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Dense Visual Odometry and SLAM
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error on dvo_benchmark #15

Open squiooo opened 10 years ago

squiooo commented 10 years ago

Hi. when i follow issue 5, type follow command: roslaunch dvo_benchmark benchmark.launch dataset:=/home/viki/Desktop/rgbd_dataset_freiburg1_desk/ keep_alive:=true

the following errors occurred: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }

benchmark: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double, int Size = 16, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " \ READ THIS WEB PAGE !!! **"' failed.

[benchmark-2] process has died [pid 2915, exit code -6, cmd /home/viki/hydro_workspace/sandbox/dvo_slam/dvo_benchmark/bin/benchmark

Could anyone help me out? Thank you in advance.

squiooo commented 10 years ago

i run on ubuntu 12.04 ros hydro. Could anyone sucessed tell me what platform may help?

christiankerl commented 10 years ago

the Eigen documentation for this error is here: http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html

Can you maybe start dvo_benchmark in gdb (simply add debug:=true to the dvo_benchmark.launch line) and determine the line where this happens?

squiooo commented 10 years ago

gdb says : program received signal SIGABRT,Aborted. 0xb7fdd424 in __kernel_vsyscall()

squiooo commented 10 years ago

in raise() from /lib/i386-linux-gnu/libc.so.6 in abort() from /lib/i386-linux-gnu/libc.so.6 in ??() form /lib/i386-linux-gnu/libc.so.6 in __assert_fail from /lib/i386-linux-gnu/libc.so.6 in plain_array(this=) at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69

squiooo commented 10 years ago

try thread apply all bt gdb says: Thread 6 (Thread 0xa83ffb40 (LWP 18249)):

0 0xb7fdd424 in __kernel_vsyscall ()

1 0xb757cd13 in pthread_cond_timedwait@@GLIBC_2.3.2 ()

from /lib/i386-linux-gnu/libpthread.so.0

2 0xb7668d25 in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::threadFunc() () from /opt/ros/hydro/lib/libroscpp.so

3 0xb7665d1b in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent> >, boost::_bi::list1<boost::bi::value<ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>> > > >::run() () from /opt/ros/hydro/lib/libroscpp.so

4 0xb639a48c in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1

5 0xb7578d4c in start_thread () from /lib/i386-linux-gnu/libpthread.so.0

6 0xb7230ace in clone () from /lib/i386-linux-gnu/libc.so.6

Thread 5 (Thread 0xa8dffb40 (LWP 18231)):

0 0xb7fdd424 in __kernel_vsyscall ()

1 0xb757cd13 in pthread_cond_timedwait@@GLIBC_2.3.2 ()

from /lib/i386-linux-gnu/libpthread.so.0

2 0xb768a7c3 in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000ll> >(boost::unique_lockboost::mutex&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000ll> const&) () from /opt/ros/hydro/lib/libroscpp.so

3 0xb7687e86 in ros::CallbackQueue::callAvailable(ros::WallDuration) ()

from /opt/ros/hydro/lib/libroscpp.so

4 0xb76bcd64 in ros::internalCallbackQueueThreadFunc() ()

from /opt/ros/hydro/lib/libroscpp.so

5 0xb76bffcd in boost::detail::threaddata<void ()()>::run() ()

from /opt/ros/hydro/lib/libroscpp.so

6 0xb639a48c in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1

7 0xb7578d4c in start_thread () from /lib/i386-linux-gnu/libpthread.so.0

8 0xb7230ace in clone () from /lib/i386-linux-gnu/libc.so.6

Thread 4 (Thread 0xa97feb40 (LWP 18226)):

0 0xb7fdd424 in __kernel_vsyscall ()

1 0xb757c96b in pthread_cond_wait@@GLIBC_2.3.2 ()

from /lib/i386-linux-gnu/libpthread.so.0

2 0xb76b988a in ros::ROSOutAppender::logThread() ()

from /opt/ros/hydro/lib/libroscpp.so

3 0xb76bafbb in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::ROSOutAppender>, boost::_bi::list1boost::_bi::value<ros::ROSOutAppender* > > >::run() () from /opt/ros/hydro/lib/libroscpp.so

4 0xb639a48c in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1

5 0xb7578d4c in start_thread () from /lib/i386-linux-gnu/libpthread.so.0

6 0xb7230ace in clone () from /lib/i386-linux-gnu/libc.so.6

Thread 3 (Thread 0xaa1ffb40 (LWP 18225)):

0 0xb7fdd424 in __kernel_vsyscall ()

1 0xb7229af1 in select () from /lib/i386-linux-gnu/libc.so.6

2 0xb31075ca in XmlRpc::XmlRpcDispatch::work(double) ()

from /opt/ros/hydro/lib/libxmlrpcpp.so

3 0xb3108104 in XmlRpc::XmlRpcServer::work(double) ()

from /opt/ros/hydro/lib/libxmlrpcpp.so

4 0xb765f51f in ros::XMLRPCManager::serverThreadFunc() ()

from /opt/ros/hydro/lib/libroscpp.so

5 0xb76619fb in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::XMLRPCManager>, boost::_bi::list1boost::_bi::value<ros::XMLRPCManager* > > >::run() () from /opt/ros/hydro/lib/libroscpp.so

6 0xb639a48c in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1

7 0xb7578d4c in start_thread () from /lib/i386-linux-gnu/libpthread.so.0

8 0xb7230ace in clone () from /lib/i386-linux-gnu/libc.so.6

Thread 2 (Thread 0xaab33b40 (LWP 18224)):

0 0xb7fdd424 in __kernel_vsyscall ()

1 0xb7222380 in poll () from /lib/i386-linux-gnu/libc.so.6

2 0xb766b632 in ros::pollsockets(pollfd, unsigned long, int) ()

from /opt/ros/hydro/lib/libroscpp.so

3 0xb76de13e in ros::PollSet::update(int) ()

from /opt/ros/hydro/lib/libroscpp.so

4 0xb767a5d5 in ros::PollManager::threadFunc() ()

from /opt/ros/hydro/lib/libroscpp.so

5 0xb767a78b in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, ros::PollManager>, boost::_bi::list1<boost::bi::value<ros::PollManager> > > >::run() () from /opt/ros/hydro/lib/libroscpp.so

6 0xb639a48c in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1

7 0xb7578d4c in start_thread () from /lib/i386-linux-gnu/libpthread.so.0

8 0xb7230ace in clone () from /lib/i386-linux-gnu/libc.so.6

Thread 1 (Thread 0xaad73900 (LWP 18220)):

0 0xb7fdd424 in __kernel_vsyscall ()

1 0xb71741ef in raise () from /lib/i386-linux-gnu/libc.so.6

2 0xb7177835 in abort () from /lib/i386-linux-gnu/libc.so.6

3 0xb716d095 in ?? () from /lib/i386-linux-gnu/libc.so.6

4 0xb716d147 in __assert_fail () from /lib/i386-linux-gnu/libc.so.6

5 0xb74836db in plain_array (this=)

at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69

6 DenseStorage (this=)

at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:102

7 PlainObjectBase (this=)

at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:395

8 Eigen::Matrix<double, 4, 4, 0, 4, 4>::Matrix (this=)

at /usr/include/eigen3/Eigen/src/Core/Matrix.h:216

9 0xb748ac1c in plain_array (this=)

at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69

10 DenseStorage (this=)

at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:102

11 PlainObjectBase (this=)

12 Matrix (this=)

at /usr/include/eigen3/Eigen/src/Core/Matrix.h:216

13 Transform (this=)

at /usr/include/eigen3/Eigen/src/Geometry/Transform.h:244

14 dvo_slam::KeyframeTracker::Impl::Impl (this=0x816ea58, visualizer=0x0)

at /home/viki/hydro_workspace/sandbox/dvo_slam/dvo_slam/src/keyframe_tracker.cpp:54

15 0xb748685c in dvo_slam::KeyframeTracker::KeyframeTracker (this=0xbfffe9e0,

visualizer=0x815fd40)
at /home/viki/hydro_workspace/sandbox/dvo_slam/dvo_slam/src/keyframe_tracker.cpp:263

16 0x08064a0f in BenchmarkNode::run (this=0xbfffed1c)

at /home/viki/hydro_workspace/sandbox/dvo_slam/dvo_benchmark/src/benchmark_slam.cpp:412

17 0x080607f2 in main (argc=1, argv=0xbfffef14)

at /home/viki/hydro_workspace/sandbox/dvo_slam/dvo_benchmark/src/benchmark_slam.cpp:560
oklyf commented 9 years ago

hi,lhave the same problem.have you solved the problem?

martinq312 commented 9 years ago

I was able to work through this issue with a little patience. These Eigen alignment problems are tricky because they manifest differently depending on your machine/compiler/etc. Everything you need to know is on the page: http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html

Run the code and do the backtrace as above, then check the line right before it drops into Eigen. If it's a class or struct definition, add EIGEN_MAKE_ALIGNED_OPERATOR_NEW to the public section. If it's an STL access, make sure the container is templated with Eigen::aligned_allocator. If it's a function call, make sure the Eigen types are all passed by reference.

giepy commented 9 years ago

Hi, squiooo ! I also have the same problem. Can you help me? Have you solved the problem?

tress101 commented 7 years ago

I also have the same problem. Can you help me? Have you solved the problem?

process[benchmark-2]: started with pid [6949] ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ================================================================================REQUIRED process [benchmark-2] has died! process has died [pid 6949, exit code -11, cmd /home/leo/catkin_ws/devel/lib/dvo_benchmark/benchmark name:=benchmark log:=/home/leo/.ros/log/8f89320c-dec8-11e6-9012-b22afc541a62/benchmark-2.log]. log file: /home/leo/.ros/log/8f89320c-dec8-11e6-9012-b22afc541a62/benchmark-2*.log Initiating shutdown!

yingli666 commented 2 years ago

I also have the same problem. Can you help me? Have you solved the problem?The problem has confused me two weeks.

process[benchmark-2]: started with pid [6949] ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }

yingli666 commented 2 years ago

I also have the same problem. Can you help me? Have you solved the problem?

process[benchmark-2]: started with pid [6949] ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ================================================================================REQUIRED process [benchmark-2] has died! process has died [pid 6949, exit code -11, cmd /home/leo/catkin_ws/devel/lib/dvo_benchmark/benchmark name:=benchmark log:=/home/leo/.ros/log/8f89320c-dec8-11e6-9012-b22afc541a62/benchmark-2.log]. log file: /home/leo/.ros/log/8f89320c-dec8-11e6-9012-b22afc541a62/benchmark-2*.log Initiating shutdown!

Hello, have you solve the problem?I'm breaking down。