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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Segmentation fault saving to .obj #1380

Closed MatthijsRN closed 5 days ago

MatthijsRN commented 1 week ago

Hi folks, I run rtabmap in vscode with extension dev container and use the noble container. I make the tools/export/main.cpp without errors. However when I run it it gives a segmentation fault in line 1979 (success = pcl::io::saveOBJFile(outputPath, *textureMesh) == 0;) The issue persists when using different .db files. It can successfully export .ply files.

Do you have any suggestions?

I run with the arguments: "args": ["--texture", "--texture_size", "4096", "--texture_range", "3", "--poisson_depth", "9", "--max_polygons", "200000", "--color_radius", "0", "--no_clean", "~/Documents/RTAB-Map/cps18_data/office/20241111/rtabmap/241111-115011.db"] Attached is my devcontainer.json. I run on a Ubuntu 22.04 machine.

devcontainer.json

MatthijsRN commented 1 week ago

The issue persists on Ubuntu 24 machine. The issue is not there when running the jammy dockerfile

matlabbe commented 5 days ago

Since PCL 1.13, the order of the polygons changed. It was fixed in the UI->Export Clouds, but not for rtabmap-export. https://github.com/introlab/rtabmap/blob/b2e26e81c14bd7a1394da10998d0264968089cbe/guilib/src/ExportCloudsDialog.cpp#L5118-L5132

The commit above should fix it.