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intel / ros2_grasp_library

https://intel.github.io/ros2_grasp_library
Apache License 2.0
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Eigen Error #61

Open portgasray opened 4 years ago

portgasray commented 4 years ago

Due to the Nvidia GPU is not supported? I set device to CPU in grasp_ros2_params.yaml. and run ros2 run grasp_ros2 grasp_ros2 __params:=src/ros2_grasp_library/grasp_ros2/cfg/grasp_ros2_params.yaml

met with the problem following:

Calculating surface normals ...
Using integral images for surface normals estimation ...
grasp_ros2: /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:285: void Eigen::PlainObjectBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 3, -1>; Eigen::Index = long int]: Assertion `(!(RowsAtCompileTime!=Dynamic) || (rows==RowsAtCompileTime)) && (!(ColsAtCompileTime!=Dynamic) || (cols==ColsAtCompileTime)) && (!(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic) || (rows<=MaxRowsAtCompileTime)) && (!(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic) || (cols<=MaxColsAtCompileTime)) && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."' failed.

my assumption: Because of the object(the scene) in realsense view could not be calculated currently, or due to the gpdmodel?

portgasray commented 4 years ago

same problem issued by sharronliu CloudCamera::calculateNormalsOrganized() failed when processing PointCloudXYZRGBA

portgasray commented 4 years ago

It works! I updated the source code under suggestion by sharronliu's path . See my result: yrw0rx1TrjgbqfwU__thumbnail

thanks for your support, Yu @RoboticsYY

RoboticsYY commented 4 years ago

I never met this in my running. I'm not sure what's the difference that triggered this happening. Thanks for reporting!

portgasray commented 4 years ago

so, it's true that openvino not support Nvidia GPU, maybe it's not a good question. @RoboticsYY