of /camera/rgb/image_mono
  5896.  
  5897. Found Message of /tf
  5898.  
  5899. Found Message of /tf
  5900.  
  5901. Received data from kinect
  5902.  
  5903. Depth image time: 1329476961 - 601527990
  5904.  
  5905. RGB image time: 1329476961 - 606530439
  5906.  
  5907. Converting Matrix of type CV_8UC1 to RGBA
  5908.  
  5909. Target Matrix is of type CV_8UC4
  5910.  
  5911. Converting Matrix of type CV_8UC1 to RGBA
  5912.  
  5913. Target Matrix is of type CV_8UC4
  5914.  
  5915. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  5916.  
  5917. getRelativeTransformationTo runtime: 0.0118351 s
  5918.  
  5919. RANSAC found no valid trafo, but had initially 245 feature matches with average ratio 0,184844
  5920.  
  5921. Node ID's to compare with candidate for node 1. Sequential:
  5922.  
  5923. Running node comparisons in parallel in 4 (of 6) available threads
  5924.  
  5925. Choosing new initial node, because it has more features
  5926.  
  5927. addNode runtime: 0.0241483 s
  5928.  
  5929. Converting Matrix of type CV_8UC1 to RGBA
  5930.  
  5931. Target Matrix is of type CV_8UC4
  5932.  
  5933. processNode runtime: 0.0290415 s
  5934.  
  5935. createXYZRGBPointCloud runtime: 0.0110845 s
  5936.  
  5937. noCloudCallback runtime: 0.0171303 s
  5938.  
  5939. Construction of Node with SURF Features
  5940.  
  5941. Feature Detection runtime: 0.263037 s
  5942.  
  5943. Feature Extraction runtime: 0.0406359 s
  5944.  
  5945. Feature Count of Node: 344
  5946.  
  5947. Node runtime: 0.303943 s
  5948.  
  5949. waiting time: 0sec
  5950.  
  5951. Processing Node in parallel to the construction of the next node
  5952.  
  5953. cameraCallback runtime: 0.304355 s
  5954.  
  5955. Found Message of /camera/depth/image_raw
  5956.  
  5957. New Node with id 1 has address 0x12bdd00 (GraphManager is 0x7fff6fd77560)
  5958.  
  5959. Graphsize: 1
  5960.  
  5961. Comparing new node (1) with previous node 0
  5962.  
  5963. Found Message of /camera/rgb/camera_info
  5964.  
  5965. Found Message of /camera/rgb/image_mono
  5966.  
  5967. Found Message of /tf
  5968.  
  5969. Found Message of /tf
  5970.  
  5971. Received data from kinect
  5972.  
  5973. Depth image time: 1329476961 - 633791184
  5974.  
  5975. RGB image time: 1329476961 - 642343986
  5976.  
  5977. Converting Matrix of type CV_8UC1 to RGBA
  5978.  
  5979. Target Matrix is of type CV_8UC4
  5980.  
  5981. Converting Matrix of type CV_8UC1 to RGBA
  5982.  
  5983. Target Matrix is of type CV_8UC4
  5984.  
  5985. Flann knnsearch runtime: 0.0182009 s
  5986.  
  5987. Feature Matches between Nodes 1 ( 344 features) and 0 ( 375 features) in segment 1/1 (features 0 to 344 of first node): 242. Percentage: 70,348837%, Avg NN Ratio: 0,369702
  5988.  
  5989. count_matrix( 2, 1) = 242;
  5990.  
  5991. dista_matrix( 2, 1) = 0,174792;
  5992.  
  5993. Feature Matches between Nodes 1 ( 344 features) and 0 ( 375 features): 242
  5994.  
  5995. findPairsFlann runtime: 0.0187844 s
  5996.  
  5997. found 242 inital matches
  5998.  
  5999. 0 good iterations (from 5000), inlier pct 0, inlier cnt: 0, error: 0,00 cm
  6000.  
  6001. getRelativeTransformationTo runtime: 0.0117778 s
  6002.  
  6003. RANSAC found no valid trafo, but had initially 242 feature matches with average ratio 0,174792
  6004.  
  6005. Node ID's to compare with candidate for node 1. Sequential:
  6006.  
  6007. Running node comparisons in parallel in 4 (of 6) available threads
  6008.  
  6009. Choosing new initial node, because it has more features
  6010.  
  6011. addNode runtime: 0.0315896 s
  6012.  
  6013. Converting Matrix of type CV_8UC1 to RGBA
  6014.  
  6015. Target Matrix is of type CV_8UC4
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