PCL filter nodelet crashes [closed]

asked 2012-09-12 11:39:35 -0600

jdlangs
971 ●23 ●47 ●45

updated 2014-01-28 17:13:38 -0600

ngrennan
1 ●1 ●1

I'm running a sequence of pcl filter nodelets (StatisticalOutlier -> VoxelGrid) and we are seeing frequent, spontaneous crashes. Oddly, it seems only this combination causes the crash, with only a single filter, or the reverse input/output order working fine.

I have a launch and bag file (attached) that produce a crash which has been confirmed on two machines. Provided a sanity check passes, how can I forward this to appropriate place as a bug report?

<launch>
  <node pkg="nodelet" type="nodelet" name="pcl_filter_manager" args="manager"/>

  <!-- Outlier filter -->
  <node pkg="nodelet" type="nodelet" name="outlier_filter"
        args="load pcl/StatisticalOutlierRemoval pcl_filter_manager" >
    <param name="mean_k" type="int" value="2" />
    <param name="stddev" type="double" value="0.2" />
    <param name="negative" type="bool" value="false" />

    <remap from="outlier_filter/input" to="umdetc/cloud" />
    <remap from="outlier_filter/output" to="cloud_filter1" />
  </node>

  <!-- Voxel grid filter -->
  <node pkg="nodelet" type="nodelet" name="voxel_filter"
        args="load pcl/VoxelGrid pcl_filter_manager">
    <param name="leaf_size" type="double" value="0.01" />

    <remap from="voxel_filter/input" to="cloud_filter1" />
    <remap from="voxel_filter/output" to="cloud_filtered"/>
  </node>
</launch>

#0  0xace1346b in flann::KDTreeSingleIndex<flann::L2_Simple<float> >::computeBoundingBox(std::vector<flann::KDTreeSingleIndex<flann::L2_Simple<float> >::Interval, std::allocator<flann::KDTreeSingleIndex<flann::L2_Simple<float> >::Interval> >&) () from /opt/ros/fuerte/lib/libpcl_surface.so.1.5
#1  0xace13585 in flann::KDTreeSingleIndex<flann::L2_Simple<float> >::buildIndex() () from /opt/ros/fuerte/lib/libpcl_surface.so.1.5
#2  0xb42c38f2 in pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&) ()
   from /opt/ros/fuerte/lib/libpcl_kdtree.so.1.5
#3  0xad229e09 in pcl::search::KdTree<pcl::PointXYZ>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&) ()
   from /opt/ros/fuerte/lib/libpcl_filters.so.1.5
#4  0xad2acc30 in pcl::StatisticalOutlierRemoval<sensor_msgs::PointCloud2_<std::allocator<void> > >::applyFilter(sensor_msgs::PointCloud2_<std::allocator<void> >&) () from /opt/ros/fuerte/lib/libpcl_filters.so.1.5
#5  0xad1d8e3e in pcl::Filter<sensor_msgs::PointCloud2_<std::allocator<void> > >::filter(sensor_msgs::PointCloud2_<std::allocator<void> >&) ()
   from /opt/ros/fuerte/lib/libpcl_filters.so.1.5
#6  0xad4963ea in pcl_ros::StatisticalOutlierRemoval::filter (this=0x80ca1a0, 
    input=..., indices=..., output=...)
    at /tmp/buildd/ros-fuerte-perception-pcl-1.2.3/debian/ros-fuerte-perception-pcl/opt/ros/fuerte/stacks/perception_pcl/pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h:79
#7  0xad410c40 in pcl_ros::Filter::computePublish (this=0x80ca1a0, input=..., 
    indices=...)
    at /tmp/buildd/ros-fuerte-perception-pcl-1.2.3/debian/ros-fuerte-perception-pcl/opt/ros/fuerte/stacks/perception_pcl/pcl_ros/src/pcl_ros/filters/filter.cpp:68
#8  0xad411a7a in pcl_ros::Filter::input_indices_callback (this=0x80ca1a0, 
    cloud=..., indices=...)
    at /tmp/buildd/ros-fuerte-perception-pcl-1.2.3/debian/ros-fuerte-perception-pcl/opt/ros/fuerte/stacks/perception_pcl/pcl_ros/src/pcl_ros/filters/filter.cpp:229
#9  0xad413fb3 in operator() (a2=..., p=<optimized out>, this=<optimized out>, 
    a1=...) at /usr/include/boost/bind/mem_fn_template.hpp:280
#10 operator()<boost::_mfi::mf2<void, pcl_ros::Filter, const boost::shared_ptr<const sensor_msgs::PointCloud2_<std::allocator<void> > >&, const boost::shared_ptr<const pcl::PointIndices_<std::allocator<void> > >&>, boost::_bi::list1<const boost::shared_ptr<const sensor_msgs::PointCloud2_<std::allocator<void> > >&> > (
    a=<synthetic ...

(more)

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Closed for the following reason question is not relevant or outdated by jdlangs
close date 2015-06-24 10:00:14.508283

Comments

Can you provide a backtrace?

dejanpan ( 2012-09-12 13:24:43 -0600 )edit

How would I get this? stdout, even with output="screen" on all nodes, shows only the roslaunch notification of a dead process.

jdlangs ( 2012-09-13 03:21:50 -0600 )edit

Run the launch file with the gdb: http://www.ros.org/wiki/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB.

dejanpan ( 2012-09-13 06:53:55 -0600 )edit

Added. It's crashing in the pcl Outlier filter itself.

jdlangs ( 2012-09-13 07:27:35 -0600 )edit

Sorry for a late reply. If you have not been able to resolve the issue, can you please send me a link to the bag file and tell me which version of Ubuntu/ROS/PCL are you using? D.

dejanpan ( 2012-09-20 14:35:09 -0600 )edit

Here is the file: http://dl.dropbox.com/u/15500942/cloud_crash.bag

jdlangs ( 2012-09-24 06:45:40 -0600 )edit

I am using Fuerte on Ubuntu 12.04 and the default install of PCL (1.5). I wasn't able to try 1.6 since the unstable pcl_ros package doesn't include the nodelets. I vaguely remember seeing some crash fixes for KDTree in the 1.6 changelists so maybe this is a non-issue after upgrading

jdlangs ( 2012-09-24 06:47:32 -0600 )edit

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answered 2013-01-23 10:31:56 -0600

dangr
1 ●1

I seem to be unable to leave a comment, but I'm having a similar issue. I've traced it to the StatisticalOutlierRemoval filter getting an input of size 0. For some reason this causes the nodelet manager to crash. Using the launch file below, I can trigger a crash by putting my hand in from of an attached sls (Primesense Xtion Pro).

<launch>
  <arg name="device" value="1@3" />
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" 
        args="manager"> 
  </node>
  <node pkg="nodelet" type="nodelet" name="driver" 
        args="load openni_camera/driver nodelet_manager">
    <param name="device_id" value="$(arg device)" />
  </node>
  <node pkg="nodelet" type="nodelet" name="rectify_depth"
        args="load image_proc/rectify nodelet_manager --no-bond">
    <remap from="image_mono"  to="depth/image_raw" />
    <remap from="image_rect"  to="depth/rectified_raw" />
    <param name="interpolation" value="0" />
  </node>
  <node pkg="nodelet" type="nodelet" name="points_xyz"
        args="load depth_image_proc/point_cloud_xyz nodelet_manager --no-bond">
    <remap from="image_rect" to="depth/rectified_raw"/> 
    <remap from="points" to="rectified_points"/>
    <param name="~no_data_depth_in_mm" value="5000" />
  </node>
  <node pkg="nodelet" type="nodelet" name="pointcloud_clipper" 
        args="load pcl/PassThrough nodelet_manager" >
    <remap from="~input" to="rectified_points" />
    <remap from="~output" to="clipped_points" />
    <param name="~filter_field_name" value="z" />
    <param name="~filter_limit_min" value="0.0" />
    <param name="~filter_limit_max" value="1.5" />
    <param name="~input_frame" value="/openni_depth_optical_frame" />
  </node>
  <node pkg="nodelet" type="nodelet" name="outlier_removal" 
        args="load pcl/StatisticalOutlierRemoval nodelet_manager" >
    <remap from="~input" to="clipped_points" />
    <remap from="~output" to="filtered_points" />
    <param name="~stddev" value="1" />
  </node>
</launch>

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answered 2012-10-25 01:02:09 -0600

devmax
13 ●1 ●1 ●3

So I'm having the same exact problem with the Alvar AR Tag Detection library..did you end up finding a solution to this?

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Unfortunately, no. We've been able to manage without running the filters. I still think the best chance will be the upgrade to PCL 1.6. Hopefully groovy will do the upgrade as I've noticed other problems with 1.5 besides this one.

jdlangs ( 2012-10-25 04:36:33 -0600 )edit

So for me this error pops up when I use the ar_track_alvar on images from my AR Drone. A minimal run of the system causes it, so is there anything you suggest I can do to avoid the error? Thank you so much...

devmax ( 2012-10-25 06:27:49 -0600 )edit

1

We didn't see a crash when we reversed the filter order ( Voxel -> Outlier -> output ). But other than that I have no suggestions but to wait for the pcl upgrades to make it into ROS.

jdlangs ( 2012-10-26 09:22:48 -0600 )edit

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PCL filter nodelet crashes [closed]

Closed for the following reason question is not relevant or outdated by jdlangs
close date 2015-06-24 10:00:14.508283

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PCL filter nodelet crashes [closed] edit

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PCL filter nodelet crashes [closed]

Closed for the following reason question is not relevant or outdated by jdlangs
close date 2015-06-24 10:00:14.508283