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CCNYRoboticsLab / ccny_rgbd_tools

ccny_rgbd_tools
GNU Lesser General Public License v3.0
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Optimization for graph-based global alignement is not working. #2

Closed ashaat closed 11 years ago

ashaat commented 11 years ago

Hello!

Thanks for sharing such a nice tool. vo and normal mapping working fine. But i faced a problem in optimization using g2o. it is generating graph (using generateGraphSrvCallback), but when solveGraphSrvCallback is called it is giving following error

Adding vertices... Adding edges... Optimizing... [VO 787] Fr: 0.0 GFT[203][196]: 52.4 ICPProbModel 3.6 TOTAL 56.7 [VO 788] Fr: 0.0 GFT[208][199]: 30.9 ICPProbModel 1.7 TOTAL 32.8 [VO 789] Fr: 0.0 GFT[210][207]: 38.5 ICPProbModel 1.4 TOTAL 40.6 [VO 790] Fr: 0.5 GFT[201][198]: 26.5 ICPProbModel 1.4 TOTAL 29.0 [VO 791] Fr: 0.0 GFT[184][180]: 27.1 ICPProbModel 1.5 TOTAL 30.4

[keyframe_mapper_node-2] process has died [pid 7952, exit code -11, cmd /home/ashaat/ros_workspace/ccny_rgbd_tools/ccny_rgbd/bin/keyframe_mapper_node name:=keyframe_mapper_node log:=/home/ashaat/.ros/log/51ec4e02-6ed3-11e2-9c58-20689d99b934/keyframe_mapper_node-2.log]. log file: /home/ashaat/.ros/log/51ec4e02-6ed3-11e2-9c58-20689d99b934/keyframe_mapper_node-2*.log

[VO 801] Fr: 0.0 GFT[192][190]: 34.6 ICPProbModel 1.4 TOTAL 36.5 [VO 802] Fr: 0.0 GFT[204][200]: 25.9 ICPProbModel 1.5 TOTAL 27.5 [VO 803] Fr: 0.0 GFT[197][192]: 32.0 ICPProbModel 1.5 TOTAL 33.6 [VO 804] Fr: 0.0 GFT[192][187]: 28.5 ICPProbModel 1.5 TOTAL 30.3 [VO 805] Fr: 0.0 GFT[207][199]: 28.0 ICPProbModel 1.5 TOTAL 29.6 . .

.

It through the error- "process has died" when function, optimizer_.optimize(10) function is called. I have tested by installing g2o separately, but got same result.

Thanks for help in advance

cheers,

ashaat

ccny-ros-pkg commented 11 years ago

Thank you for the ticket. I reverted to an earlier version of the class which seems to resolve the segfault issue. It has been fixed in master, groovy, and fuerte branches