[ros-users] tabletop_object_detector crashing loading model from household database in RAM
Matei Ciocarlie
matei at willowgarage.com
Mon Dec 6 19:03:05 UTC 2010
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 <ugo at shadowrobot.com> 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 <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
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>
> _______________________________________________
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>
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
>
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487http://www.shadowrobot.com/hand/ @shadowrobot
>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
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>
>
--
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780
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