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rgbdslam v2 crashes after processing the first frame

asked 2015-02-17 08:06:20 -0500

kokirits gravatar image

updated 2015-02-17 08:16:54 -0500

Hello all,

I have (supposedly) successfully catkin_make'd rgbdslam_v2 following the instructions from here on ros-hydro and ubuntu 12.04. Then I run :

roslaunch rgbdslam rgbdslam.launch

and

roslaunch openni_launch openni.launch (since I'm using the Kinect sensor)

Everything good so far (the gui, etc..). Then I press the "enter" button to record a single frame and after a couple of seconds I can see the registered cloud along with the features in the bottom-right window. But, when I press the "enter" key again, to record a second frame I get the error below:

[ INFO] [1424181067.056503402]: Siftgpu Feature Descriptors size: 600 x 128
[ INFO] [1424181067.056629147]: Feature Count of Node:  600
[ INFO] [1424181067.066904524]: Odometry Delta: Translation 0 0 0
[ INFO] [1424181067.067152611]: Odometry Delta: Rotation 0 0 0 1
[ INFO] [1424181067.067285958]: No Valid Odometry, using identity
[ INFO] [1424181067.067507486]: Node ID's to compare with candidate for node 1. Sequential: 0
[ INFO] [1424181067.067683740]: Nodes to compare: 0
[ INFO] [1424181067.067813802]: Running node comparisons in parallel in 7 (of 8) available threads
[ INFO] [1424181067.078635881]: Depth and RGB image off more than 1/30sec: 36753459 (nsec)

rgbdslam: /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140819-1745/modules/flann/include/opencv2/flann/kdtree_index.h:458: 
void cvflann::KDTreeIndex<Distance>::getNeighbors(cvflann::ResultSet<typename Distance::ResultType>&, const ElementType*, int, float) [with Distance = cvflann::L2<float>, typename Distance::ResultType = float, cvflann::KDTreeIndex<Distance>::ElementType = float]: Assertion `result.full()' failed.
================================================================================REQUIRED process [rgbdslam-2] has died!
process has died [pid 20933, exit code -6, cmd /home/kokirits/rgbdslam_hydro_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/kokirits/.ros/log/e3d1a8d6-b6ab-11e4-9f21-4c80931194a0/rgbdslam-2.log].
log file: /home/kokirits/.ros/log/e3d1a8d6-b6ab-11e4-9f21-4c80931194a0/rgbdslam-2*.log

 Initiating shutdown!

================================================================================
[rgbdslam-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Anyone got an idea on how to solve this?

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answered 2015-02-17 08:30:13 -0500

kokirits gravatar image

Problem solved, while browsing other answers.

I changed the entry in rgbslam.launch from:

<param name="config/feature_detector_type"         value="SIFTGPU"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->

<param name="config/feature_extractor_type"        value="SIFTGPU"/><!-- also available: SIFT, SURF, SURF128 (extended SURF), ORB. -->

to:

<param name="config/feature_detector_type"         value="ORB"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
<param name="config/feature_extractor_type"        value="ORB"/><!-- also available: SIFT, SURF, SURF128 (extended SURF), ORB. -->

SIFT and SURF work good as well, while GFTT produces another weird error.

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Comments

hi kokiritis I am in the same situation as you (turtlebot, hydro, rgbdslam, ubunto 12.04) But when i run the rgbdslam there is no image the GUI is empty, but when i worked only with kinect it worked. i didn't found the solution;

sophye_turtlebot gravatar image sophye_turtlebot  ( 2015-03-27 06:33:03 -0500 )edit

can you please send to me the file launch and the steps that you did for the first time to run rgbdslam?

sophye_turtlebot gravatar image sophye_turtlebot  ( 2015-03-27 06:33:42 -0500 )edit

Hey sophye_turtlebot, by default rgbdslam v2 uses SIFTGPU as the feature detection and feature extraction method. What I did was just change those to ORB (SIFT and SURF) work as well. I can post my launch file when I get to my linux machine at the lab.

kokirits gravatar image kokirits  ( 2015-03-27 15:27:23 -0500 )edit

I stayed three days in the same problem: in fact here's what I did exactly: roslaunch rgbdslam openni+rgbdslam in a terminal

sophye_turtlebot gravatar image sophye_turtlebot  ( 2015-03-30 04:07:44 -0500 )edit

after to see errors with roswtf I found this warning: * /camera/camera_nodelet_manager: * /tf_static * /rgbdslam: * /tf_static any help plz

sophye_turtlebot gravatar image sophye_turtlebot  ( 2015-03-30 04:08:22 -0500 )edit

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Asked: 2015-02-17 08:06:20 -0500

Seen: 623 times

Last updated: Feb 17 '15