Crash during splitting with plys written from cartographer_ros

[erikreed]

I seem to be crashing on plys written from cartographer_ros -- I'm not sure whether the bug is with the ply_writer from that repo or the parsing of the ply from this one. I think the latter since I am able to open the ply generated from cartographer_ros in Meshlab.

My current solution is loading the ply in Meshlab and re-exporting it. After that I am able to run build_octree successfully.

Stack trace:

``` $ RUST_BACKTRACE=1 ./target/debug/build_octree SNIP --output_directory SNIP --num_threads 12 Determining bounding box: 42624301 / 42624301 [===============================] 100.00 % 965727.77/s Creating octree structure. Splitting r which has 42624301 points (426.24x MAX_POINTS_PER_NODE). thread '' panicked at 'called `Result::unwrap()` on an `Err` value: Error(NodeNotFound, State { next_error: None, backtrace: InternalBacktrace { backtrace: Some(stack backtrace: 0: error_chain::backtrace::imp::InternalBacktrace::new at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/error-chain-0.12.1/src/backtrace.rs:56 1: ::default at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/error-chain-0.12.1/src/lib.rs:671 2: point_viewer::errors::Error::from_kind at <::error_chain::error_chain::impl_error_chain_processed macros>:72 3: >::from at src/errors.rs:18 4: >::into at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/convert.rs:547 5: point_viewer::data_provider::on_disk::OnDiskDataProvider::number_of_points at src/data_provider/on_disk.rs:27 6: point_viewer::octree::generation::split_node::{{closure}} at src/octree/generation.rs:178 7: scoped_pool::Scope::recurse::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:316 8: ::run at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:509 9: scoped_pool::Pool::run_thread at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:185 10: scoped_pool::Pool::expand::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:160 11: std::sys_common::backtrace::__rust_begin_short_backtrace at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/sys_common/backtrace.rs:126 12: std::thread::Builder::spawn_unchecked::{{closure}}::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/thread/mod.rs:470 13: as core::ops::function::FnOnce<()>>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panic.rs:315 14: std::panicking::try::do_call at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:292 15: __rust_maybe_catch_panic at src/libpanic_unwind/lib.rs:80 16: std::panicking::try at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:271 17: std::panic::catch_unwind at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panic.rs:394 18: std::thread::Builder::spawn_unchecked::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/thread/mod.rs:469 19: core::ops::function::FnOnce::call_once{{vtable.shim}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/ops/function.rs:227 20: as core::ops::function::FnOnce>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/liballoc/boxed.rs:922 21: as core::ops::function::FnOnce>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/liballoc/boxed.rs:922 std::sys_common::thread::start_thread at src/libstd/sys_common/thread.rs:13 std::sys::unix::thread::Thread::new::thread_start at src/libstd/sys/unix/thread.rs:79 22: start_thread 23: __clone ) } })', src/libcore/result.rs:1165:5 stack backtrace: thread '' panicked at 'called `Result::unwrap()` on an `Err` value: Error(NodeNotFound, State { next_error: None, backtrace: InternalBacktrace { backtrace: Some(stack backtrace: 0: error_chain::backtrace::imp::InternalBacktrace::new at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/error-chain-0.12.1/src/backtrace.rs:56 1: ::default at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/error-chain-0.12.1/src/lib.rs:671 2: point_viewer::errors::Error::from_kind at <::error_chain::error_chain::impl_error_chain_processed macros>:72 3: >::from at src/errors.rs:18 4: >::into at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/convert.rs:547 5: point_viewer::data_provider::on_disk::OnDiskDataProvider::number_of_points at src/data_provider/on_disk.rs:27 6: point_viewer::octree::generation::split_node::{{closure}} at src/octree/generation.rs:178 7: scoped_pool::Scope::recurse::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:316 8: ::run at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:509 9: scoped_pool::Pool::run_thread at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:185 10: scoped_pool::Pool::expand::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:160 11: std::sys_common::backtrace::__rust_begin_short_backtrace at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/sys_common/backtrace.rs:126 12: std::thread::Builder::spawn_unchecked::{{closure}}::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/thread/mod.rs:470 13: as core::ops::function::FnOnce<()>>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panic.rs:315 14: std::panicking::try::do_call at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:292 15: __rust_maybe_catch_panic at src/libpanic_unwind/lib.rs:80 16: std::panicking::try at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:271 17: std::panic::catch_unwind at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panic.rs:394 18: std::thread::Builder::spawn_unchecked::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/thread/mod.rs:469 19: core::ops::function::FnOnce::call_once{{vtable.shim}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/ops/function.rs:227 20: as core::ops::function::FnOnce>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/liballoc/boxed.rs:922 21: as core::ops::function::FnOnce>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/liballoc/boxed.rs:922 std::sys_common::thread::start_thread at src/libstd/sys_common/thread.rs:13 std::sys::unix::thread::Thread::new::thread_start at src/libstd/sys/unix/thread.rs:79 22: start_thread 23: __clone ) } })', src/libcore/result.rs:1165:5 thread '' panicked at 'called `Result::unwrap()` on an `Err` value: Error(NodeNotFound, State { next_error: None, backtrace: InternalBacktrace { backtrace: Some(stack backtrace: 0: error_chain::backtrace::imp::InternalBacktrace::new at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/error-chain-0.12.1/src/backtrace.rs:56 1: ::default at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/error-chain-0.12.1/src/lib.rs:671 2: point_viewer::errors::Error::from_kind at <::error_chain::error_chain::impl_error_chain_processed macros>:72 3: >::from at src/errors.rs:18 4: >::into at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/convert.rs:547 5: point_viewer::data_provider::on_disk::OnDiskDataProvider::number_of_points at src/data_provider/on_disk.rs:27 6: point_viewer::octree::generation::split_node::{{closure}} at src/octree/generation.rs:178 7: scoped_pool::Scope::recurse::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:316 8: ::run at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:509 9: scoped_pool::Pool::run_thread at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:185 10: scoped_pool::Pool::expand::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:160 11: std::sys_common::backtrace::__rust_begin_short_backtrace at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/sys_common/backtrace.rs:126 12: std::thread::Builder::spawn_unchecked::{{closure}}::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/thread/mod.rs:470 13: as core::ops::function::FnOnce<()>>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panic.rs:315 14: std::panicking::try::do_call at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:292 15: __rust_maybe_catch_panic at src/libpanic_unwind/lib.rs:80 16: std::panicking::try at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:271 17: std::panic::catch_unwind at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panic.rs:394 18: std::thread::Builder::spawn_unchecked::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/thread/mod.rs:469 19: core::ops::function::FnOnce::call_once{{vtable.shim}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/ops/function.rs:227 20: as core::ops::function::FnOnce>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/liballoc/boxed.rs:922 21: as core::ops::function::FnOnce>::call_once at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/liballoc/boxed.rs:922 std::sys_common::thread::start_thread at src/libstd/sys_common/thread.rs:13 std::sys::unix::thread::Thread::new::thread_start at src/libstd/sys/unix/thread.rs:79 22: start_thread 23: __clone ) } })', src/libcore/result.rs:1165:5 0: backtrace::backtrace::libunwind::trace at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/libunwind.rs:88 1: backtrace::backtrace::trace_unsynchronized at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/mod.rs:66 2: std::sys_common::backtrace::_print_fmt at src/libstd/sys_common/backtrace.rs:76 3: ::fmt at src/libstd/sys_common/backtrace.rs:60 4: core::fmt::write at src/libcore/fmt/mod.rs:1030 5: std::io::Write::write_fmt at src/libstd/io/mod.rs:1412 6: std::sys_common::backtrace::_print at src/libstd/sys_common/backtrace.rs:64 7: std::sys_common::backtrace::print at src/libstd/sys_common/backtrace.rs:49 8: std::panicking::default_hook::{{closure}} at src/libstd/panicking.rs:196 9: std::panicking::default_hook at src/libstd/panicking.rs:210 10: std::panicking::rust_panic_with_hook at src/libstd/panicking.rs:473 11: std::panicking::continue_panic_fmt at src/libstd/panicking.rs:380 12: rust_begin_unwind at src/libstd/panicking.rs:307 13: core::panicking::panic_fmt at src/libcore/panicking.rs:85 14: core::result::unwrap_failed at src/libcore/result.rs:1165 15: core::result::Result::unwrap at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/result.rs:933 16: point_viewer::octree::generation::split_node::{{closure}} at ./src/octree/generation.rs:178 17: scoped_pool::Scope::recurse::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:316 18: ::run at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:509 19: scoped_pool::Pool::run_thread at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:185 20: scoped_pool::Pool::expand::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:160 note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace. stack backtrace: 0: backtrace::backtrace::libunwind::trace at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/libunwind.rs:88 1: backtrace::backtrace::trace_unsynchronized at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/mod.rs:66 2: std::sys_common::backtrace::_print_fmt at src/libstd/sys_common/backtrace.rs:76 3: ::fmt at src/libstd/sys_common/backtrace.rs:60 4: core::fmt::write at src/libcore/fmt/mod.rs:1030 5: std::io::Write::write_fmt at src/libstd/io/mod.rs:1412 6: std::sys_common::backtrace::_print at src/libstd/sys_common/backtrace.rs:64 7: std::sys_common::backtrace::print at src/libstd/sys_common/backtrace.rs:49 8: std::panicking::default_hook::{{closure}} at src/libstd/panicking.rs:196 9: std::panicking::default_hook at src/libstd/panicking.rs:210 10: std::panicking::rust_panic_with_hook at src/libstd/panicking.rs:473 11: std::panicking::continue_panic_fmt at src/libstd/panicking.rs:380 12: rust_begin_unwind at src/libstd/panicking.rs:307 13: core::panicking::panic_fmt at src/libcore/panicking.rs:85 14: core::result::unwrap_failed at src/libcore/result.rs:1165 15: core::result::Result::unwrap at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/result.rs:933 16: point_viewer::octree::generation::split_node::{{closure}} at ./src/octree/generation.rs:178 17: scoped_pool::Scope::recurse::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:316 18: ::run at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:509 19: scoped_pool::Pool::run_thread at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:185 20: scoped_pool::Pool::expand::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:160 note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace. stack backtrace: 0: backtrace::backtrace::libunwind::trace at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/libunwind.rs:88 1: backtrace::backtrace::trace_unsynchronized at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/mod.rs:66 2: std::sys_common::backtrace::_print_fmt at src/libstd/sys_common/backtrace.rs:76 3: ::fmt at src/libstd/sys_common/backtrace.rs:60 4: core::fmt::write at src/libcore/fmt/mod.rs:1030 5: std::io::Write::write_fmt at src/libstd/io/mod.rs:1412 6: std::sys_common::backtrace::_print at src/libstd/sys_common/backtrace.rs:64 7: std::sys_common::backtrace::print at src/libstd/sys_common/backtrace.rs:49 8: std::panicking::default_hook::{{closure}} at src/libstd/panicking.rs:196 9: std::panicking::default_hook at src/libstd/panicking.rs:210 10: std::panicking::rust_panic_with_hook at src/libstd/panicking.rs:473 11: std::panicking::continue_panic_fmt at src/libstd/panicking.rs:380 12: rust_begin_unwind at src/libstd/panicking.rs:307 13: core::panicking::panic_fmt at src/libcore/panicking.rs:85 14: core::result::unwrap_failed at src/libcore/result.rs:1165 15: core::result::Result::unwrap at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/result.rs:933 16: point_viewer::octree::generation::split_node::{{closure}} at ./src/octree/generation.rs:178 17: scoped_pool::Scope::recurse::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:316 18: ::run at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:509 19: scoped_pool::Pool::run_thread at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:185 20: scoped_pool::Pool::expand::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:160 note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace. thread 'main' panicked at 'WaitGroup explicitly poisoned!', /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:457:13 stack backtrace: 0: backtrace::backtrace::libunwind::trace at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/libunwind.rs:88 1: backtrace::backtrace::trace_unsynchronized at /cargo/registry/src/github.com-1ecc6299db9ec823/backtrace-0.3.37/src/backtrace/mod.rs:66 2: std::sys_common::backtrace::_print_fmt at src/libstd/sys_common/backtrace.rs:76 3: ::fmt at src/libstd/sys_common/backtrace.rs:60 4: core::fmt::write at src/libcore/fmt/mod.rs:1030 5: std::io::Write::write_fmt at src/libstd/io/mod.rs:1412 6: std::sys_common::backtrace::_print at src/libstd/sys_common/backtrace.rs:64 7: std::sys_common::backtrace::print at src/libstd/sys_common/backtrace.rs:49 8: std::panicking::default_hook::{{closure}} at src/libstd/panicking.rs:196 9: std::panicking::default_hook at src/libstd/panicking.rs:210 10: std::panicking::rust_panic_with_hook at src/libstd/panicking.rs:473 11: std::panicking::begin_panic at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/panicking.rs:407 12: scoped_pool::WaitGroup::join at ./<::std::macros::panic macros>:3 13: scoped_pool::Scope::join at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:341 14: scoped_pool::Scope::zoom::{{closure}} at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:328 15: as core::ops::drop::Drop>::drop at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scopeguard-0.1.2/src/lib.rs:63 16: core::ptr::real_drop_in_place at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libcore/ptr/mod.rs:175 17: scoped_pool::Scope::zoom at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:332 18: scoped_pool::Pool::scoped at /home/erik/.cargo/registry/src/github.com-1ecc6299db9ec823/scoped-pool-1.0.0/src/lib.rs:117 19: point_viewer::octree::generation::build_octree at ./src/octree/generation.rs:328 20: point_viewer::octree::generation::build_octree_from_file at ./src/octree/generation.rs:290 21: build_octree::main at src/bin/build_octree.rs:43 22: std::rt::lang_start::{{closure}} at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/rt.rs:64 23: std::rt::lang_start_internal::{{closure}} at src/libstd/rt.rs:49 24: std::panicking::try::do_call at src/libstd/panicking.rs:292 25: __rust_maybe_catch_panic at src/libpanic_unwind/lib.rs:80 26: std::panicking::try at src/libstd/panicking.rs:271 27: std::panic::catch_unwind at src/libstd/panic.rs:394 28: std::rt::lang_start_internal at src/libstd/rt.rs:48 29: std::rt::lang_start at /rustc/4560ea788cb760f0a34127156c78e2552949f734/src/libstd/rt.rs:64 30: main 31: __libc_start_main 32: _start note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace. ```

Maybe relevant versions:

• point_cloud_viewer: https://github.com/googlecartographer/point_cloud_viewer/commit/fc546d5c821b24cf01d26d5a972910f444a40bd6
• https://github.com/googlecartographer/cartographer_ros/commit/1de03b3d32b9e4e5bc86aa9bfca948e592efd10d -- built from its kinetic dockerfile
• rustc 1.39.0, cargo 1.39.0 w/ dependencies installed per README
• Ubuntu 18.04

[feuerste]

Hi @erikreed Your ply doesn't have color information:

$ head failing.ply
ply
format binary_little_endian 1.0
comment generated by Cartographer
element vertex 000000042624301
property float x
property float y
property float z
property float intensity
end_header

build_octree assumes to have rgb values set. Is there an option in cartographer_ros to output rgb colors?

[erikreed]

Ah much appreciated, that explains it. The cartographer_ros docs do suggest colorizing the output but I wasn't aware it was a requirement for building the octree.

I colored by intensity and am able to build the octree successfully. The new header is:

$ head working.ply
ply
format binary_little_endian 1.0
comment generated by Cartographer
element vertex 000000042624301
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue

Cheers!