cvflann problem in rgbdslamv2

[yincanben]

I successfully installed rgbdslam on ROS hydro.When I launch the rgbdslam.launch, it can identify some features with blue circle around , but after hitting Space or Enter key that error appears.
I got this error log:
[ INFO] [1415264850.473182552]: No change to renderer skip (1).
[ INFO] [1415264850.473317810]: 1 Keyframes: 0,
[ INFO] [1415264850.565500255]: Siftgpu Feature Descriptors size: 600 x 128
[ INFO] [1415264850.565544782]: Feature Count of Node: 600
[ INFO] [1415264850.569676183]: Odometry Delta: Translation 0 0 0
[ INFO] [1415264850.569757595]: Odometry Delta: Rotation 0 0 0 1
[ INFO] [1415264850.569799697]: No Valid Odometry, using identity
[ INFO] [1415264850.569892681]: Node ID's to compare with candidate for node 1. Sequential: 0
[ INFO] [1415264850.569947773]: Nodes to compare: 0
[ INFO] [1415264850.569976833]: Running node comparisons in parallel in 7 (of 8) available threads
rgbdslam: /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140819-1808/modules/flann/include/opencv2/flann/kdtree_index.h:458: void cvflann::KDTreeIndex::getNeighbors(cvflann::ResultSet&, const ElementType_, int, float) [with Distance = cvflann::L2, typename Distance::ResultType = float, cvflann::KDTreeIndex::ElementType = float]: Assertion `result.full()' failed.
================================================================================REQUIRED process [rgbdslam-1] has died!
process has died [pid 21345, exit code -6, cmd /home/ycb13/catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam _log:=/home/ycb13/.ros/log/182187ce-658e-11e4-9c34-3417ebd919cc/rgbdslam-1.log].
log file: /home/ycb13/.ros/log/182187ce-658e-11e4-9c34-3417ebd919cc/rgbdslam-1.log

Initiating shutdown!

[rgbdslam-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
I don`t know whats the problem is , I appreciate if you could Help me .
In advance thank you!

[felixendres]

Hi, the only way I know this might be caused is when the feature descriptions contained NaN.
Could you please try another feature type, e.g., change the two occurences of "SIFTGPU" to "SURF" or "ORB" and report back.

[yincanben]

I have changed "SIFTGPU" to "ORB" in rgbdslam.launch file, and it works successfully. Thank you!