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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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Segmentation fault #103

Open JasonLiu324 opened 3 years ago

JasonLiu324 commented 3 years ago

Hi there. I'm now testing the GPD2 with ./detect_grasps. But when I run the command, it will show segmentation fault. I have no idea what may cause the problem. BTW, the dependency version I installed is listed below: PCL 1.9 VTK 7.1 Eigen 3 OpenCV 4.3 cmake 3.8 I would appreciate for your reply, thanks a lot.

xibeisiber commented 3 years ago

usually it is because the necessary config file is not found. Check all the paths of files that need to be loaded. And it's better that you give the error message here.

JasonLiu324 commented 3 years ago

@xibeisiber Thanks for the response, I will check the path. But actually I didn't get any more error messages except for a 'segmentation fault (core dumped)'.

xibeisiber commented 3 years ago

Actually GPD will give the message if some file is not found, but not as an error message, but a "normal" output. so you can also check the whole output if there is something wrong

JasonLiu324 commented 3 years ago

@xibeisiber Thank you so much. I will try to locate the error.

chaiban commented 3 years ago

Hi @JasonLiu324 ,

Did you clear the error ? Thank you!

JasonLiu324 commented 3 years ago

@chaiban Nope. I didn't solve the problem. Maybe it's related to hardware platform. I try to run the forward tree branch and make it work on ROS.

chaiban commented 3 years ago

Okay! Thanks

gachiemchiep commented 3 years ago

@JasonLiu324 @chaiban https://github.com/atenpas/gpd/issues/88#issuecomment-689259476 solved my problems.

Inside CmakeLists.txt, change from 

set(CMAKE_CXX_FLAGS " -O3 -fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++14")

to

set(CMAKE_CXX_FLAGS " -fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++14")

I used the following libraries

Name Version
cuda 10.2
eigen 3.3.8
pcl 1.11.1
opencv 4.5
openvino 2019.3
atenpas commented 3 years ago

Could you try the following flags?

set(CMAKE_CXX_FLAGS "-O3 -march=native -mtune=intel -msse4.2 -mavx2 -mfma -flto -fopenmp -fPIC -Wno-d eprecated -Wenum-compare -Wno-ignored-attributes -std=c++17")

This works for me in Ubuntu 18.04 where with the previous set of flags, I'd encountered a segfault. The compilation takes some time, but GPD runs fast.