Errors running ScaViSLAM (Kinect and New College Dataset)

[romulogcerqueira]

Hi everybody!

I installed ScaViSLAM in my machine, but I have found some errors when I run stereo_slam:

• Using New College dataset:
  romulo@cerqueira:~/svslocal/ScaViSLAM/svs_build$ ./stereo_slam ../data/newcollege.cfg
  Multiprocessors: 2
  Filegrabber initializing....
  Filegrabber initialized.
  terminate called after throwing an instance of 'std::out_of_range'
  what(): vector::_M_range_check
  Aborted
• Using Kinect:
  romulo@cerqueira:~/svslocal/ScaViSLAM/svs_build_with_pcl$ ./stereo_slam ../data/rgbd_live.cfg
  Multiprocessors: 2
  terminate called after throwing an instance of 'pcl::IOException'
  what(): void pcl::OpenNIGrabber::setupDevice(const string&, const pcl::OpenNIGrabber::Mode&, const pcl::OpenNIGrabber::Mode&) in /build/buildd/pcl-1.7-1.7.1/io/src/openni_grabber.cpp @ 342 : No devices connected.
  Aborted

Somebody could help me?

Thanks!

[asimay]

I met the same problem also run stereo_slam. I'm debugging it all day but find no exact clues.
when you use gdb debug, it always failed around code file_grabber_.initialize() (line 86, in Frame_grabber.cpp file), I doubt the code between 60 and 71 has error when handle the vector, but cannot find the true reason .
If you find, please tell me. Thanks.

[romulogcerqueira]

I installed the Kinect in my Ubuntu 14.04 64 bits following this instructions: http://a-asvadi.ir/install-kinect-xbox360-ubuntu-12-04/

However, when I run ./stereo_slam ../data/rgbd_live.cfg, Kinect run perfectly, but the tracked points cause the follow errors:
...
*** Error in `./stereo_slam': free(): invalid pointer: 0x000000000fc3c398 ***
Aborted

Any idea?

Thanks.

[asimay]

I didn't use Kinect, I just used New College dataset while it happened to crash. I think we must figure out why it crash based on Newcollege dataset, then handle the situation based on Kinect is better.
Multiprocessors: 2
i see the print info of yours, do you use the CUDA SUPPORT feature? I turned it off, and also occur the same crash like you.

[romulogcerqueira]

Yes, asimay, I enable CUDA SUPPORT. These errors continue.

[asimay]

hi, man, does your computer has individual graph card or integrated graph card?
I saw the code should have GPU support in default in readme file.

[romulogcerqueira]

Hi asimay,

I have a Nvidia graph card.

[romulogcerqueira]

Up!

[asimay]

Did you find the root cause?
I plan to write the debug log in every place I doubt the running error.
you can try too, let's make it work.

[romulogcerqueira]

The error is caused by addNewKeyframe() function in stereo_frontend.cpp, however I don't get correct it. I sent a email to Hauke, but he doesn't still answer me.

[asimay]

I'm afraid I don't agree with you.
I debug one day, and find that root cause before run into stereo_frontend initialize.

/home/leon/project/ScaViSLAM/scavislam/frame_grabber.cpp, Line: 135, Func: processNextFrame Entered !
/home/leon/project/ScaViSLAM/scavislam/frame_grabber.cpp Line: 141 Func:processNextFrame params_.livestream is:0
/home/leon/project/ScaViSLAM/scavislam/frame_grabber.cpp Line: 145 Func:processNextFrame Entered if (!params_.livestream)!
/home/leon/project/ScaViSLAM/scavislam/frame_grabber.cpp Line: 149 Func:processNextFrame frame_data.frame_id = 0
/home/leon/project/ScaViSLAM/scavislam/filegrabber.cpp Line: 35 Func:getFrameBundle Entered !
/home/leon/project/ScaViSLAM/scavislam/filegrabber.cpp Line: 36 Func:getFrameBundle bundle_buffer_.size() = 0

at here,
if (bundle_buffer_.size()<1)
return false;
so in FrameGrabber::processNextFrame() func of FrameGrabber::initialise(),

while (file_grabber_mon_.getFrameBundle(frame_data.frame_id,&bundle) == false)
{
}
we never get the demo images pic into our program. so that our program run crash because of no image dataset in it.

but I still don't know how to change it.even I comment the regex code as belows, it still cannot get images dataset input.
//boost::regex ex(name);
//if (boost::regex_match(path_name.begin(),path_name.end(),ex))
//{
file_base_vec_.push_back(path_name.substr(0,path_name.length()-8));
//}

[asimay]

Hi romulogcerqueira,
tonight, I successfully debug it out, and it works fine.
please change your newcollege.cfg file as belows:

framepipe.base_str = .*;
cheers!

[romulogcerqueira]

Hi asimay! It works for me, however there is still some crash.

Then:

romulo@fieb:~/slam-alg/scavislam/ScaViSLAM/svs_build$ ./stereo_slam ../data/newcollege.cfg
Multiprocessors: 2
Filegrabber initializing....
Filegrabber initialized.
*** Error in `./stereo_slam': free(): invalid pointer: 0x000000000fdbd3ec ***
Aborted (core dumped)

Moreover, I still have problems using the Kinect.

Thanks!

[asimay]

*** Error in `./stereo_slam': free(): invalid pointer: 0x000000000fdbd3ec ***
there is not enough info about this crash. you mush collect more log about this crash.
this only tell us in .O file, free func has error. but I don't know much about it.

about Kinect, I don't have this equipment, I cannot afford it in my country...

[JzHuai0108]

Hello, romulogcerqueira,

Did you figure out the crash issue you posted on Sep 18 2014
*** Error in `./stereo_slam': free(): invalid pointer: 0x000000000fdbd3ec ***
Aborted (core dumped)"

I built ScaViSLAM without GPU, and tested it on new college. But after processing a couple of frames, this error pop out and kills the program.