rgbdslam v2 crashes after processing the first frame

edit

Hello all,

I have (supposedly) successfully catkin_make'd rgbdslam_v2 following the instructions from here on ros-hydro and ubuntu 12.04. Then I run :

roslaunch rgbdslam rgbdslam.launch

and

roslaunch openni_launch openni.launch (since I'm using the Kinect sensor)

Everything good so far (the gui, etc..). Then I press the "enter" button to record a single frame and after a couple of seconds I can see the registered cloud along with the features in the bottom-right window. But, when I press the "enter" key again, to record a second frame I get the error below:

[ INFO] [1424181067.056503402]: Siftgpu Feature Descriptors size: 600 x 128
[ INFO] [1424181067.056629147]: Feature Count of Node:  600
[ INFO] [1424181067.066904524]: Odometry Delta: Translation 0 0 0
[ INFO] [1424181067.067152611]: Odometry Delta: Rotation 0 0 0 1
[ INFO] [1424181067.067285958]: No Valid Odometry, using identity
[ INFO] [1424181067.067507486]: Node ID's to compare with candidate for node 1. Sequential: 0
[ INFO] [1424181067.067683740]: Nodes to compare: 0
[ INFO] [1424181067.067813802]: Running node comparisons in parallel in 7 (of 8) available threads
[ INFO] [1424181067.078635881]: Depth and RGB image off more than 1/30sec: 36753459 (nsec)

rgbdslam: /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140819-1745/modules/flann/include/opencv2/flann/kdtree_index.h:458: 
void cvflann::KDTreeIndex<Distance>::getNeighbors(cvflann::ResultSet<typename Distance::ResultType>&, const ElementType*, int, float) [with Distance = cvflann::L2<float>, typename Distance::ResultType = float, cvflann::KDTreeIndex<Distance>::ElementType = float]: Assertion `result.full()' failed.
================================================================================REQUIRED process [rgbdslam-2] has died!
process has died [pid 20933, exit code -6, cmd /home/kokirits/rgbdslam_hydro_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/kokirits/.ros/log/e3d1a8d6-b6ab-11e4-9f21-4c80931194a0/rgbdslam-2.log].
log file: /home/kokirits/.ros/log/e3d1a8d6-b6ab-11e4-9f21-4c80931194a0/rgbdslam-2*.log

 Initiating shutdown!

================================================================================
[rgbdslam-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Anyone got an idea on how to solve this?