[ros-users] tabletop_object_detector crashing loading model from household database in RAM

Sun Dec 5 00:26:37 UTC 2010

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 <ugo at shadowrobot.com> 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
> <return> to continue, or q <return> 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<tabletop_object_detector::IterativeTranslationFitter>::loadDatabaseModels
> (this=0xbfffec74,
>    model_set=...)
>    at
>
> /tmp/buildd/ros-cturtle-tabletop-object-perception-0.2.1/debian/ros-cturt---Type
> <return> to continue, or q <return> 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 at shadowrobot.com
> Software Engineer  |    251 Liverpool Road |
> need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
> http://www.shadowrobot.com/hand/              @shadowrobot
>
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> ros-users at code.ros.org
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