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2013-10-21 18:58:46 -0500 asked a question RGBDSlam eigen error on Landmark Optimisation

Hi everyone

I have been playing with RGBDSlam to see how it creates 3d maps. I have the package compiled and running on Ubuntu 12.04 with Groovy without too many issues. With the basic kinect+rgbdslam.launch file I can generate a 3d map, save an octomap etc.

However, when I turn on landmark optimisation, after the next node is added to the graph I get the following error.

rgbdslam: /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:598: void Eigen::PlainObjectBase<derived>::_init2(Eigen::PlainObjectBase<derived>::Index, Eigen::PlainObjectBase<derived>::Index, typename Eigen::internal::enable_if<(Eigen::PlainObjectBase<derived>::Base:: SizeAtCompileTime != 2), T0>::type*) [with T0 = int, T1 = int, Derived = Eigen::Matrix<double, 6,="" 6,="" 0,="" 6,="" 6="">, Eigen::PlainObjectBase<derived>::Index = int, typename Eigen::internal::enable_if<(Eigen::PlainObjectBase<derived>::Base:: SizeAtCompileTime != 2), T0>::type = int]: Assertion `rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)' failed.

Any advice on how to go about debugging this is appreciated.

2013-09-02 23:55:11 -0500 commented question OpenCV error 'CAIRO_STATUS_SUCCESS failed' under ROS. Bug?

Hi I believe I have the same issue, although I haven't tested it stand alone with OpenCV and not ROS. I tried removing any calls to cv::waitKey and cv::imshow from my code and this at least superficially resolved the issue. I assume it is a concurrency issue of some sort.

2013-08-27 13:20:58 -0500 commented question rviz segfault OpenGL Warning

@AlphaSierra I tried with rviz and got the same error as you. Using a duplicate VM in VMWare Player instead of Virtualbox allowed me to run both rviz and gazebo with 3d enabled with no issues.

2013-08-27 13:19:38 -0500 answered a question rviz segfault OpenGL Warning

@AlphaSierra I had the same issue with rviz, which your workaround fixed. @kurt my interim solution was to export my VBox disk to ova and use VMWare Player instead. Both rviz and gazebo ran fine with 3d enabled in VMWare Player.

2013-08-07 22:51:57 -0500 commented question rviz segfault OpenGL Warning

I have come across a similar issue using VirtualBox 4.2.16 to host Ubuntu 12.04 trying to run Gazebo. I came across this bug report for VirtualBox https://www.virtualbox.org/ticket/11894 . Possibly a bug in Virtualbox?