Comments (5)
matlabbe
commented on June 9, 2024
Which gtsam version are you using? the version now available though ros should work (ros-$ROS_DISTRO-gtsam).
ceres v2 build error is a known issue: #1219
I cannot reproduce the error with latest g2o during a quick test with a D435i. How long does it take for the error to happen? Can you enable the Debug log in Preferences to show log till it asserts. I see you have many dependencies built from source. In general, rtabmap is well tested with default binaries version of these dependencies that you can install on the ubuntu version / ros version you are using.
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jenadzitsiuk
commented on June 9, 2024
Thanks for a quick answer!
I did re-install PCL. uninstalled ceres.
Now PCL is not built from source, but 1.12 installed as "sudo apt install libpcl-dev"
GTSAM not installed (this is not necessary right?). No other changes compared to my original post.
Good news, the rtabmap app is working now!!! I see the 3D map growing and no errors in the console
But if I start the rgbd-camera app, its crashing. Could that be an issue with VTK?
I wonder why I see differences in 3D rendering execution of rtabmap and rtabmap-rgbd_camera, they use different code for rendering?
call stack:
#0 0x00007f6230f19c10 in _XEventsQueued () from /lib/x86_64-linux-gnu/libX11.so.6
[Current thread is 1 (Thread 0x7f62137fe640 (LWP 140498))]
(gdb) bt
#0 0x00007f6230f19c10 in _XEventsQueued () at /lib/x86_64-linux-gnu/libX11.so.6
#1 0x00007f6230f06291 in XPending () at /lib/x86_64-linux-gnu/libX11.so.6
#2 0x00007f622c06db8f in vtkXRenderWindowInteractor::StartEventLoop() () at /lib/x86_64-linux-gnu/libvtkRenderingUI-9.1.so.1
#3 0x00007f623fd7df8c in pcl::visualization::PCLVisualizer::spinOnce(int, bool) () at /lib/x86_64-linux-gnu/libpcl_visualization.so.1.12
#4 0x00007f623fda42f0 in pcl::visualization::CloudViewer::CloudViewer_impl::operator()() () at /lib/x86_64-linux-gnu/libpcl_visualization.so.1.12
#5 0x00007f623dedc253 in () at /lib/x86_64-linux-gnu/libstdc++.so.6
#6 0x00007f623da94ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7 0x00007f623db26850 in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:81
log:
[ INFO] (2024-03-11 11:55:20.478) main.cpp:186::main() Using driver 11 (device=0)
[ INFO] (2024-03-11 11:55:20.605) CameraRealSense2.cpp:490::init() setupDevice...
[ INFO] (2024-03-11 11:55:20.613) CameraRealSense2.cpp:517::init() Device "Intel RealSense D435I" with serial number 153122074883 was found with product ID=2874.
[ INFO] (2024-03-11 11:55:20.613) CameraRealSense2.cpp:608::init() Using device with Serial No: 153122074883
[ INFO] (2024-03-11 11:55:20.613) CameraRealSense2.cpp:611::init() Device Name: Intel RealSense D435I
[ INFO] (2024-03-11 11:55:20.613) CameraRealSense2.cpp:614::init() Device FW version: 5.12.7.150
[ INFO] (2024-03-11 11:55:20.613) CameraRealSense2.cpp:617::init() Device Product ID: 0x0B3A
[ INFO] (2024-03-11 11:55:20.613) CameraRealSense2.cpp:627::init() Device Sensors:
[ INFO] (2024-03-11 11:55:20.614) CameraRealSense2.cpp:692::init() Stereo Module was found.
[ INFO] (2024-03-11 11:55:20.614) CameraRealSense2.cpp:692::init() RGB Camera was found.
[ INFO] (2024-03-11 11:55:20.614) CameraRealSense2.cpp:692::init() Motion Module was found.
[ INFO] (2024-03-11 11:55:20.614) CameraRealSense2.cpp:705::init() Sensor 0 "RGB Camera"
[ INFO] (2024-03-11 11:55:20.616) CameraRealSense2.cpp:708::init() profiles=224
[ INFO] (2024-03-11 11:55:20.616) CameraRealSense2.cpp:714::init() RGB8 1920 1080 30 0 Color type=2
[ INFO] (2024-03-11 11:55:20.616) CameraRealSense2.cpp:714::init() Y16 1920 1080 30 0 Color type=2
[ INFO] (2024-03-11 11:55:20.616) CameraRealSense2.cpp:714::init() Y8 1920 1080 30 0 Color type=2
.....
[ INFO] (2024-03-11 11:55:20.618) CameraRealSense2.cpp:714::init() BGR8 320 180 6 0 Color type=2
[ INFO] (2024-03-11 11:55:20.618) CameraRealSense2.cpp:714::init() YUYV 320 180 6 0 Color type=2
[ INFO] (2024-03-11 11:55:20.618) CameraRealSense2.cpp:756::init() Model: 640x480 fx=605.897583 fy=605.802612 cx=324.214630 cy=252.450745 dist model=2 coeff=0.000000 0.000000 0.000000 0.000000 0.000000
[ INFO] (2024-03-11 11:55:20.618) CameraRealSense2.cpp:705::init() Sensor 1 "Stereo Module"
[ INFO] (2024-03-11 11:55:20.620) CameraRealSense2.cpp:708::init() profiles=108
[ INFO] (2024-03-11 11:55:20.620) CameraRealSense2.cpp:714::init() Y8 1280 800 30 1 Infrared 1 type=3
[ INFO] (2024-03-11 11:55:20.620) CameraRealSense2.cpp:714::init() Y16 1280 800 25 1 Infrared 1 type=3
.......
[ INFO] (2024-03-11 11:55:20.620) CameraRealSense2.cpp:714::init() Z16 424 240 6 0 Depth type=1
[ INFO] (2024-03-11 11:55:20.620) CameraRealSense2.cpp:714::init() Z16 256 144 300 0 Depth type=1
[ INFO] (2024-03-11 11:55:20.620) CameraRealSense2.cpp:714::init() Z16 256 144 90 0 Depth type=1
[ INFO] (2024-03-11 11:55:20.631) CameraRealSense2.cpp:705::init() Sensor 2 "Motion Module"
[ INFO] (2024-03-11 11:55:20.631) CameraRealSense2.cpp:708::init() profiles=4
[ INFO] (2024-03-11 11:55:20.631) CameraRealSense2.cpp:714::init() MOTION_XYZ32F 0 0 250 0 Accel type=6
[ INFO] (2024-03-11 11:55:20.631) CameraRealSense2.cpp:714::init() MOTION_XYZ32F 0 0 63 0 Accel type=6
[ INFO] (2024-03-11 11:55:20.631) CameraRealSense2.cpp:714::init() MOTION_XYZ32F 0 0 400 0 Gyro type=5
[ INFO] (2024-03-11 11:55:20.631) CameraRealSense2.cpp:714::init() MOTION_XYZ32F 0 0 200 0 Gyro type=5
[ INFO] (2024-03-11 11:55:20.632) CameraRealSense2.cpp:959::init() imu local transform = xyz=-0.011305,-0.020265,0.005370 rpy=-1.572469,0.021230,-1.562441
[ INFO] (2024-03-11 11:55:20.632) CameraRealSense2.cpp:1072::init() Starting sensor 0 with 1 profiles
[ INFO] (2024-03-11 11:55:20.632) CameraRealSense2.cpp:1076::init() Opening: RGB8 640 480 30 0 Color type=2
[ INFO] (2024-03-11 11:55:20.632) CameraRealSense2.cpp:1088::init() Set RS2_OPTION_GLOBAL_TIME_ENABLED=1 (was 1.000000) for sensor 0
[ INFO] (2024-03-11 11:55:20.634) CameraRealSense2.cpp:1072::init() Starting sensor 1 with 1 profiles
[ INFO] (2024-03-11 11:55:20.634) CameraRealSense2.cpp:1076::init() Opening: Z16 640 480 30 0 Depth type=1
[ INFO] (2024-03-11 11:55:20.634) CameraRealSense2.cpp:1088::init() Set RS2_OPTION_GLOBAL_TIME_ENABLED=1 (was 1.000000) for sensor 1
[ INFO] (2024-03-11 11:55:20.652) CameraRealSense2.cpp:1096::init() Depth scale 0.001000 for sensor 1
[ INFO] (2024-03-11 11:55:20.652) CameraRealSense2.cpp:1072::init() Starting sensor 2 with 2 profiles
[ INFO] (2024-03-11 11:55:20.652) CameraRealSense2.cpp:1076::init() Opening: MOTION_XYZ32F 0 0 250 0 Accel type=6
[ INFO] (2024-03-11 11:55:20.652) CameraRealSense2.cpp:1076::init() Opening: MOTION_XYZ32F 0 0 200 0 Gyro type=5
[ INFO] (2024-03-11 11:55:20.652) CameraRealSense2.cpp:1088::init() Set RS2_OPTION_GLOBAL_TIME_ENABLED=1 (was 1.000000) for sensor 2
[ INFO] (2024-03-11 11:55:21.666) CameraRealSense2.cpp:1103::init() Enabling streams...done!
2024-03-11 11:55:21.826 ( 1.354s) [ 98FF9640]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
2024-03-11 11:55:21.826 ( 1.354s) [ 98FF9640]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
2024-03-11 11:55:21.826 ( 1.354s) [ 98FF9640]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
2024-03-11 11:55:21.826 ( 1.354s) [ 98FF9640]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
2024-03-11 11:55:21.826 ( 1.354s) [ 98FF9640]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
2024-03-11 11:55:21.826 ( 1.354s) [ 98FF9640]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
2024-03-11 11:55:21.826 ( 1.355s) [ 98FF9640]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
2024-03-11 11:55:21.826 ( 1.355s) [ 98FF9640]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
2024-03-11 11:55:21.826 ( 1.355s) [ 98FF9640]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
2024-03-11 11:55:21.826 ( 1.355s) [ 98FF9640]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
2024-03-11 11:55:21.826 ( 1.355s) [ 98FF9640]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
2024-03-11 11:55:21.826 ( 1.355s) [ 98FF9640]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
Segmentation fault (core dumped)
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jenadzitsiuk
commented on June 9, 2024
I double checked that VTK 9.1 is installed by PCL (during sudo apt install libpcl-dev command). So there should be no conflicts between PCL and VTK
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matlabbe
commented on June 9, 2024
rtabmap-rgbd_camera is using the PCL visualizer directly (without Qt), while rtabmap is using our own viewer that is also based on PCLVisualizer but works under Qt.
There could be something buggy between PCL1.12 and VTK9.1. My current system is running PCl 1.10 and VTK 7.1 and no problems. Just tried on 22.04 and I can reproduce your error with rtabmap-rgbd_camera, here is the backtrace from gdb:
Thread 51 "rtabmap-rgbd_ca" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff677fe640 (LWP 636)]
0x00007fffdfd06c10 in _XEventsQueued () from /lib/x86_64-linux-gnu/libX11.so.6
(gdb) bt
#0 0x00007fffdfd06c10 in _XEventsQueued () at /lib/x86_64-linux-gnu/libX11.so.6
#1 0x00007fffdfcf3291 in XPending () at /lib/x86_64-linux-gnu/libX11.so.6
#2 0x00007fffdf610b8f in vtkXRenderWindowInteractor::StartEventLoop() () at /lib/x86_64-linux-gnu/libvtkRenderingUI-9.1.so.1
#3 0x00007ffff425ff8c in pcl::visualization::PCLVisualizer::spinOnce(int, bool) ()
at /lib/x86_64-linux-gnu/libpcl_visualization.so.1.12
#4 0x00007ffff42862f0 in pcl::visualization::CloudViewer::CloudViewer_impl::operator()() ()
at /lib/x86_64-linux-gnu/libpcl_visualization.so.1.12
#5 0x00007ffff3725253 in () at /lib/x86_64-linux-gnu/libstdc++.so.6
#6 0x00007ffff3492ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7 0x00007ffff3524850 in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:81
Not sure if it is the same error that you get though, I ran this under docker, but the main app rtabmap is correctly working. It seems the only workaround to use PCL CloudViewer is to rebuild PCL from source: PointCloudLibrary/pcl#5237
Beware that when your rebuild pcl from source is that if PCL uses -march=native flag, all other libraries using Eigen like g2o or gtsam should also use it to avoid runtime crashes.
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jenadzitsiuk
commented on June 9, 2024
Great thank you so much! Rebuilding PCL is a reasonable approach, thanks for linking the bug on PCL issue tracker!
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