Seg fault on segmentation

[MalcolmMielle]

Hello,

I'm running this package under Ubuntu 14.04 using ros indigo.

I'm running the evaluation test using a concavity measure of 2.5 as in the paper using this command rosrun inc_dude evaluation 2.5. I experience segmentation faults when running the algorithm on NLB:

$ rosrun inc_dude evaluation 2.5
Files size 20
File to process:  Freiburg101_scan

File to process:  Freiburg52_scan

File to process:  Freiburg79_scan

File to process:  NLB

Processing file  NLB

multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 4.35498 ms
Inserting contours ....... done, it last 12.1409 ms
- Dual-space Decomposition with tau=0.2
Segmentation fault (core dumped)

As well as Freiburg101_scan although works with the default parameters:

rosrun inc_dude evaluation 2.5
Files size 20
File to process:  Freiburg101_scan

Processing file  Freiburg101_scan

multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 2.28003 ms
Inserting contours ....... done, it last 2.55786 ms
- Dual-space Decomposition with tau=0.2
148.807
143.954
127.734
142.282
128.431
145.763
114.655
118.119
103.226
103.259
146.85
146.405
142.8
144.055
184.946
127.623
120.127
54.472
50.2892
done, decomposing 13 polygons last 268.682 ms
Paint differential contours 
Decomposition size: 13
*** Error in `/home/malcolm/ros_catkin_ws/indigo_ws/devel/lib/inc_dude/evaluation': corrupted double-linked list: 0x00000000017184c0 ***
Aborted (core dumped)

Freigbrug52 worked though with 2.5m but the result looks weird

It seg fault with default:

rosrun inc_dude evaluation
Files size 20
File to process:  Freiburg101_scan

File to process:  Freiburg52_scan

Processing file  Freiburg52_scan

multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.898193 ms
Inserting contours ....... done, it last 4.56299 ms
- Dual-space Decomposition with tau=0.2
97
97
96
92
73.456
102.341
155
149.335
149.335
92.2822
92.2822
98
101.514
done, decomposing 9 polygons last 46.6858 ms
Paint differential contours 
Decomposition size: 9
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.537842 ms
Inserting contours ....... done, it last 0.130127 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.08618 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.543945 ms
Inserting contours ....... done, it last 0.115967 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.08984 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.338135 ms
Inserting contours ....... done, it last 0.0678711 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.43286 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.52002 ms
Inserting contours ....... done, it last 0.0759277 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.32788 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.28418 ms
Inserting contours ....... done, it last 0.0380859 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 1.61792 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.663086 ms
Inserting contours ....... done, it last 0.146973 ms
- Dual-space Decomposition with tau=0.2
97
72.4486
done, decomposing 3 polygons last 7.28809 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.511963 ms
Inserting contours ....... done, it last 0.0939941 ms
- Dual-space Decomposition with tau=0.2
94.336
done, decomposing 2 polygons last 6.70801 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.607178 ms
Inserting contours ....... done, it last 0.346924 ms
- Dual-space Decomposition with tau=0.2
102.387
done, decomposing 2 polygons last 8.86401 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.430908 ms
Inserting contours ....... done, it last 0.132812 ms
- Dual-space Decomposition with tau=0.2
102.387
done, decomposing 2 polygons last 10.396 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.579102 ms
Inserting contours ....... done, it last 0.149902 ms
- Dual-space Decomposition with tau=0.2
86.113
102.387
done, decomposing 2 polygons last 9.86108 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.533203 ms
Inserting contours ....... done, it last 0.0991211 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 10.6301 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.52002 ms
Inserting contours ....... done, it last 0.112061 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 16.72 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.626953 ms
Inserting contours ....... done, it last 0.240967 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 15.092 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.708008 ms
Inserting contours ....... done, it last 0.24292 ms
- Dual-space Decomposition with tau=0.2
55.5187
done, decomposing 2 polygons last 23.9709 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.687012 ms
Inserting contours ....... done, it last 0.314941 ms
- Dual-space Decomposition with tau=0.2
55.5187
done, decomposing 2 polygons last 19.3701 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.420898 ms
Inserting contours ....... done, it last 0.113037 ms
- Dual-space Decomposition with tau=0.2
59.9083
done, decomposing 2 polygons last 14.0471 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.680908 ms
Inserting contours ....... done, it last 0.24707 ms
- Dual-space Decomposition with tau=0.2
59.9083
done, decomposing 2 polygons last 12.157 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.352051 ms
Inserting contours ....... done, it last 0.143066 ms
- Dual-space Decomposition with tau=0.2
59.9083
done, decomposing 2 polygons last 12.0781 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.467041 ms
Inserting contours ....... done, it last 0.164062 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 11.874 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.588867 ms
Inserting contours ....... done, it last 0.205811 ms
- Dual-space Decomposition with tau=0.2
68.0294
done, decomposing 2 polygons last 16.5889 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.598877 ms
Inserting contours ....... done, it last 0.228027 ms
- Dual-space Decomposition with tau=0.2
96.7988
done, decomposing 2 polygons last 13.9399 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.623047 ms
Inserting contours ....... done, it last 0.193848 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 8.52686 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.646973 ms
Inserting contours ....... done, it last 0.178955 ms
- Dual-space Decomposition with tau=0.2
73.0335
done, decomposing 2 polygons last 11.1689 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.408936 ms
Inserting contours ....... done, it last 0.0568848 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 4.24194 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.468018 ms
Inserting contours ....... done, it last 0.052002 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 5.44897 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.512939 ms
Inserting contours ....... done, it last 0.032959 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 4.49487 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.770996 ms
Inserting contours ....... done, it last 0.059082 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.89307 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.660889 ms
Inserting contours ....... done, it last 0.052002 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.70581 ms
Finding Contours....... done, it last 0.595947 ms
Inserting contours ....... done, it last 0.0539551 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 4.71191 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 1.01416 ms
Inserting contours ....... done, it last 0.291992 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 5.89795 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.364014 ms
Inserting contours ....... done, it last 0.045166 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 4.46899 ms
Finding Contours....... done, it last 0.431885 ms
Inserting contours ....... done, it last 0.127197 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.73584 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.500977 ms
Inserting contours ....... done, it last 0.105957 ms
- Dual-space Decomposition with tau=0.2
79
done, decomposing 2 polygons last 9.88696 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.558105 ms
Inserting contours ....... done, it last 0.200928 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 6.36597 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.673096 ms
Inserting contours ....... done, it last 0.217041 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 10.6331 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.650146 ms
Inserting contours ....... done, it last 0.187988 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 12.105 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.658936 ms
Inserting contours ....... done, it last 0.197021 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 14.812 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.637939 ms
Inserting contours ....... done, it last 0.107178 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 16.0911 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.578125 ms
Inserting contours ....... done, it last 0.23877 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 15.2561 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.484131 ms
Inserting contours ....... done, it last 0.0559082 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 5.33398 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.51709 ms
Inserting contours ....... done, it last 0.0629883 ms
- Dual-space Decomposition with tau=0.2
73.625
done, decomposing 2 polygons last 4.26416 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.702881 ms
Inserting contours ....... done, it last 0.052002 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 4.26001 ms
Finding Contours....... done, it last 0.602783 ms
Inserting contours ....... done, it last 0.106934 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 5.43994 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.603027 ms
Inserting contours ....... done, it last 0.184082 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 4.08203 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.544189 ms
Inserting contours ....... done, it last 0.35498 ms
- Dual-space Decomposition with tau=0.2
79
done, decomposing 2 polygons last 21.166 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.63501 ms
Inserting contours ....... done, it last 0.260986 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 19.0459 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 1.2522 ms
Inserting contours ....... done, it last 0.693115 ms
- Dual-space Decomposition with tau=0.2
56.963
done, decomposing 2 polygons last 20.4111 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.880859 ms
Inserting contours ....... done, it last 0.697021 ms
- Dual-space Decomposition with tau=0.2
64.8989
done, decomposing 2 polygons last 19.1731 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.891113 ms
Inserting contours ....... done, it last 0.649902 ms
- Dual-space Decomposition with tau=0.2
76.0532
done, decomposing 2 polygons last 18.741 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.848877 ms
Inserting contours ....... done, it last 0.379883 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 10.439 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.430176 ms
Inserting contours ....... done, it last 0.201172 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 5.66187 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.435059 ms
Inserting contours ....... done, it last 0.427002 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 8.77808 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.566895 ms
Inserting contours ....... done, it last 0.0410156 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.04492 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.324951 ms
Inserting contours ....... done, it last 0.0219727 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 2.98706 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.335938 ms
Inserting contours ....... done, it last 0.108154 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.96094 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.733154 ms
Inserting contours ....... done, it last 0.185059 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 2.573 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.98999 ms
Inserting contours ....... done, it last 0.554932 ms
- Dual-space Decomposition with tau=0.2
79
58
done, decomposing 2 polygons last 6.54297 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.589111 ms
Inserting contours ....... done, it last 0.386963 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 5.25293 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.638916 ms
Inserting contours ....... done, it last 0.295898 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 3.2959 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.547119 ms
Inserting contours ....... done, it last 0.665039 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 9.53101 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.701172 ms
Inserting contours ....... done, it last 0.849121 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 10.75 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 0.604004 ms
Inserting contours ....... done, it last 0.772949 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 9.27808 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Finding Contours....... done, it last 1.02612 ms
Inserting contours ....... done, it last 1.44604 ms
- Dual-space Decomposition with tau=0.2
Warning: no cut for this iteration.
done, decomposing 1 polygons last 9.64209 ms
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
multiple contours 
Match between old and new 
Draw image with expanded contours matched 
Decompose in several wrappers 
Paint differential contours 
Decomposition size: 8
Freiburg52_scan No_Furniture Precision: 96.9 Recall: 92.1 time: 0 Labels 10 size 0.23
Freiburg52_scan Furniture Precision: 96.9 Recall: 86.6 time: 9 Labels 10 size 0.23
*** Error in `/home/malcolm/ros_catkin_ws/indigo_ws/devel/lib/inc_dude/evaluation': corrupted double-linked list: 0x00000000027a7a10 ***
Aborted (core dumped)

So I guess I'm doing something wrong while using this. What do I need to do to run this exact same tests as in the paper published at ICRA2017 ?

Thanks a lot,

[lfermin77]

My apologies, apparently I made a mess with the versions, please use the branch "cleaning_files" while I fix it. You will need another ROS node to choose the map you want to segment, i used this (up means next and down segment)

[MalcolmMielle]

Thanks a lot for the quick feedback ! I get corrupted double-linked list errors when runing NBL and lab_intel and a seg fault still on lab_ipa. I don't know if this has to do with the cleaning version and will be solved when the master get cleaned but I thought I would let you know :).

[lfermin77]

The corrupted double-linked list error comes from the library of Dual Space Decomposition, I didn't modify their code. I've tried the rest of the maps myself with no problem, maybe you should increase a little the threshold.

By the way, many of these problems occurs when segmenting static maps, the incremental version is more reliable for time varying maps.

[MalcolmMielle]

OK I'll try that then :)