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.

[HChengmeng]

Hi romulogcerqueira,
I met the same problem:
*** Error in `./stereo_slam': free(): invalid pointer:

Did you have solve this ?
Thanks

[JzHuai0108]

When I used cmake and make to generate stereo_slam executable, this problem persisted. Then I used qt creator to open cmakelists.txt and built the program to generate another debug executable. This stereo_slam executable can be invoked in terminal and run successfully without this problem, i.e., *** Error in `./stereo_slam': free(): invalid pointer:. But if I use qt to build a release executable, the same error occurs. I believe there is something wrong in the release version.

[asimay]

make file, -O4 -> delete, or -O2

At 2015-03-16 16:36:33, "HChengmeng" [email protected] wrote:

Hi romulogcerqueira,
I met the same problem:
*** Error in `./stereo_slam': free(): invalid pointer:

Did you have solve this ?
Thanks

¡ª
Reply to this email directly or view it on GitHub.

[JzHuai0108]

I believe you mean deleting or changing -O3 in CMakeFile.txt to -O2. I tried changing it to -O2. It still had such a memory problem. If -O3 is deleted, the release executable works as slow as the debug version.

[mohammad-Baba]

Hi asimay,
I am getting the same error *** Error in `./stereo_slam': free(): invalid pointer:

and what do you mean by the solution you suggested:
make file, -O4 -> delete, or -O2

Regards,
Mohammad Baba

[kanster]

@mohammad-Baba what asimay means is that do NOT optimize the compilation when generate the release binary file, this will make the program slower, however, it seems that the unoptimized program can run safely without memory leak issue.

what @JzHuai0108 suggested is correct, shut down -O3 made the program as slow as the debug version.

@JzHuai0108 have you done changing the frontend?

[JzHuai0108]

I did change the code a little bit for the frontend a long while ago. But I don't think I fixed the issue. For now, I don't see much benefit fixing that issue.

[kanster]

Yes indeed. thank you for your post in previous issues. quite helpful