in the beginning also getting few errors saying no display list could be created as shown below
[ INFO] [1338224988.787804464]: Rotation: 8.37, Distance: 0.238m
[ INFO] [1338224988.787925538]: Added Edge between 1 and 5. Inliers: 65
[ INFO] [1338224988.788120198]: Information Matrix for Edge (0<->5
25 0 0 0 0 0
0 25 0 0 0 0
0 0 25 0 0 0
0 0 0 25 0 0
0 0 0 0 25 0
0 0 0 0 0 25
[ERROR] [ INFO] [1338224988.788246240]: Rotation: 22.29, Distance: 0.114m
[ INFO] [1338224988.788360570]: Added Edge between 0 and 5. Inliers: 54
[ INFO] [1338224988.803413644]: Built flannIndex (address 0x7f3d8d7d0390) for Node 5
[ INFO] [1338224988.803573771]: Added Node, new graphsize: 6 nodes
[ WARN] [1338224988.803711679]: Loop Closures: 0, Sequential Edges: 15
[ WARN] [1338224988.803755588]: Starting Optimization
[ INFO] [1338224988.803867169]: World->Base: Translation -0.0231351 0.132364 0.0418887
[ INFO] [1338224988.803987630]: World->Base: Rotation -0.00136037 -0.132094 -0.117103 0.984295
**[ERROR] [1338224988.804246420]: No display list could be
created created**
iteration= 0 chi2= 42.351829 time= 0.000160933 cumTime= 0.000160933 lambda= -1.000000 edges= 15 schur= 0
[ WARN] [1338224988.805015611]: G2O Statistics: 6 nodes, 15 edges. 42.3518288353744 ; chi2 , Iterations: 1
[ INFO] [1338224988.805062111]: Finished G2O optimization after 1 iterations
[ WARN] [1338224988.806400341]: Optimizer Runtime; 0.00267593 s
[ INFO] [1338224992.429717475]: Feature Count of Node: 421
[ WARN] [1338224992.732788391]: Frame id /odom does not exist! Frames (7): Frame /openni_depth_optical_frame exists with parent /openni_depth_frame.
Frame /openni_depth_frame exists with parent /openni_camera.
Frame /openni_rgb_optical_frame exists with parent /openni_rgb_frame.
Frame /openni_rgb_frame exists with parent /openni_camera.
Frame /openni_camera exists with parent NO_PARENT.
Frame /map exists with parent /openni_camera.
- No odometry
availableavailable
[ INFO] [1338224992.733198503]: Odometry: Translation 0 0 0
[ INFO] [1338224992.733370013]: Odometry: Rotation 0 0 0 1
[ INFO] [1338224992.734458060]: Odometry Delta: Translation 0 0 0
[ INFO] [1338224992.734606244]: Odometry Delta: Rotation 0 0 0 1
[ WARN] [1338224992.734699015]: No Valid Odometry, using identity
[ INFO] [1338224992.734840101]: Comparing new node (6) with previous node 5
[ INFO] [1338224992.758740952]: Construction of Node with SURF Features
[ INFO] [1338224992.775722888]: Feature Matches between Nodes 6 ( 421 features) and 5 ( 393 features) in segment 1/1 (features 0 to 421 of first node): 176. Percentage: 41.805226%, Avg NN Ratio: 0.626708
[ INFO] [1338224992.775828732]: count_matrix( 7, 6) = 176;
[ INFO] [1338224992.775873996]: dista_matrix( 7, 6) = 0.299544;
[ INFO] [1338224992.785078981]: 36 good iterations (from 1000), inlier pct 49, inlier cnt: 87, error: 215.88 cm
[ INFO] [1338224992.785162962]: RANSAC found a valid transformation with 87 inliers matches with average ratio 0.321630
[ INFO] [1338224992.785210648]: Returning Valid Edge
[ INFO] [1338224992.785274167]: Rotation: 4.20, Distance: 0.103m
[ INFO] [1338224992.785578554]: Added Edge between 5 and 6. Inliers: 87
[ INFO] [1338224992.786864780]: Node ID's to compare with candidate for node 6. Sequential: 4, 3, 2, 1, 0, [ INFO] [1338224992.786922982]: Running node comparisons in parallel in 9 (of 10) available threads
[ INFO] [1338224992.822657467]: Feature Matches between Nodes 6 ( 421 features) and 3 ( 445 features) in segment 1/1 (features 0 to 421 of first node): 208. Percentage: 49.406176%, Avg NN Ratio: 0.577972
[ INFO] [1338224992.822865206]: count_matrix( 7, 4) = 208;
[ INFO] [1338224992.822945341]: dista_matrix( 7, 4) = 0.297795;
[ INFO] [1338224992.829826915]: Feature Matches between Nodes 6 ( 421 features) and 0 ( 492 features) in segment 1/1 (features 0 to 421 of first node): 87. Percentage: 20.665083%, Avg NN Ratio: 0.748540
[ INFO] [1338224992.829955749]: count_matrix( 7, 1) = 87;
[ INFO] [1338224992.830022028]: dista_matrix( 7, 1) = 0.337733;
[ INFO] [1338224992.836985840]: 41 good iterations (from 1000), inlier pct 78, inlier cnt: 68, error: 199.99 cm
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