fastgicp error

[EH-HU]

AttributeError: 'pygicp.FastGICP' object has no attribute 'set_max_knn_distance'

How can I solve this problem?

[EH-HU]

Add. This code will produce a corresponding error self.reg.set_input_target(points)

Segmentation fault (core dumped)

[Riboha]

Did you clone and install the fast_gicp in the gs_icp_slam branch? (Not in the main branch)

[EH-HU]

Thank you for your response, the first error has been fixed, but the second error is still not fixed.

[huarzail]

How to solve this problem??? I also have this problem. I found that the official code of fase_gicp used the main branch. But when I run the command "bash tum.sh", it was not well running. It endless loop(it seems that) at the second iter(current_pose = self.reg.align(initial_pose)). The console has no log output. When I change the fase_gicp brance of gs_gicp_slam, the error changed as : AttributeError: 'pygicp.FastGICP' object has no attribute 'set_max_knn_distance'.

What should I do???

When I use the gdb debug, I found the endless loop is this log:

Thread 1 "python" received signal SIGSEGV, Segmentation fault. 0x00007fffc3b0221c in bool fast_gicp::FastGICP<pcl::PointXYZ, pcl::PointXYZ, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > >, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > > >::calculate_source_covariances_with_filterpcl::PointXYZ(pcl::PointCloudpcl::PointXYZ::ConstPtr const&, pcl::search::Searchpcl::PointXYZ&, std::vector<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::aligned_allocator<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >&, std::vector<float, std::allocator >&, std::vector<float, std::allocator >&, std::vector<int, std::allocator >&) [clone ._omp_fn.0] () from /home/gvlib_ljh/3DGS-SLAM/GS_ICP_SLAM/submodules/fast_gicp/build/lib.linux-x86_64-cpython-310/libfast_gicp.so (gdb) backtrace

0 0x00007fffc3b0221c in bool fast_gicp::FastGICP<pcl::PointXYZ, pcl::PointXYZ, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > >, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > > >::calculate_source_covariances_with_filterpcl::PointXYZ(pcl::PointCloudpcl::PointXYZ::ConstPtr const&, pcl::search::Searchpcl::PointXYZ&, std::vector<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::aligned_allocator<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >&, std::vector<float, std::allocator >&, std::vector<float, std::allocator >&, std::vector<int, std::allocator >&) [clone ._omp_fn.0] ()

at /home/gvlib_ljh/3DGS-SLAM/GS_ICP_SLAM/submodules/fast_gicp/build/lib.linux-x86_64-cpython-310/libfast_gicp.so

1 0x00007fffc39ae686 in GOMP_parallel () at /lib/x86_64-linux-gnu/libgomp.so.1

2 0x00007fffc3b0f226 in bool fast_gicp::FastGICP<pcl::PointXYZ, pcl::PointXYZ, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > >, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > > >::calculate_source_covariances_with_filterpcl::PointXYZ(pcl::PointCloudpcl::PointXYZ::ConstPtr const&, pcl::search::Searchpcl::PointXYZ&, std::vector<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::aligned_allocator<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >&, std::vector<float, std::allocator >&, std::vector<float, std::allocator >&, std::vector<int, std::allocator >&) ()

at /home/gvlib_ljh/3DGS-SLAM/GS_ICP_SLAM/submodules/fast_gicp/build/lib.linux-x86_64-cpython-310/libfast_gicp.so

3 0x00007fffc3b0f4c1 in fast_gicp::FastGICP<pcl::PointXYZ, pcl::PointXYZ, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > >, pcl::search::KdTree<pcl::PointXYZ, pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple > > >::computeTransformation(pcl::PointCloudpcl::PointXYZ&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&) ()

at /home/gvlib_ljh/3DGS-SLAM/GS_ICP_SLAM/submodules/fast_gicp/build/lib.linux-x86_64-cpython-310/libfast_gicp.so

4 0x00007fffc3b5b25e in () at /home/gvlib_ljh/.local/lib/python3.10/site-packages/pygicp-0.0.1-py3.10-linux-x86_64.egg/pygicp.cpython-310-x86_64-linux-gnu.so

5 0x00007fffc3b5bcef in () at /home/gvlib_ljh/.local/lib/python3.10/site-packages/pygicp-0.0.1-py3.10-linux-x86_64.egg/pygicp.cpython-310-x86_64-linux-gnu.so

6 0x00007fffc3b4f2ac in () at /home/gvlib_ljh/.local/lib/python3.10/site-packages/pygicp-0.0.1-py3.10-linux-x86_64.egg/pygicp.cpython-310-x86_64-linux-gnu.so

7 0x00005555556b3e0e in ()

8 0x00005555556aa5eb in _PyObject_MakeTpCall ()

9 0x00005555556c27bb in ()

10 0x00005555556a28a2 in _PyEval_EvalFrameDefault ()

11 0x00005555556b470c in _PyFunction_Vectorcall ()

12 0x000055555569ce0d in _PyEval_EvalFrameDefault ()

13 0x000055555578de56 in ()

14 0x000055555578dcf6 in PyEval_EvalCode ()

15 0x00005555557b87d8 in ()

16 0x00005555557b20bb in ()

17 0x00005555557b8525 in ()

18 0x00005555557b7a08 in _PyRun_SimpleFileObject ()

19 0x00005555557b7653 in _PyRun_AnyFileObject ()

20 0x00005555557aa41e in Py_RunMain ()

21 0x0000555555780cad in Py_BytesMain ()

22 0x00007ffff7c29d90 in __libc_start_call_main (main=main@entry=0x555555780c70, argc=argc@entry=6, argv=argv@entry=0x7fffffffdfb8) at ../sysdeps/nptl/libc_start_call_main.h:58

23 0x00007ffff7c29e40 in __libc_start_main_impl

(main=0x555555780c70, argc=6, argv=0x7fffffffdfb8, init=, fini=, rtld_fini=, stack_end=0x7fffffffdfa8) at ../csu/libc-start.c:392

24 0x0000555555780ba5 in _start ()

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