Ok, thanks for all your answers. Cheers, Ugo On 06/12/10 19:03, Matei Ciocarlie wrote: > Hi Ugo, > > For experiments, we generally use the REDUCED_MODEL_SET which has 15 > models. At that order, you should definitely not exceed 7Gb. When > trying more than 30 models though we ran into similar problems, like > Peter mentioned. > > For the next release we are hoping to provide a remote service running > on one of our own machines that will have many models already loaded > in memory, but that is still in the works and probably won't be out > for another couple of weeks at earliest... > > Matei > > On Mon, Dec 6, 2010 at 1:45 AM, Ugo Cupcic > wrote: > > Hi Peter, > > Thanks for your answer, I'll look into that and try to build a > subset of the models. > > By the way, it seems to be taking a lot more than 2Gb (I tried to > load it and it took more than 7Gb (and then crashed)). > > Cheers, > > Ugo > > > On 05/12/10 00:26, Peter Brook wrote: >> Hey Ugo, >> >> In my experience with the tabletop_object_detector, the memory >> usage can be quite bad. The usage depends on the number of models >> in the model_set, but I have seen the node use over 2GB of memory. >> >> You can change the number of models being loaded by creating a >> new model set with fewer models than the default one. Since you >> have your own local copy of the database, take a look at the >> model_set table of household_objects_database. >> >> Peter >> >> On Thu, Dec 2, 2010 at 8:51 AM, Ugo Cupcic > > wrote: >> >> Hi all, >> >> I'm trying to use the tabletop_object_detector. It works fine >> when I'm >> setting use_database to false. >> >> The problem I have is when I'm trying to use the database: I >> installed a >> local copy of the household_objects_database. The >> household_objects_database node seems to be working fine. >> However, when >> I start the tabletop_object_detector/tabletop_node, the node >> crashes >> while loading the models (it loads lots of models before >> crashing). >> >> Any idea ? >> >> I also had an other quick question: how much RAM does the >> tabletop_node >> need to load the database? With 4Gb I'm swapping constantly. >> >> You can find the backtrace below. >> >> Cheers, >> >> Ugo >> >> [ INFO] [1291308286.662052341]: Loaded database model with >> id 18737 >> [ INFO] [1291308289.346903337]: Loaded database model with >> id 18736 >> terminate called after throwing an instance of 'std::bad_alloc' >> what(): std::bad_alloc >> >> Program received signal SIGABRT, Aborted. >> 0xb7fe2430 in __kernel_vsyscall () >> (gdb) backtrace >> #0 0xb7fe2430 in __kernel_vsyscall () >> #1 0xb7238651 in raise () from /lib/tls/i686/cmov/libc.so.6 >> #2 0xb723ba82 in abort () from /lib/tls/i686/cmov/libc.so.6 >> #3 0xb748552f in __gnu_cxx::__verbose_terminate_handler() () >> from /usr/lib/libstdc++.so.6 >> #4 0xb7483465 in ?? () from /usr/lib/libstdc++.so.6 >> #5 0xb74834a2 in std::terminate() () from >> /usr/lib/libstdc++.so.6 >> #6 0xb74835e1 in __cxa_throw () from /usr/lib/libstdc++.so.6 >> #7 0xb7483c5f in operator new(unsigned int) () from >> /usr/lib/libstdc++.so.6 >> #8 0xb7483d3d in operator new[](unsigned int) () from >> /usr/lib/libstdc++.so.6 >> #9 0xb7a7f616 in VoxelGrid (this=0x1cd82d0, >> size_x=0.28061000210046771, >> size_y=0.27929999691247942, size_z=0.12600000074505804, >> resolution=0.002, >> origin_x=-0.14644000318646433, origin_y=-0.14591999891400337, >> origin_z=-0.0050000000000000001, default_object=...) >> at >> /tmp/buildd/ros-cturtle-collision-environment-0.2.2/debian/ros-cturtle-collision-environment/opt/ros/cturtle/stacks/collision_environment/distance_field/include/distance_field/voxel_grid.h:193 >> #10 DistanceField (this=0x1cd82d0, size_x=0.28061000210046771, >> size_y=0.27929999691247942, size_z=0.12600000074505804, >> resolution=0.002, >> origin_x=-0.14644000318646433, origin_y=-0.14591999891400337, >> origin_z=-0.0050000000000000001, default_object=...) >> at >> /tmp/buildd/ros-cturtle-collision-environment-0.2.2/debian/ros-cturtle-collision-environment/opt/ros/cturtle/stacks/collision_environment/distance_field/---Type >> to continue, or q to quit--- >> include/distance_field/distance_field.h:145 >> #11 0xb7a7c53b in PropagationDistanceField (this=0x1cd82d0, >> size_x=0.28061000210046771, size_y=0.27929999691247942, >> size_z=0.12600000074505804, resolution=0.002, >> origin_x=-0.14644000318646433, origin_y=-0.14591999891400337, >> origin_z=-0.0050000000000000001, >> max_distance=0.10000000149011612) >> at >> /tmp/buildd/ros-cturtle-collision-environment-0.2.2/debian/ros-cturtle-collision-environment/opt/ros/cturtle/stacks/collision_environment/distance_field/src/propagation_distance_field.cpp:49 >> #12 0x080d42f5 in >> tabletop_object_detector::DistanceFieldFitter::initializeFromBtVectors >> (this=0x2070080, points=...) >> at >> /tmp/buildd/ros-cturtle-tabletop-object-perception-0.2.1/debian/ros-cturtle-tabletop-object-perception/opt/ros/cturtle/stacks/tabletop_object_perception/tabletop_object_detector/src/model_fitter.cpp:98 >> #13 0x080d4a3f in >> tabletop_object_detector::DistanceFieldFitter::initializeFromMesh >> (this=0x2070080, mesh=...) >> at >> /tmp/buildd/ros-cturtle-tabletop-object-perception-0.2.1/debian/ros-cturtle-tabletop-object-perception/opt/ros/cturtle/stacks/tabletop_object_perception/tabletop_object_detector/src/model_fitter.cpp:210 >> #14 0x080b3fbb in >> tabletop_object_detector::ExhaustiveFitDetector::loadDatabaseModels >> (this=0xbfffec74, >> model_set=...) >> at >> /tmp/buildd/ros-cturtle-tabletop-object-perception-0.2.1/debian/ros-cturt---Type >> to continue, or q to quit--- >> le-tabletop-object-perception/opt/ros/cturtle/stacks/tabletop_object_perception/tabletop_object_detector/include/tabletop_object_detector/exhaustive_fit_detector.h:216 >> #15 0x080b9fc7 in TabletopNode (this=0xbfffeba4, nh=...) >> at >> /tmp/buildd/ros-cturtle-tabletop-object-perception-0.2.1/debian/ros-cturtle-tabletop-object-perception/opt/ros/cturtle/stacks/tabletop_object_perception/tabletop_object_detector/src/tabletop_node.cpp:231 >> #16 0x0807d457 in main (argc=1, argv=0xbffff004) >> at >> /tmp/buildd/ros-cturtle-tabletop-object-perception-0.2.1/debian/ros-cturtle-tabletop-object-perception/opt/ros/cturtle/stacks/tabletop_object_perception/tabletop_object_detector/src/tabletop_node.cpp:942 >> >> >> -- >> Ugo Cupcic | Shadow Robot Company | >> ugo@shadowrobot.com >> Software Engineer | 251 Liverpool Road | >> need a Hand? | London N1 1LX | +44 20 7700 2487 >> http://www.shadowrobot.com/hand/ @shadowrobot >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > -- > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > Software Engineer | 251 Liverpool Road | need a Hand? | London N1 > 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > > > -- > Matei Ciocarlie > Research Scientist > Willow Garage Inc. > 650-475-9780 > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer | 251 Liverpool Road | need a Hand? | London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot