roslaunch error

[izengpan]

hello,
I have run the code successfully before. And saw the expected result.
But, several weeks later, I run the code again, error occured.

Warning: TF_OLD_DATA ignoring data from the past for frame odom_init at time 1.34184e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

processing kf 0 1341836537.655661616
*** Error in `/home/zp/0pop_up_slam-master_good/devel/lib/pop_planar_slam/planar_test': double free or corruption (out): 0x0000000005047a00 ***

[planar_test-2] process has died [pid 11236, exit code -6, cmd /home/zp/0pop_up_slam-master_good/devel/lib/pop_planar_slam/planar_test /image:=/mono/image_mono /camera_info:=/mono/camera_info __name:=planar_test __log:=/home/zp/.ros/log/9c4ddef6-72ba-11e9-8104-107b4490cde3/planar_test-2.log].

And there is no label images in the RVIZ, It seems that the label image haven't transported into the system.
I have done nothing to the code, and my linux system also haven't changed.
Then, I download your code again, and compile it. Error also occurs. It just so weird.
Looking forward to your reply.

[izengpan]

After checking the code.
Until now,I found some mistakes.
1.main_3d: the first error happened in the process : pop_up_obj->get_ground_edges(bgr_raw_img,label_img);[error]

In this function, actual_plane_indices_temp occurs interrupt. And I dropped it, give value to actual_plane_indices_inall directly.

2.main_3d: MatrixX4f utilized_ground_seg2d_lines = pop_up_obj->ground_seg2d_lines_actual; [error]
ground_seg2d_lines_actual is a MatrixXf.

3.get_plane_equation(): temp=ground_seg3d_sensor.transpose(); [error]
temp is n2, while ground_seg3d_sensor.transpose() is n3.

and there maybe other problems.
I just feel confused, I can run this code several weeks ago without any problem. Now, so many error occurs.....

[shichaoy]

sorry for the late replay. I cannot run the code as I am travelling recently, will look into it later. I just looked at the commit history, there is only one small change in two months ago of "pop_up_fun.py" file, other than that, all the changes are made 7 months ago. something might change is a public dependency "intervaltree". can you try using old code? and in get_ground_edges(), give more details of the size of actual_plane_indices_temp, actual_walls_in_closepoly_ind etc.

[izengpan]

sorry to interrupt you.
I used the old code. Errors still the same.
Then I download your code again, and change "pop_up_fun.py" file back into the origin file, which put the i back into 0.Still doesn't work. ->_->

[shichaoy]

hi @izengpan I download the code and no error happens on my computer... can you post more clear what's the place causing "double free or corruption error", as what I mentioned before, visit out-of bound memory, or something else. meanwhile, I will look at the places you mentioned.

[izengpan]

I download the code again, and this is the problem:

Besides, I changed the "pop_up_fun.py" file back into the origin file, error also occurs.

They both corrupt in the first kf.
as to you said clear place which cause the problem, it can't see directly from the console, I just cout some test information to find the problem.

I have found three problems, in the second comment of this issue.

[shichaoy]

@izengpan I roughly understand some of your errors. For error 1: could you specify which line? For error 2: I think you might change compiler settings or update your system, or update Eigen recently. Assigning MatrixXf to MatrixX4f doesn't cause error on my computer, but strictly speaking, MatrixX4f has fixed column but MatrixXf doesn't, so it may generate assert error on your computer. Same for error 3, Assigning MatrixXf to MatrixXf_row generates error on your computer but not on mine.

I will change the Eigen matrix in the code so they have explicit same type, but it may take some time. Meanwhile, you can also fix it, should be straightforward.

[izengpan]

OK, I'll check it first. Really thanks!

[viet2411]

@izengpan Have you solved the problem yet? I also got this when I try to launch source code on my virtual machine.

[ValeriiaIZH]

Hello! I have the same problem. Could you help? I didn't change the code and downloaded dataset from Google.disk.
Ubuntu 16.04, ROS Kinetic, OpenCV 3.4

[caoxudong0513]

Hello! I have the same problem，someone sloved ?
thank you

[shichaoy]

@caoxudong0513 sorry I cannot reproduce it. after line BA num of Poses/planes..., it should be print Time for ... mapping: finish processing. so seems isam BA has some problem? can your print more logs?

[shichaoy]

@ValeriiaIZH looks like the ground plane detection doesn't work, if it works, it should print some logs similar to @caoxudong0513 's images. I guess the opencv python binding are not installed correct, as it says "no to-python converter found" I think more print logs in https://github.com/shichaoy/pop_up_slam/blob/master/pop_up_wall/libs/popup_plane.cpp#L753 would be helpful

[XilSLAM]

Hi @shichaoy, I have a similar problem that I don't really understand :

Do you have an idea on how to solve it ?

Thank you.

[TomatoChewgum]

@XilSLAM hello , I have exactly the same problem with you ,and i dont how to solve it ;

I'm looking forward to further communication with you， thank you very much