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92.0 92.0 28.0 1.43 MB

A Modular Multimodal Mapping Framework

License: Other

C++ 95.01% CMake 4.99%

mapping robotics slam

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omnimapper's Issues

Build OmniMapper ROS error on Ubuntu14.04

Hi,

  Thanks so much for the previous suggestions on installing omnimapper on Ubuntu12.04. Since it doesn't support 12.04, I upgraded it to ubuntu14.04.

   The build procedure for OmniMapper base is pretty good. But there's some problem on building OmniMapper ROS. 

    Only adding export ROS_PACKAGE_PATH=/home/user/omnimapper/ros/:${ROS_PACKAGE_PATH} to the bashrc, you cannot find the omnimapper_ros by using $roscd omnimapper_ros. Since only add it to the package_path without building, it cannot be a ros package which could be found using $roscd.    So I just use the $cd omnimapper_ros, and $roscd omnimapper_ros,

But the following errors occurred:

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['omnimapper_ros']
[ rosmake ] Logging to directory /home/meng/.ros/rosmake/rosmake_output-20141106-132020
[ rosmake ] Expanded args ['omnimapper_ros'] to:
[]
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['omnimapper_ros']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.

Could anyone provide some suggestions?

Thanks in advance!

OmniMapper-Demo with Hardware-Acceleration

Hello,

I am trying to run the OmniMapper-Demo after installing it from Docker and building the Nvidia-Version, unfortunately with no success yet. After I run the demo with the docker/nvidia/run.sh script, RVIZ still gives an error about having no OpenGL available. I have the following docker-images on my machine:

cogrob/omnimapper-nvidia 331.113 559db9bb2188 23 minutes ago 3.276 GB
cogrob/omnimapper-nvidia latest 559db9bb2188 23 minutes ago 3.276 GB
cogrob/omnimapper-demo latest 12e1913d7242 24 hours ago 2.957 GB
cogrob/omnimapper-dox latest ddac6871e880 5 days ago 2.585 GB
cogrob/omnimapper-gui latest 55515cd39e2d 5 days ago 2.472 GB
cogrob/omnimapper-dev latest 118214defd55 5 days ago 2.309 GB
cogrob/omnimapper-dep latest ebb9d1383365 5 days ago 2.183 GB
ubuntu 14.04 5ba9dab47459 13 days ago 188.3 MB
training/webapp latest 31fa814ba25a 8 months ago 278.8 MB

Did I miss something else?

Thanks in advance,
Sebastian

omnimapper installation errors

Hi,

  The installation instructions (https://github.com/CognitiveRobotics/omnimapper/wiki/Installation-&-Dependencies) were followed, but there are many compling errors. It worked good before $make -j4 of omnimapper.

/usr/include/boost/variant/variant.hpp:401:9: error: use of deleted function ‘boost::weak_ptr::weak_ptr(const boost::weak_ptr&)’
new(storage_) T( operand.get() );
^
make[1]: *** [CMakeFiles/omnimapper.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

/usr/include/boost/smart_ptr/shared_ptr.hpp:305:9: error: use of deleted function ‘boost::shared_ptr<const std::vector >::shared_ptr(const boost::shared_ptr<const std::vector >&)’
this_type(r).swap(this);
^
make[2]: ** [organized_segmentation_tools_dev/CMakeFiles/organized_segmentation_tools.dir/src/organized_segmentation_tbb.cpp.o] Error 1
make[1]: *** [organized_segmentation_tools_dev/CMakeFiles/organized_segmentation_tools.dir/all] Error 2
make: *** [all] Error 2

My ubuntu version is 12.04 and hydro. I noticed that the previous issues by another user also have problems.

It seems that there were some conflict between libboost versions.
As I also used the $dpkg -s libboost-dev | grep 'Version' as suggested by another user
Version: 1.48.0.2

But if I use $ cat /usr/include/boost/version.hpp | grep "BOOST_LIB_VERSION"
// BOOST_LIB_VERSION must be defined to be the same as BOOST_VERSION

define BOOST_LIB_VERSION "1_46_1"

Could anyone provide some suggestions? Thanks!

small annotation syntax errors on the file handheld_dvo_and_icp.launch and handheld_openni.launch

Hey,

   There are some  annotation syntax errors on the file handheld_dvo_and_icp.launch and handheld_openni.launch

<--! NOTE: If you have DVO, try the launch file that uses it instead -- performance with ICP alone is not robust! -->

It's rather ran <--! -->

Thanks!

Error in updatePlane() when upgrade gtsam 3 -> 4

Error occurs when compiling the omnimapper on branch: https://github.com/CogRob/omnimapper/tree/412f23df25989f5b30ac61bda1b515a1f0c2d6e0

/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h: In instantiation of ‘bool gtsam::GenericValue<T>::equals_(const gtsam::Value&, double) const [with T = gtsam::Plane<pcl::PointXYZRGBA>]’:
/opt/overlay_ws/src/CogRob/omnimapper/src/omnimapper_base.cpp:744:1:   required from here
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h:76:29: error: incomplete type ‘gtsam::traits<gtsam::Plane<pcl::PointXYZRGBA> >’ used in nested name specifier
     return traits<T>::Equals(this->value_, genericValue2.value_, tol);
            ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h: In instantiation of ‘void gtsam::GenericValue<T>::print(const string&) const [with T = gtsam::Plane<pcl::PointXYZRGBA>; std::__cxx11::string = std::__cxx11::basic_string<char>]’:
/opt/overlay_ws/src/CogRob/omnimapper/src/omnimapper_base.cpp:744:1:   required from here
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h:87:21: error: incomplete type ‘gtsam::traits<gtsam::Plane<pcl::PointXYZRGBA> >’ used in nested name specifier
     traits<T>::Print(value_, str);
     ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h: In instantiation of ‘size_t gtsam::GenericValue<T>::dim() const [with T = gtsam::Plane<pcl::PointXYZRGBA>; size_t = long unsigned int]’:
/opt/overlay_ws/src/CogRob/omnimapper/src/omnimapper_base.cpp:744:1:   required from here
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h:145:37: error: incomplete type ‘gtsam::traits<gtsam::Plane<pcl::PointXYZRGBA> >’ used in nested name specifier
       return traits<T>::GetDimension(value_);
              ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h: In instantiation of ‘gtsam::Value* gtsam::GenericValue<T>::retract_(const Vector&) const [with T = gtsam::Plane<pcl::PointXYZRGBA>; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’:
/opt/overlay_ws/src/CogRob/omnimapper/src/omnimapper_base.cpp:744:1:   required from here
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h:115:49: error: incomplete type ‘gtsam::traits<gtsam::Plane<pcl::PointXYZRGBA> >’ used in nested name specifier
       const T retractResult = traits<T>::Retract(GenericValue<T>::value(), delta);
                               ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h: In instantiation of ‘gtsam::Vector gtsam::GenericValue<T>::localCoordinates_(const gtsam::Value&) const [with T = gtsam::Plane<pcl::PointXYZRGBA>; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’:
/opt/overlay_ws/src/CogRob/omnimapper/src/omnimapper_base.cpp:744:1:   required from here
/opt/underlay_ws/install/gtsam/lib/cmake/GTSAM/../../../include/gtsam/base/GenericValue.h:130:30: error: incomplete type ‘gtsam::traits<gtsam::Plane<pcl::PointXYZRGBA> >’ used in nested name specifier
       return traits<T>::Local(GenericValue<T>::value(), genericValue2.value());
              ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/omnimapper.dir/src/omnimapper_base.cpp.o] Error 1

The bug occurs from

omnimapper/src/omnimapper_base.cpp

Line 545 in 412f23d

gtsam::GenericValue<gtsam::Plane<pcl::PointXYZRGBA> > temp;

sigfault in dashing

Thread 59 "omnimapper_ros_" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7ffe5ab7d700 (LWP 5413)]
0x00007fffe5e258df in pcl::KdTreeFLANN<pcl::PointXYZRGBA, flann::L2_Simple<float> >::nearestKSearch (this=0x7fff9c004040, point=..., k=1, k_indices=std::vector of length 1, capacity 1 = {...}, k_distances=std::vector of length 1, capacity 1 = {...})
    at /root/pcl/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:160
160           neighbor_index = index_mapping_[neighbor_index];
(gdb) 
(gdb) bt
#0  0x00007fffe5e258df in pcl::KdTreeFLANN<pcl::PointXYZRGBA, flann::L2_Simple<float> >::nearestKSearch (this=0x7fff9c004040, point=..., k=1, k_indices=std::vector of length 1, capacity 1 = {...}, k_distances=std::vector of length 1, capacity 1 = {...})
    at /root/pcl/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:160
#1  0x00007ffff6cb216f in pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZRGBA, pcl::PointXYZRGBA>::computeTransformation(pcl::PointCloud<pcl::PointXYZRGBA>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&) () from /usr/local/lib/libomnimapper.so
#2  0x00007ffff6c94d6c in pcl::Registration<pcl::PointXYZRGBA, pcl::PointXYZRGBA, float>::align(pcl::PointCloud<pcl::PointXYZRGBA>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&) () from /usr/local/lib/libomnimapper.so
#3  0x00007ffff6c97641 in omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>::registerClouds(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> const>&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> const>&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >&, Eigen::Matrix<float, 4, 4, 0, 4, 4>&, double&) () from /usr/local/lib/libomnimapper.so
#4  0x00007ffff6c9fead in omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>::addConstraint(gtsam::Symbol, gtsam::Symbol, double) () from /usr/local/lib/libomnimapper.so
#5  0x00007ffff6c83d4d in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf3<bool, omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>, gtsam::Symbol, gtsam::Symbol, double>, boost::_bi::list4<boost::_bi::value<omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>*>, boost::_bi::value<gtsam::Symbol>, boost::_bi::value<gtsam::Symbol>, boost::_bi::value<float> > > >::run() () from /usr/local/lib/libomnimapper.so
#6  0x00007ffff65aabcd in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1
#7  0x00007ffff76536db in start_thread (arg=0x7ffe5ab7d700) at pthread_create.c:463
#8  0x00007ffff25b688f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

Error when use bounded planes plugin

When using the bounded planes plugin, an error occurs when retrieving added plane landmarks:

omnimapper/src/plugins/bounded_plane_plugin.cpp

Lines 323 to 327 in f215e35

    
           printf("BoundedPlanePlugin: Creating new plane %s: %lf %lf %lf %lf\n", 
        
                  boost::lexical_cast<std::string>(best_symbol.key()).c_str(), 
        
                  map_p3_coeffs[0], map_p3_coeffs[1], map_p3_coeffs[2], 
        
                  map_p3_coeffs[3]); 
        
           mapper_->addNewValue(best_symbol, map_plane);

[omnimapper_ros_node-1] Meas Boundary Map: Boundary Point: -0.099607 -0.045571 0.994434
[omnimapper_ros_node-1] Meas Boundary Map: Boundary Point: -0.098161 -0.045652 0.996211
[omnimapper_ros_node-1] Meas Boundary Map: Boundary Point: -0.096732 -0.047371 0.998222
[omnimapper_ros_node-1] Meas Boundary Map: Boundary Point: -0.096754 -0.049009 0.998450
[omnimapper_ros_node-1] BoundedPlanePlugin: Creating new plane 8070450532247928832: 0.769868 -0.097762 -0.630671 0.699390
[omnimapper_ros_node-1] Adding new symbol: p0
[omnimapper_ros_node-1] terminate called after throwing an instance of 'gtsam::ValuesIncorrectType'
[omnimapper_ros_node-1]   what():  Attempting to retrieve value with key "p0", type stored in Values is N10omnimapper13BoundedPlane3IN3pcl12PointXYZRGBAEEE but requested type was N10omnimapper13BoundedPlane3IN3pcl12PointXYZRGBAEEE

The last line is particularly strange as the mangled types are printed using the same string.

Stacktrace:

__GI_raise 0x00007fb4c71eae97
__GI_abort 0x00007fb4c71ec801
<unknown> 0x00007fb4c7841957
<unknown> 0x00007fb4c7847ae6
std::terminate() 0x00007fb4c7847b21
std::rethrow_exception(std::__exception_ptr::exception_ptr) 0x00007fb4c7847ada
<unknown> 0x00007fb4c7b5fd0c
<unknown> 0x00007fb4c7b64e9b
<unknown> 0x00007fb4c7b61790
gtsam::NonlinearFactorGraph::linearize(gtsam::Values const&) const 0x00007fb4c84c1f8c
gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, gtsam::ISAM2UpdateParams const&) 0x00007fb4c848dbc4
gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, std::vector<unsigned long, tbb::tbb_allocator<unsigned long> > const&, boost::optional<gtsam::FastMap<unsigned long, int> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, bool) 0x00007fb4c848a67c
omnimapper::OmniMapperBase::optimize omnimapper_base.cpp:467
omnimapper::OmniMapperBase::spinOnce omnimapper_base.cpp:657
omnimapper::OmniMapperBase::spin omnimapper_base.cpp:640
boost::_mfi::mf0<void, omnimapper::OmniMapperBase>::operator() mem_fn_template.hpp:49
boost::_bi::list1<boost::_bi::value<omnimapper::OmniMapperBase*> >::operator()<boost::_mfi::mf0<void, omnimapper::OmniMapperBase>, boost::_bi::list0> bind.hpp:259
boost::_bi::bind_t<void, boost::_mfi::mf0<void, omnimapper::OmniMapperBase>, boost::_bi::list1<boost::_bi::value<omnimapper::OmniMapperBase*> > >::operator() bind.hpp:1294
boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, omnimapper::OmniMapperBase>, boost::_bi::list1<boost::_bi::value<omnimapper::OmniMapperBase*> > > >::run thread.hpp:116
<unknown> 0x00007fb4c7d8bbcd
start_thread 0x00007fb4c99806db
clone 0x00007fb4c72cd88f

omnimapper/src/omnimapper_base.cpp

Lines 469 to 470 in f215e35

    
           current_graph = 
        
               isam2.getFactorsUnsafe();  // TODO: is this necessary and okay?

https://github.com/borglab/gtsam/blob/16dbf27375fdefb83ce2355beb0c147fa9c07600/gtsam/nonlinear/Values.cpp#L233-L240

It'd be nice to have a cleaner stacktrace to work with, but #25 inhibits building against debug gtsam.

My guess is that it has something to do with an API change in gtsam::Value class, that omnimappers derived DerivedValue class isn't accounting for:

omnimapper/include/omnimapper/BoundedPlane3.h

Line 17 in f215e35

class BoundedPlane3 : public gtsam::DerivedValue<BoundedPlane3<PointT> > {

omnimapper/include/omnimapper/DerivedValue.h

Line 42 in f215e35

class DerivedValue : public gtsam::Value {

https://bitbucket.org/gtborg/gtsam/issues/342/bearingrangefactor2d-between-poses

Build fails when compiling against debug builds of gtsam

Looks like there is a linking issue with tbb when compiling against debug builds of gtsam:

overlay_ws> colcon build --symlink-install --mixin debug ccache
Starting >>> pcl_conversions
Starting >>> omnimapper
Starting >>> omnimapper_ros_msgs
Finished <<< pcl_conversions [0.49s]                                                                                                       
Starting >>> perception_pcl
Finished <<< perception_pcl [0.25s]                                                                                                    
Finished <<< omnimapper_ros_msgs [1.72s]                                                                 
--- stderr: omnimapper                             
libomnimapper.so: undefined reference to `vtable for tbb::task'
libomnimapper.so: undefined reference to `tbb::internal::allocate_root_with_context_proxy::allocate(unsigned long) const'
libomnimapper.so: undefined reference to `tbb::interface5::internal::task_base::destroy(tbb::task&)'
libomnimapper.so: undefined reference to `tbb::task_group_context::cancel_group_execution()'
libomnimapper.so: undefined reference to `tbb::task::note_affinity(unsigned short)'
libomnimapper.so: undefined reference to `typeinfo for tbb::task'
libomnimapper.so: undefined reference to `tbb::internal::allocate_additional_child_of_proxy::free(tbb::task&) const'
libomnimapper.so: undefined reference to `tbb::task_group_context::reset()'
libomnimapper.so: undefined reference to `tbb::internal::allocate_root_with_context_proxy::free(tbb::task&) const'
libomnimapper.so: undefined reference to `tbb::internal::allocate_additional_child_of_proxy::allocate(unsigned long) const'
libomnimapper.so: undefined reference to `tbb::task_group_context::init()'
libomnimapper.so: undefined reference to `tbb::task_group_context::~task_group_context()'
libomnimapper.so: undefined reference to `tbb::task_group_context::is_group_execution_cancelled() const'
libomnimapper.so: undefined reference to `tbb::internal::throw_exception_v4(tbb::internal::exception_id)'
collect2: error: ld returned 1 exit status
make[2]: *** [omnimapper_test] Error 1
make[1]: *** [CMakeFiles/omnimapper_test.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< omnimapper	[ Exited with code 2 ]

Summary: 3 packages finished [5.14s]
  1 package failed: omnimapper
  1 package had stderr output: omnimapper
  1 package not processed

This is prevents the use of debug symbols to triage issues with the plane plugins. My guess that omnimapper is implicitly relying gtsam to export tbb during the linking stage, and that gtsam disables the use of tbb when the library is compiled using debug flags.

Omnimapper make errors

Hi,
Thanks for contributing omnimapper! There are some following compiling errors. Could anyone provide some suggestions? Many thanks in advance!

make[2]: *** [CMakeFiles/omnimapper.dir/plugins/src/icp_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/omnimapper.dir/all] Error 2
make: *** [all] Error 2

https://cognitiverobotics.github.io/omnimapper/ should jump to here

https://cognitiverobotics.github.io/omnimapper/ should 301 redirect to here.

DVO_ROS in handheld_dvo_and_icp.launch for Indigo

Hi,

   It seems that DVO only officially supports fuerte and electric from TUM's github(https://github.com/tum-vision/dvo). Does it work on Indigo?  
    I have tried the DVO, both the fuerte and electric DVO don't work on my Indigo
   Thanks !

Problems about omnimapper_jeeves_laser_and_icp.launch

I have built the code successfully, but when i run roslaunch omnimapper omnimapper_jeeves_laser_and_icp.launch i can't change Global Options/Fixed frame to base_link in the rviz window,and it can't receive data of the kinect.

Here is my log:
... logging to /home/buqing2009/.ros/log/4766ed3a-97b6-11e4-b441-303a643c16f8/roslaunch-buqing2009-GE60-2PE-12993.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://buqing2009-GE60-2PE:47853/

SUMMARY

PARAMETERS

/camera/camera_nodelet_manager/num_worker_threads: 4
/camera/depth_rectify_depth/interpolation: 0
/camera/depth_registered_rectify_depth/interpolation: 0
/camera/disparity_depth/max_range: 4.0
/camera/disparity_depth/min_range: 0.5
/camera/disparity_registered_hw/max_range: 4.0
/camera/disparity_registered_hw/min_range: 0.5
/camera/disparity_registered_sw/max_range: 4.0
/camera/disparity_registered_sw/min_range: 0.5
/omnimapper_ros_node/add_pose_per_cloud: False
/omnimapper_ros_node/base_frame_name: /base_link
/omnimapper_ros_node/broadcast_map_to_odom: True
/omnimapper_ros_node/cloud_topic_name: /camera/depth_reg...
/omnimapper_ros_node/draw_clusters: True
/omnimapper_ros_node/draw_label_cloud: True
/omnimapper_ros_node/draw_pose_array: True
/omnimapper_ros_node/draw_pose_graph: True
/omnimapper_ros_node/icp_leaf_size: 0.05
/omnimapper_ros_node/icp_loop_closure_distance_threshold: 3.0
/omnimapper_ros_node/icp_loop_closure_pose_index_threshold: 10
/omnimapper_ros_node/icp_loop_closure_score_threshold: 0.8
/omnimapper_ros_node/icp_max_correspondence_distance: 2.2
/omnimapper_ros_node/icp_rot_noise: 0.15
/omnimapper_ros_node/icp_save_full_res_clouds: False
/omnimapper_ros_node/icp_score_threshold: 0.8
/omnimapper_ros_node/icp_trans_noise: 0.15
/omnimapper_ros_node/init_pose_from_tf: True
/omnimapper_ros_node/odom_frame_name: /odom
/omnimapper_ros_node/suppress_commit_window: False
/omnimapper_ros_node/tf_pitch_noise: 0.001
/omnimapper_ros_node/tf_roll_noise: 0.001
/omnimapper_ros_node/tf_trans_noise: 0.05
/omnimapper_ros_node/tf_yaw_noise: 0.2
/omnimapper_ros_node/use_csm: True
/omnimapper_ros_node/use_error_plugin: False
/omnimapper_ros_node/use_icp: True
/omnimapper_ros_node/use_init_pose: False
/omnimapper_ros_node/use_no_motion: False
/omnimapper_ros_node/use_occ_edge_icp: False
/omnimapper_ros_node/use_organized_segmentation: False
/omnimapper_ros_node/use_tf: True
/omnimapper_ros_node/use_tsdf_plugin: False
/rosdistro: indigo
/rosversion: 1.11.9
/use_sim_time: True

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
RVIZ (rviz/rviz)
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
omnimapper_ros_node (omnimapper_ros/omnimapper_ros_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [13011]
process[camera/debayer-2]: started with pid [13012]
[ INFO] [1420804182.762039136]: Initializing nodelet with 4 worker threads.
process[camera/rectify_mono-3]: started with pid [13054]
process[camera/rectify_color-4]: started with pid [13083]
process[camera/rectify_ir-5]: started with pid [13104]
process[camera/depth_rectify_depth-6]: started with pid [13125]
process[camera/depth_metric_rect-7]: started with pid [13154]
process[camera/depth_metric-8]: started with pid [13175]
process[camera/depth_points-9]: started with pid [13203]
process[camera/register_depth_rgb-10]: started with pid [13233]
process[camera/points_xyzrgb_sw_registered-11]: started with pid [13258]
process[camera/depth_registered_rectify_depth-12]: started with pid [13290]
process[camera/points_xyzrgb_hw_registered-13]: started with pid [13311]
process[camera/disparity_depth-14]: started with pid [13335]
process[camera/disparity_registered_sw-15]: started with pid [13356]
process[camera/disparity_registered_hw-16]: started with pid [13402]
process[camera_base_link-17]: started with pid [13446]
process[camera_base_link1-18]: started with pid [13476]
process[camera_base_link2-19]: started with pid [13503]
process[camera_base_link3-20]: started with pid [13521]
process[omnimapper_ros_node-21]: started with pid [13554]
process[RVIZ-22]: started with pid [13555]
[ INFO] [1420804183.317302103]: OmniMapperROS: Constructing... Loading ROS Params...
[ INFO] [1420804183.371567871]: Waiting for initial pose from /odom to /base_link

And i delete this part

and run roslaunch openni_launch openni.launch independently,
i can chang the Fixed Frame to base_link and i can see the color image and depth image but i can't any other else in the middle.
and in the terminal has the error code:
Invalid argument "/camera_rgb_optical_frame" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:

access denied?

Just following your youtube video

gives me:


omnimapper/docker$ sudo make pull
Using default tag: latest
Error response from daemon: pull access denied for cogrob/omnimapper-dep, repository does not exist or may require 'docker login'
Makefile:24: recipe for target 'pull' failed
make: *** [pull] Error 1

Roslaunch fails under omnimapper_jeeves_object.launch

Hello,

I get an error when i launch this file. The error is:

In constructor, checking size of observations_
Size: 0
src/tcmalloc.cc:278] Attempt to free invalid pointer 0x5d7961005d0000
[omnimapper_ros_node-24] process has died [pid 25827, exit code -6, cmd /home/pc/workspace/devel/lib/omnimapper_ros/omnimapper_ros_node __name:=omnimapper_ros_node __log:=/home/pc/.ros/log/f05b8e02-18e8-11e9-8562-b46bfc2f87fd/omnimapper_ros_node-24.log].
log file: /home/pc/.ros/log/f05b8e02-18e8-11e9-8562-b46bfc2f87fd/omnimapper_ros_node-24*.log

Segfault when initializing new Cloud instances

Looks like there may be a template issue when creating a new instance of a Cloud (pcl::PointCloud). Perhaps this is tied to an issue with pcl_conversions in ros2?

This can be verified by testing the only the icp plugin using "xyz","rgb" PointCloud2 messages. However, I don't think runtime data from the PointCloud2 message format is yet the issue here, as segfault occurs even before the payload message current_cloud is used in the control flow.

omnimapper/src/plugins/icp_plugin.cpp

Line 135 in 103cd84

CloudPtr current_cloud_filtered(new Cloud());

omnimapper/include/omnimapper/plugins/icp_plugin.h

Lines 57 to 60 in 103cd84

    
           template <typename PointT> 
        
           class ICPPoseMeasurementPlugin  //: public omnimapper::PosePlugin 
        
           { 
        
             typedef typename pcl::PointCloud<PointT> Cloud;

Building from the head of https://github.com/ros-perception/perception_pcl/tree/eloquent-devel as of ros-perception/perception_pcl@36eb607 within the workspace still seem to exisbit this issue.

Stack trace:

    __GI___libc_free 0x00007f01094b198d
    Eigen::internal::handmade_aligned_free Memory.h:98
    Eigen::internal::aligned_free Memory.h:179
    Eigen::aligned_allocator<pcl::PointXYZRGBA>::deallocate Memory.h:747
    std::allocator_traits<Eigen::aligned_allocator<pcl::PointXYZRGBA> >::deallocate alloc_traits.h:328
    std::_Vector_base<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >::_M_deallocate stl_vector.h:180
    std::_Vector_base<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >::~_Vector_base stl_vector.h:162
    std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >::~vector stl_vector.h:435
    pcl::PointCloud<pcl::PointXYZRGBA>::~PointCloud point_cloud.h:240
    pcl::PointCloud<pcl::PointXYZRGBA>::~PointCloud point_cloud.h:240
    boost::checked_delete<pcl::PointCloud<pcl::PointXYZRGBA> > checked_delete.hpp:34
    boost::detail::sp_counted_impl_p<pcl::PointCloud<pcl::PointXYZRGBA> >::dispose sp_counted_impl.hpp:92
    boost::detail::sp_counted_base::release sp_counted_base_std_atomic.hpp:110
    boost::detail::shared_count::~shared_count shared_count.hpp:426
--> boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >::~shared_ptr shared_ptr.hpp:341
    omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>::spinOnce icp_plugin.cpp:135
    omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>::spin icp_plugin.cpp:112
    boost::_mfi::mf0<void, omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA> >::operator() mem_fn_template.hpp:49
    boost::_bi::list1<boost::_bi::value<omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>*> >::operator()<boost::_mfi::mf0<void, omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA> >, boost::_bi::list0> bind.hpp:259
    boost::_bi::bind_t<void, boost::_mfi::mf0<void, omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA> >, boost::_bi::list1<boost::_bi::value<omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>*> > >::operator() bind.hpp:1294
    boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA> >, boost::_bi::list1<boost::_bi::value<omnimapper::ICPPoseMeasurementPlugin<pcl::PointXYZRGBA>*> > > >::run thread.hpp:116
    <unknown> 0x00007f010a276bcd
    start_thread 0x00007f010be776db
    clone 0x00007f010953b88f

@BillWSY would you have an idea on what the C++ template issue with pcl::PointCloud might be? I don't have as much experience using C++ template as you may have.

error with cmake (using eigen from gtsam)

Hi, I run into error when doing cmake in pcl with eigen from gtsam(Ubuntu 14.04 & Indigo):

CMake Error at cmake/Modules/FindEigen.cmake:29 (file):
file Internal CMake error when trying to open file:
/home/bona/software/gtsam-3.1.0/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h

and "cmake -DEIGEN_INCLUDE_DIR="~/software/gtsam-3.1.0/gtsam/3rdparty/Eigen" .." failed.

Any suggestion?
Thanks.

	printf("BoundedPlanePlugin: Creating new plane %s: %lf %lf %lf %lf\n",
	boost::lexical_cast<std::string>(best_symbol.key()).c_str(),
	map_p3_coeffs[0], map_p3_coeffs[1], map_p3_coeffs[2],
	map_p3_coeffs[3]);
	mapper_->addNewValue(best_symbol, map_plane);

	current_graph =
	isam2.getFactorsUnsafe(); // TODO: is this necessary and okay?

	template <typename PointT>
	class ICPPoseMeasurementPlugin //: public omnimapper::PosePlugin
	{
	typedef typename pcl::PointCloud<PointT> Cloud;

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define BOOST_LIB_VERSION "1_46_1"

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