Open chiragmajithia opened 8 years ago
willdzeng
commented
8 years ago From Mathieu:"To use Qt5, you may need to rebuild VTK6 (with qt support), then PCL for new VTK."
Seems like it can't find the vtk libary.
Try do a
sudo ldconfig
to fix the linkage issue.
And you may want to delete the build folder and try to rebuild.
chiragmajithia
commented
8 years ago I installed VTK and QT5 using this instructions. I downloaded VTK6.3 release from here. using Qt5 setup --
cd /path/to/VTK-Release-build cmake -DVTK_QT_VERSION:STRING=5 \ -DQT_QMAKE_EXECUTABLE:PATH=/path/to/qt5.2.1-install/5.2.1/gcc_64/bin/qmake \ -DVTK_Group_Qt:BOOL=ON \ -DCMAKE_PREFIX_PATH:PATH=/path/to/qt.5.2.1-install/5.2.1/gcc_64/lib/cmake \ -DBUILD_SHARED_LIBS:BOOL=ON /path/to/VTK
willdzeng
commented
8 years ago Which PCL are you using? it only support 1.7 I remember
chiragmajithia
commented
8 years ago I have pcl-1.8, but the package compiled successfully with it. If it compiles with pcl-1.8. should it not run with it?
chiragmajithia
commented
8 years ago After reinstalling openni_tools, opencv2.4.3 and vtk with qt5 - following the same instructions from previous comment -- the rtabmap and rtabmap_ros compiles sucessfully.
cmake -DCMAKE_BUILD_TYPE=Release .. -DCMAKE_INSTALL_PREFIX=~/vision/SLAM/devel/I get following output: chirag@thunderbolt:~/vision/rtabmap/build$ cmake -DCMAKE_BUILD_TYPE=Release .. -DCMAKE_INSTALL_PREFIX=~/vision/SLAM/devel/ -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include:
- The file was deleted, renamed, or moved to another location.
- An install or uninstall procedure did not complete successfully.
- The installation package was faulty and contained "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake" but not all the files it references.
-- Found OpenMP -- Found OpenCV: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev -- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/opt/ensenso/development/c/include;/usr/local/include/davidSDK;/usr/include/vtk-6.2;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/x86_64-linux-gnu;/usr/include/jsoncpp;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl -- Found ZLIB: /usr/include -- Found Freenect: /usr/include -- Found OpenNI2: /usr/include/openni2 -- Found DC1394: /usr/include/dc1394 -- Could NOT find CSPARSE (missing: CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) -- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/ -- Found cvsba: /usr/local/include -- Found RealSense: /opt/ros/kinetic/include -- Found octomap: /opt/ros/kinetic/include -- Found Pthreads
-- Info : -- Version : 0.11.11 -- CMAKE_INSTALL_PREFIX = /home/chirag/vision/SLAM/devel -- CMAKE_BUILD_TYPE = Release -- CMAKE_INSTALL_LIBDIR = lib -- BUILD_APP = ON -- BUILD_TOOLS = ON -- BUILD_EXAMPLES = ON -- BUILD_SHARED_LIBS = ON -- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++11 -- With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial) -- With Freenect = YES (License: Apache v2 and/or GPLv2) -- With OpenNI2 = YES (License: Apache v2) -- With Freenect2 = NO (libfreenect2 not found) -- With dc1394 = YES (License: LGPL) -- With FlyCapture2/Triclops = NO (Point Grey SDK not found) -- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike]) -- With g2o = NO (g2o not found) -- With GTSAM = YES (License: BSD) -- With VERTIGO = YES (License: GPLv3) -- With cvsba = YES (License: GPLv2) -- With ZED = NO (ZED sdk not found) -- With RealSense = YES (License: Apache-2) -- With OCTOMAP = YES (License: BSD) -- With Qt5 = YES (License: Open Source or Commercial)
-- Configuring done -- Generating done -- Build files have been written to: /home/chirag/vision/rtabmap/build
- rtabmap (standalone) crashes with Intel R200 as soon as we start mapping.
willdzeng
commented
8 years ago https://raw.githubusercontent.com/introlab/rtabmap_ros/master/README.md "RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic (Fuerte and Groovy are not"
willdzeng
commented
8 years ago @matlabbe maybe consider adding PCL1.7 Required in cmake?
matlabbe
commented
8 years ago I updated the comment, it should work with PCL >=1.7.
matlabbe
commented
8 years ago They may have updated the RealSense library, which would have break the r200 support in rtabmap. I'll check tomorrow.
chiragmajithia
commented
8 years ago Thank you for your reply @matlabbe. The file contains video of how rtabmap (standalone) is crashing - just in case it helps to figure out if there is something wrong with my installation. rtabmap.mp4.tar.gz
matlabbe
commented
8 years ago Cannot reproduce the problem on Ubuntu 16.04/Kinetic after building rtabmap/rtabmap_ros from source with ros-kinetic-librealsense binary package.
standalone:
From RGB-D hand-held tutorial with R200:
Small observation: The registered depth image (/camera/depth_registered/sw_registered/image_rect_raw) from realsense_camera has a lot of holes comparatively to the depth image generated in the standalone. There are maybe parameters to fill these holes on the realsense_camera side. Otherwise, you could create a nodelet to fill these holes, similarly to what is done in rtabmap standalone realsense driver.
cheers
matlabbe
commented
8 years ago Note that I reproduced a similar error when building against the ZED SDK. To debug on your side, launch rtabmap with gdb:
$ gdb rtabmap
# type "run"When rtabmap is opened, go in Preferences->Logging and set logger level to Debug. Start detection. When crashing, type bt (for backtrace) in the gdb console. Copy/paste here the whole terminal output.
chiragmajithia
commented
8 years ago Hey, Thank you for your attempts to debug the issue. I am new to using ROS and gdb -- Following is the output you asked:
[DEBUG] {140735533803264} (2016-10-17 17:19:44.388) Camera.cpp:100::takeImage() Time capturing image = 0.016550s
[DEBUG] {140735533803264} (2016-10-17 17:19:44.388) CameraThread.cpp:112::mainLoop()
[DEBUG] {140736048019200} (2016-10-17 17:19:44.388) OdometryThread.cpp:131::addData() Data buffer is full, the oldest data is removed to add the new one.
Thread 19 "rtabmap" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff8bfff700 (LWP 7927)]
Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float>, 0>, 3, 0>::run (kernel=<synthetic pointer>)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:386
386 kernel.template assignPacket<dstAlignment, srcAlignment, PacketType>(index);
(gdb) bt
#0 Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float>, 0>, 3, 0>::run (kernel=<synthetic pointer>)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:386
#1 Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::internal::assign_op<float> > (func=..., src=..., dst=...)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:653
#2 Eigen::internal::Assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::internal::assign_op<float>, Eigen::internal::Dense2Dense, float>::run (func=..., src=..., dst=...)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:790
#3 Eigen::internal::call_assignment_no_alias<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::internal::assign_op<float> >
(dst=..., src=..., func=...)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:747
#4 0x00007fffed6ff2dc in Eigen::internal::call_assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::Matrix<float, -1, 1, 0, -1, 1> const&, Eigen::internal::assign_op<float> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::internal::evaluator_traits<Eigen::Matrix<float, -1, 1, 0, -1, ---Typ---Typ---Type <ret---Typ---Typ---Typ---Type <ret---Type <ret---Type <return> t---Type <return> t---Typ---Typ---Type <ret---Typ---Type <return> t---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Typ---Type <return> to continue, or q <return> to quit---
1> >::Shape>::value, void*>::type) (func=..., src=..., dst=...)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712
#5 Eigen::internal::call_assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > (
src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693
#6 Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::_set<Eigen::Matrix<float, -1, 1, 0, -1, 1> > (
other=..., this=0x7fff8bfefc78) at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682
#7 Eigen::Matrix<float, -1, 1, 0, -1, 1>::operator= (other=..., this=0x7fff8bfefc78)
at /usr/include/eigen3/Eigen/src/Core/Matrix.h:208
#8 pcl::RandomSampleConsensus<pcl::PointXYZ>::computeModel (this=0x7fff8bfefc30)
at /home/chirag/vision/src/pcl/sample_consensus/include/pcl/sample_consensus/impl/ransac.hpp:106
#9 0x00007ffff728a744 in rtabmap::util3d::transformFromXYZCorrespondences(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, double, int, int, double, std::vector<int, std::allocator<int> >*, double*) () from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#10 0x00007ffff72da7ca in rtabmap::util3d::estimateMotion3DTo3D(std::map<int, cv::Point3_<float>, std::less<int>, std::allocator<std::pair<int const, cv::Point3_<float> > > > const&, std::map<int, cv::Point3_<float>, std::less<int>, std::allocator<std::pair<int const, cv::Point3_<float> > > > const&, int, double, int, int, double*, std::vector<int, std::allocator<int> >*, std::vector<int, std::allocator<int> >*) () from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#11 0x00007ffff73553c1 in rtabmap::RegistrationVis::computeTransformationImpl(rtabmap::Signature&, rtabmap::Signature&, rtabmap::Transform, rtabmap::RegistrationInfo&) const () from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#12 0x00007ffff7340bd0 in rtabmap::Registration::computeTransformationMod(rtabmap::Signature&, rtabmap::Signature&, rtabmap::Transform, rtabmap::RegistrationInfo*) const () from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#13 0x00007ffff739b9b5 in rtabmap::OdometryF2M::computeTransform(rtabmap::SensorData&, rtabmap::Transform const&, rtabmap::OdometryInfo*) () from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#14 0x00007ffff73870f0 in rtabmap::Odometry::process(rtabmap::SensorData&, rtabmap::Transform const&, rtabmap::OdometryInfo*) () from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#15 0x00007ffff738b1e7 in rtabmap::Odometry::process(rtabmap::SensorData&, rtabmap::OdometryInfo*) ()
from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#16 0x00007ffff73996b2 in rtabmap::OdometryThread::mainLoop() ()
from /home/chirag/vision/SLAM/devel/lib/librtabmap_core.so.0.11
#17 0x00007ffff6dc57d9 in UThreadC<void>::ThreadMainHandler(UThreadC<void>::Instance*) ()
from /home/chirag/vision/SLAM/devel/lib/librtabmap_utilite.so.0.11
#18 0x00007ffff54d16fa in start_thread (arg=0x7fff8bfff700) at pthread_create.c:333
#19 0x00007ffff59f1b5d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
(gdb)
Please do let me know if you need any other input from my end! I am going to try your previous suggestion - but I really doubt it would resolve the issue. I also have another system with me, I'll try and install rtabmap on it and see if the problem is reproduced in it.
Thank you again! Regards, Chirag
willdzeng
commented
8 years ago Can you post your cmake print also, Chirag?
chiragmajithia
commented
8 years ago Please find the cmake print --
chirag@thunderbolt:~/vision/rtabmap/build$ cmake -DCMAKE_BUILD_TYPE=Release .. -DCMAKE_INSTALL_PREFIX=~/vision/SLAM/devel -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Checking for module 'eigen3' -- Found eigen3, version 3.2.10 -- Found eigen: /usr/local/include/eigen3
-- Checking for module 'flann' -- Found flann, version 1.8.4 -- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- Checking for module 'libopenni' -- Found libopenni, version 1.5.4.0 -- Found openni: /usr/lib/libOpenNI.so
-- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include:
- The file was deleted, renamed, or moved to another location.
- An install or uninstall procedure did not complete successfully.
- The installation package was faulty and contained "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake" but not all the files it references.
-- Found libusb-1.0: /usr/include
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so
-- Found PCL_IO: /usr/local/lib/libpcl_io.so
-- Found PCL_2D: /usr/local/include/pcl-1.8
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so
-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.8
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so
-- Found PCL_OUTOFCORE: /usr/local/lib/libpcl_outofcore.so
-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so
-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so
-- Found PCL_PEOPLE: /usr/local/lib/libpcl_people.so
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so
-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so
-- Try OpenMP C flag = [-fopenmp] -- Performing Test OpenMP_FLAG_DETECTED -- Performing Test OpenMP_FLAG_DETECTED - Success -- Try OpenMP CXX flag = [-fopenmp] -- Performing Test OpenMP_FLAG_DETECTED -- Performing Test OpenMP_FLAG_DETECTED - Success -- Found OpenMP: -fopenmp
-- Found OpenMP -- Found OpenCV: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev -- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/opt/ensenso/development/c/include;/usr/local/include/davidSDK;/usr/include/vtk-6.2;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/x86_64-linux-gnu;/usr/include/jsoncpp;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl -- Found ZLIB: /usr/include -- Found Freenect: /usr/include -- Found OpenNI2: /usr/include/openni2 -- Found DC1394: /usr/include/dc1394 -- Found CSPARSE: /usr/include/suitesparse
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse -- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/ -- Found cvsba: /usr/local/include -- Found RealSense: /opt/ros/kinetic/include -- Found octomap: /opt/ros/kinetic/include -- Performing Test COMPILER_SUPPORTS_CXX11 -- Performing Test COMPILER_SUPPORTS_CXX11 - Success -- Performing Test COMPILER_SUPPORTS_CXX0X -- Performing Test COMPILER_SUPPORTS_CXX0X - Success -- Found Pthreads
-- Info : -- Version : 0.11.11 -- CMAKE_INSTALL_PREFIX = /home/chirag/vision/SLAM/devel -- CMAKE_BUILD_TYPE = Release -- CMAKE_INSTALL_LIBDIR = lib -- BUILD_APP = ON -- BUILD_TOOLS = ON -- BUILD_EXAMPLES = ON -- BUILD_SHARED_LIBS = ON -- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++11 -- With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial) -- With Freenect = YES (License: Apache v2 and/or GPLv2) -- With OpenNI2 = YES (License: Apache v2) -- With Freenect2 = NO (libfreenect2 not found) -- With dc1394 = YES (License: LGPL) -- With FlyCapture2/Triclops = NO (Point Grey SDK not found) -- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike]) -- With g2o = YES (License: BSD) -- With GTSAM = YES (License: BSD) -- With VERTIGO = YES (License: GPLv3) -- With cvsba = YES (License: GPLv2) -- With ZED = NO (ZED sdk not found) -- With RealSense = YES (License: Apache-2) -- With OCTOMAP = YES (License: BSD) -- With Qt5 = YES (License: Open Source or Commercial)
-- Configuring done -- Generating done -- Build files have been written to: /home/chirag/vision/rtabmap/build
matlabbe
commented
8 years ago Did you try with PCL binaries? (I think it is the 1.7.2 version)
chiragmajithia
commented
8 years ago I had an exam so I was not able work on it, I ll let you know the results by tomorrow with PCL binaries.
evanbeard
commented
7 years ago Having the same issue (i.e. a segfault at the same exact line above) when hitting "start" in rtabmap (without ros), both with the latest PCL libraries in APT (ubuntu 16.04) and PCL 1.7.2 built from source.
@matlabbe if you can't reproduce could you post the steps you use to build on Ubuntu 16.04?
matlabbe
commented
7 years ago Which sensor are you using? You can try setting the logger level to Debug in Preferences->Logging to see some logs on terminal before it crashes.
On my 16.04 machine, only libfreenect2 and GTSAM are built from source. For other dependencies, use apt-get. Look at my cmake status msg for packages installed from ros kinetic:
cmake ..
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/x86_64-linux-gnu;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/hdf5/openmpi;/usr/include/python2.7;/usr/include/tcl;/usr/include/libxml2
-- Found ZLIB: /usr/include
-- Found Freenect: /opt/ros/kinetic/include/libfreenect
-- Found freenect2: /usr/local/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found RealSense: /opt/ros/kinetic/include
-- Found octomap: /opt/ros/kinetic/include
-- Found Pthreads
-- --------------------------------------------
-- Info :
-- Version : 0.11.12
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_INSTALL_LIBDIR = lib
-- BUILD_APP = ON
-- BUILD_TOOLS = ON
-- BUILD_EXAMPLES = ON
-- BUILD_SHARED_LIBS = ON
-- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++11
-- With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
-- With Freenect = YES (License: Apache v2 and/or GPLv2)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = YES (License: Apache v2 and/or GPLv2)
-- With dc1394 = YES (License: LGPL)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
-- With g2o = YES (License: BSD)
-- With GTSAM = YES (License: BSD)
-- With VERTIGO = YES (License: GPLv3)
-- With cvsba = NO (WITH_CVSBA=OFF)
-- With ZED = NO (WITH_ZED=OFF)
-- With RealSense = YES (License: Apache-2)
-- With OCTOMAP = YES (License: BSD)
-- With Qt5 = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/mathieu/workspace/rtabmap/buildThanks! R200 sensor - same error sequence as in the video earlier in this thread. I just set logging to debug, here is the last bit:
[DEBUG] (2016-11-30 15:38:25.105) RegistrationVis.cpp:193::computeTransformationImpl() Vis/CorFlowMaxLevel=3
[DEBUG] (2016-11-30 15:38:25.105) RegistrationVis.cpp:194::computeTransformationImpl() guess=xyz=[null] rpy=[null]
[DEBUG] (2016-11-30 15:38:25.105) RegistrationVis.cpp:202::computeTransformationImpl() Input(-1): from=940 words, 940 3D words, 940 words descriptors, 0 kpts, 0 descriptors
[DEBUG] (2016-11-30 15:38:25.105) RegistrationVis.cpp:210::computeTransformationImpl() Input(3): to=0 words, 0 3D words, 0 words descriptors, 0 kpts, 0 descriptors
[DEBUG] (2016-11-30 15:38:25.105) RegistrationVis.cpp:229::computeTransformationImpl()
[DEBUG] (2016-11-30 15:38:25.105) RegistrationVis.cpp:446::computeTransformationImpl()
[DEBUG] (2016-11-30 15:38:25.107) MainWindow.cpp:2820::createAndAddCloudToMap()
[DEBUG] (2016-11-30 15:38:25.107) MainWindow.cpp:2249::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.107) MainWindow.cpp:2298::updateMapCloud() labels.size()=1
[DEBUG] (2016-11-30 15:38:25.107) MainWindow.cpp:2324::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.107) MainWindow.cpp:2383::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.107) MainWindow.cpp:2387::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.107) CloudViewer.cpp:782::removeOctomap()
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:2476::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.108) CloudViewer.cpp:390::updateCloudPose() Updating pose featuresOdom to xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:2482::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:2484::updateMapCloud()
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:1740::processStats() time= 7 ms
[DEBUG] (2016-11-30 15:38:25.108) util2d.cpp:1142::computeRoi() roi ratios = 0.000000, 0.000000, 0.000000, 0.000000
[DEBUG] (2016-11-30 15:38:25.108) util2d.cpp:1143::computeRoi() roi = 0, 0, 640, 480
[DEBUG] (2016-11-30 15:38:25.108) util2d.cpp:1168::computeRoi() roi = 0, 0, 640, 480
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:1867::processStats() time= 0 ms
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:1891::processStats()
[DEBUG] (2016-11-30 15:38:25.108) MainWindow.cpp:1907::processStats()
[ INFO] (2016-11-30 15:38:25.108) MainWindow.cpp:1919::processStats() Updating GUI time = 0.011000s
[DEBUG] (2016-11-30 15:38:25.109) MainWindow.cpp:877::processOdometry()
[DEBUG] (2016-11-30 15:38:25.109) MainWindow.cpp:901::processOdometry() odom lost
[DEBUG] (2016-11-30 15:38:25.115) Features2d.cpp:476::generateKeypoints() Keypoints extraction time = 0.006779 s, keypoints extracted = 1000 (mask empty=0)
[DEBUG] (2016-11-30 15:38:25.115) RegistrationVis.cpp:486::computeTransformationImpl() kptsFrom=940
[DEBUG] (2016-11-30 15:38:25.115) RegistrationVis.cpp:487::computeTransformationImpl() kptsTo=1000
[DEBUG] (2016-11-30 15:38:25.117) Features2d.cpp:517::generateDescriptors() Descriptors extracted = 927, remaining kpts=927
[DEBUG] (2016-11-30 15:38:25.118) RegistrationVis.cpp:643::computeTransformationImpl() descriptorsFrom=940
[DEBUG] (2016-11-30 15:38:25.118) RegistrationVis.cpp:644::computeTransformationImpl() descriptorsTo=927
[DEBUG] (2016-11-30 15:38:25.118) RegistrationVis.cpp:889::computeTransformationImpl()
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:302::update()
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:502::update() Dictionary updated! (size=0 added=0 removed=0)
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:510::update()
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:302::update()
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:317::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:326::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:330::update() Incremental FLANN: Inserting 940 words...
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:357::update() Building FLANN index...
[DEBUG] (2016-11-30 15:38:25.118) VWDictionary.cpp:375::update() Building FLANN index... done!
[DEBUG] (2016-11-30 15:38:25.121) VWDictionary.cpp:389::update() Incremental FLANN: Inserting 940 words... done!
[DEBUG] (2016-11-30 15:38:25.121) VWDictionary.cpp:502::update() Dictionary updated! (size=0 added=940 removed=0)
[DEBUG] (2016-11-30 15:38:25.121) VWDictionary.cpp:510::update()
[DEBUG] (2016-11-30 15:38:25.121) VWDictionary.cpp:588::addNewWords() id=2 descriptors=927
[DEBUG] (2016-11-30 15:38:25.121) VWDictionary.cpp:681::addNewWords() newPts.total()=927
[DEBUG] (2016-11-30 15:38:25.121) Camera.cpp:100::takeImage() Time capturing image = 0.016465s
[DEBUG] (2016-11-30 15:38:25.121) CameraThread.cpp:128::mainLoop()
[DEBUG] (2016-11-30 15:38:25.121) OdometryThread.cpp:136::addData() Data buffer is full, the oldest data is removed to add the new one.
[DEBUG] (2016-11-30 15:38:25.127) VWDictionary.cpp:746::addNewWords() Time to find nn = 0.006234 s
[DEBUG] (2016-11-30 15:38:25.128) VWDictionary.cpp:867::addNewWords() naive search and add ref/words time = 0.000595 s
[DEBUG] (2016-11-30 15:38:25.128) VWDictionary.cpp:869::addNewWords() 773 new words added...
[DEBUG] (2016-11-30 15:38:25.128) VWDictionary.cpp:871::addNewWords() 154 duplicated words added (from current image = 0)...
[DEBUG] (2016-11-30 15:38:25.128) VWDictionary.cpp:872::addNewWords() total time 0.006856s
[DEBUG] (2016-11-30 15:38:25.128) VWDictionary.cpp:515::clear()
[DEBUG] (2016-11-30 15:38:25.129) VWDictionary.cpp:515::clear()
[DEBUG] (2016-11-30 15:38:25.130) RegistrationVis.cpp:1127::computeTransformationImpl()
[DEBUG] (2016-11-30 15:38:25.130) util3d_motion_estimation.cpp:223::estimateMotion3DTo3D() Unique correspondences = 99
[DEBUG] (2016-11-30 15:38:25.130) util3d_registration.cpp:83::transformFromXYZCorrespondences() iterations=100 inlierThreshold=0.100000
Segmentation fault (core dumped)
Error is coming from Eigen and I had to install the latest version of that from source to avoid this message when running make (even after installing eigen from apt)
/usr/local/include/pcl-1.7/pcl/impl/point_types.hpp:46:22: fatal error: Eigen/Core: No such file or directory
maybe the issue is with the latest version of Eigen (3.3)
matlabbe
commented
7 years ago In your log, the application is crashing in util3d_registration.cpp:83::transformFromXYZCorrespondences(), which is exactly the same problem as https://github.com/introlab/rtabmap/issues/130 which seems indeed related to different Eigen versions used by RTAB-Map's dependencies.
Hello, I am new to linux and ros in general. I am trying to install rtabmap and rtabmap_ros on my laptop. I used the source to install rtabmap library and stand-alone application. Then I installed rtabmap_ros in a catkin workspace named slam and followed the instruction - I guess properly - to install rtabmap in the workspace/devel folder. Everything compiled but when I ran the rtabmap_ros with Intel R200, the process died with exit code -11. After reading posts on the forum, I tried to run rtabmap standalone application. I was able to set database and select sensor, but as soon as I clicked start, the application crashed with segmentation fault (core dumped). Then, tried installing new vtk - as during cmake of rtabmap it showed this warning:
But now when I compile rtabmap, I receive following error and I am not able to revert the changes.
/` Could anyone please guide me on how to get this running. Thanks, Chirag