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

[Ugo Cupcic]

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


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Ugo Cupcic         |  Shadow Robot Company | ugo at shadowrobot.com
Software Engineer  |    251 Liverpool Road |
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