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shiva16 / rtabmap

Automatically exported from code.google.com/p/rtabmap
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Error #21

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?

roslaunch openni_launch openni.launch depth_registration:=true

roslaunch rtabmap rgbd_mapping_rviz.launch

What is the expected output? What do you see instead?

[rtabmap/visual_odometry-2] process has died [pid 4954, exit code -4, cmd 
/home/mirlab/catkin_ws/devel/lib/rtabmap/rgbd_odometry 
rgb/image:=/camera/rgb/image_rect_color 
depth/image:=/camera/depth_registered/image_raw 
rgb/camera_info:=/camera/depth_registered/camera_info __name:=visual_odometry 
__log:=/home/mirlab/.ros/log/da18ef92-69d6-11e4-be8f-00188b702bae/rtabmap-visual
_odometry-2.log].
log file: 
/home/mirlab/.ros/log/da18ef92-69d6-11e4-be8f-00188b702bae/rtabmap-visual_odomet
ry-2*.log
[rtabmap/rtabmap-3] process has died [pid 4960, exit code -4, cmd 
/home/mirlab/catkin_ws/devel/lib/rtabmap/rtabmap --delete_db_on_start 
rgb/image:=/camera/rgb/image_rect_color 
depth/image:=/camera/depth_registered/image_raw 
rgb/camera_info:=/camera/depth_registered/camera_info odom:=odom 
__name:=rtabmap 
__log:=/home/mirlab/.ros/log/da18ef92-69d6-11e4-be8f-00188b702bae/rtabmap-rtabma
p-3.log].
log file: 
/home/mirlab/.ros/log/da18ef92-69d6-11e4-be8f-00188b702bae/rtabmap-rtabmap-3*.lo
g

What version of the product are you using? On what operating system?

Ubuntu 12.04 / hydro

Please provide any additional information below.

Original issue reported on code.google.com by lee7...@kettering.edu on 11 Nov 2014 at 7:36

GoogleCodeExporter commented 9 years ago 
Is this happen every time you launch?

Which svn revision do you use?
~$ cd rtabmaplib
~/rtabmaplib$ svn info
~$ roscd rtabmap
~/catkin_ws/rtabmap$ svn info

You could try to remake/install the rtabmaplib and rebuild the ros workspace to 
make sure that all is correctly linked.

Original comment by matla...@gmail.com on 12 Nov 2014 at 3:52

GoogleCodeExporter commented 9 years ago 
mirlab@mirlab-OptiPlex-745:~/rtabmaplib$ svn info
Path: .
URL: http://rtabmap.googlecode.com/svn/trunk/rtabmap
Repository Root: http://rtabmap.googlecode.com/svn
Repository UUID: f169173b-cf89-36c8-b27e-44dbe73f0c83
Revision: 1974
Node Kind: directory
Schedule: normal
Last Changed Author: matlabbe
Last Changed Rev: 1974
Last Changed Date: 2014-11-07 15:04:04 -0500 (Fri, 07 Nov 2014)

mirlab@mirlab-OptiPlex-745:~/rtabmaplib$ roscd rtabmap
mirlab@mirlab-OptiPlex-745:~/catkin_ws/src/rtabmap$ svn info
Path: .
URL: http://rtabmap.googlecode.com/svn/trunk/ros-pkg
Repository Root: http://rtabmap.googlecode.com/svn
Repository UUID: f169173b-cf89-36c8-b27e-44dbe73f0c83
Revision: 1974
Node Kind: directory
Schedule: normal
Last Changed Author: matlabbe
Last Changed Rev: 1973
Last Changed Date: 2014-11-07 14:00:53 -0500 (Fri, 07 Nov 2014)

The svn revision is 1974.

Original comment by lee7...@kettering.edu on 12 Nov 2014 at 8:31

GoogleCodeExporter commented 9 years ago 
Can you try this?
$ rtabmap-odometryViewer

(this may take some seconds to initialize) You should be able to move the 
camera and see its movements on the 3D scene.

Original comment by matla...@gmail.com on 13 Nov 2014 at 3:09

GoogleCodeExporter commented 9 years ago 
[ INFO] (2014-11-13 10:37:30.110) main.cpp:584::main() Using OpenNI camera
[ INFO] (2014-11-13 10:37:30.110) main.cpp:653::main() Odometry used =          
 GFTT+BRIEF
[ INFO] (2014-11-13 10:37:30.110) main.cpp:654::main() Camera rate =            
 0.000000 Hz
[ INFO] (2014-11-13 10:37:30.110) main.cpp:655::main() Maximum clouds shown =   
 10
[ INFO] (2014-11-13 10:37:30.110) main.cpp:656::main() Delay =                  
 0.000000 s
[ INFO] (2014-11-13 10:37:30.110) main.cpp:657::main() Max depth =              
 5.000000
[ INFO] (2014-11-13 10:37:30.110) main.cpp:658::main() Linear update =          
 0.000000
[ INFO] (2014-11-13 10:37:30.110) main.cpp:659::main() Angular update =         
 0.000000
[ INFO] (2014-11-13 10:37:30.110) main.cpp:660::main() Reset odometry coutdown 
= 0
[ INFO] (2014-11-13 10:37:30.110) main.cpp:661::main() Local history =          
 1000
[ INFO] (2014-11-13 10:37:30.649) main.cpp:692::main() Nearest neighbor =       
  kNNBruteForce
[ INFO] (2014-11-13 10:37:30.649) main.cpp:693::main() Nearest neighbor ratio = 
 0.700000
[ INFO] (2014-11-13 10:37:30.649) main.cpp:694::main() Max features =           
 0
[ INFO] (2014-11-13 10:37:30.649) main.cpp:695::main() Min inliers =            
 20
[ INFO] (2014-11-13 10:37:30.650) main.cpp:696::main() Words ratio =            
 0.500000
[ INFO] (2014-11-13 10:37:30.650) main.cpp:697::main() Inlier maximum 
correspondences distance = 0.010000
[ INFO] (2014-11-13 10:37:30.650) main.cpp:698::main() RANSAC iterations =      
 30
[ INFO] (2014-11-13 10:37:30.650) main.cpp:699::main() GPU =                    
 false
[ INFO] (2014-11-13 10:37:30.651) main.cpp:724::main() BRIEF bytes =            
 32
Illegal instruction (core dumped)

I got the following error.

Illegal instruction (core dumped)

Original comment by lee7...@kettering.edu on 13 Nov 2014 at 6:30

GoogleCodeExporter commented 9 years ago 
Humm, try to run this:
$ rtabmap-rgbd_camera 0

What is done here is just grabbing images from OpenNI and showing them in 
OpenCV windows. A 3D cloud is also shown using the 
pcl::visualization::CloudViewer. See the screenshot. 

For the odometry above, you could try gdb to have more info on the error:
$ gdb rtabmap-odometryViewer
> run

Original comment by matla...@gmail.com on 13 Nov 2014 at 6:47

Attachments:

GoogleCodeExporter commented 9 years ago 
When I try to run this :

$ rtabmap-rgbd_camera 0

I got the same error as before.

[ INFO] (2014-11-13 13:59:13.372) main.cpp:62::main() Using driver 0
Illegal instruction (core dumped)

When I try to run this :

$ gdb rtabmap-odometryViewer

GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "i686-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from 
/home/mirlab/catkin_ws/devel/bin/rtabmap-odometryViewer...(no debugging symbols 
found)...done.
(gdb) run

Starting program: /home/mirlab/catkin_ws/devel/bin/rtabmap-odometryViewer 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/i386-linux-gnu/libthread_db.so.1".
[ INFO] (2014-11-13 14:06:11.691) main.cpp:584::main() Using OpenNI camera
[ INFO] (2014-11-13 14:06:11.692) main.cpp:653::main() Odometry used =          
 GFTT+BRIEF
[ INFO] (2014-11-13 14:06:11.692) main.cpp:654::main() Camera rate =            
 0.000000 Hz
[ INFO] (2014-11-13 14:06:11.692) main.cpp:655::main() Maximum clouds shown =   
 10
[ INFO] (2014-11-13 14:06:11.692) main.cpp:656::main() Delay =                  
 0.000000 s
[ INFO] (2014-11-13 14:06:11.692) main.cpp:657::main() Max depth =              
 5.000000
[ INFO] (2014-11-13 14:06:11.692) main.cpp:658::main() Linear update =          
 0.000000
[ INFO] (2014-11-13 14:06:11.692) main.cpp:659::main() Angular update =         
 0.000000
[ INFO] (2014-11-13 14:06:11.692) main.cpp:660::main() Reset odometry coutdown 
= 0
[ INFO] (2014-11-13 14:06:11.692) main.cpp:661::main() Local history =          
 1000
[New Thread 0xaaaefb40 (LWP 2928)]
[New Thread 0xaa0ffb40 (LWP 2929)]
[New Thread 0xa96ffb40 (LWP 2930)]
[ INFO] (2014-11-13 14:06:12.607) main.cpp:692::main() Nearest neighbor =       
  kNNBruteForce
[ INFO] (2014-11-13 14:06:12.607) main.cpp:693::main() Nearest neighbor ratio = 
 0.700000
[ INFO] (2014-11-13 14:06:12.607) main.cpp:694::main() Max features =           
 0
[ INFO] (2014-11-13 14:06:12.607) main.cpp:695::main() Min inliers =            
 20
[ INFO] (2014-11-13 14:06:12.607) main.cpp:696::main() Words ratio =            
 0.500000
[ INFO] (2014-11-13 14:06:12.607) main.cpp:697::main() Inlier maximum 
correspondences distance = 0.010000
[ INFO] (2014-11-13 14:06:12.607) main.cpp:698::main() RANSAC iterations =      
 30
[ INFO] (2014-11-13 14:06:12.607) main.cpp:699::main() GPU =                    
 false
[ INFO] (2014-11-13 14:06:12.607) main.cpp:724::main() BRIEF bytes =            
 32

Program received signal SIGILL, Illegal instruction.
0xb7e673a4 in rtabmap::Transform::Transform(float, float, float, float, float, 
float, float, float, float, float, float, float) () from 
/home/mirlab/catkin_ws/devel/lib/rtabmap-0.7/librtabmap_core.so
(gdb)

I also got Illegal instruction.

Original comment by lee7...@kettering.edu on 13 Nov 2014 at 7:09

GoogleCodeExporter commented 9 years ago 
It is the same error as the issue 9 and issue 19. I couldn't reproduce this 
error on my computers yet. On issue 9, it worked when installed on another 
computer.

Original comment by matla...@gmail.com on 13 Nov 2014 at 7:25