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strands-project / v4r_ros_wrappers

ROS wrappers for the V4R library
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vector::_M_range_check ERROR #10

Open goldleaf3i opened 9 years ago

goldleaf3i commented 9 years ago

We tried to run the LAMOR tutorial using 

roslaunch singleview_object_recognizer recognition_service.launch

and than opening 

rosrun singleview_object_recognizer test_single_view_recognition_from_file _topic:=...

For the first few calls of the service everything seems to work just fine (object were recognized, no error, objects appear in rviz).

However, after a while, the server just fails giving these two outputs


Number of SIFT features:1230
Number of keypoints:1230
Compute keypoints and features took 521ms.
Generating object hypotheses took 269ms.
Saving hypotheses... took 0ms.
Need to compute normals due to the cg algorithm
Using scene normals given from user code
multi_object_CG:0
set_save_hypotheses, doing correspondence grouping at MULTIpipeline level
Number of connected components...198
Recognition took 833ms.
[ERROR] [1441012861.429255727]: Exception thrown while processing service call: vector::_M_range_check
Is organized: 1
set_save_hypotheses:1
recognizers size:1
Image size :    640x480
#Features:  1344
#Features MO:   1588
[RUN SIFT]: 0.509

and than, in the scripts that calls the service, we got:

Received point cloud.

[ERROR] [1441012860.341433114]: Service call failed: service [/recognition_service/sv_recognition] responded with an error: vector::_M_range_check
[ERROR] [1441012860.341493855]: Failed to call /recognition_service/sv_recognition
Received point cloud.

[ERROR] [1441012861.429381715]: Service call failed: service [/recognition_service/sv_recognition] responded with an error: vector::_M_range_check
[ERROR] [1441012861.429449962]: Failed to call /recognition_service/sv_recognition
Received point cloud.

[ERROR] [1441012862.532718438]: Service call failed: service [/recognition_service/sv_recognition] responded with an error: vector::_M_range_check
[ERROR] [1441012862.532778326]: Failed to call /recognition_service/sv_recognition
mzillich commented 9 years ago

How long did it run ok? What did the robot do when it started failing (robot movement, changes in the scene, ..)?

The Failed to call /recognition_service/sv_recognition is ok. Just a follow up error. I.e. the recogniser "correctly" states that it failed.

marc-hanheide commented 9 years ago

The robot was stationary. It detected the object also as far as I recall, at least several times.

ToMadoRe commented 9 years ago

I found a bug at the weekend in the conversion from RGB2CIELAB in case RGB = (255,255,255). I already fixed it locally but have to run some more tests before committing it. Is it possible that your scene contains very bright spots? I will push within the next two days.

marc-hanheide commented 9 years ago

I'd say that's almost certain... as the rooms are very white.

ToMadoRe commented 9 years ago

I've pushed some changes into V4R. Could you try if that error occurs again when merging https://github.com/strands-project/v4r/pull/23?