Re: question about "C++ usage example for RGB-D Mapping"

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/question-about-C-usage-example-for-RGB-D-Mapping-tp5636p5685.html

Hi,

That warning is fine, it is because for the example we don't create a database so that all is working in RAM.

Here is a normal output (using openni2 driver):

./rtabmap-rgbd_mapping 1
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ WARN] (2019-03-22 18:51:21.187) CameraModel.cpp:358::load() Could not load calibration file "./PS1080_depth.yaml".
[ WARN] (2019-03-22 18:51:21.188) CameraModel.cpp:358::load() Could not load calibration file "./PS1080_rgb.yaml".
[ WARN] (2019-03-22 18:51:21.188) CameraOpenNI2.cpp:253::init() Missing calibration files for camera "PS1080" in "." folder, default calibration used.
[ WARN] (2019-03-22 18:51:25.077) Rtabmap.cpp:302::init() Using empty database. Mapping session will not be saved unless it is closed with an output database path.
Saving rtabmap_cloud.pcd...
Voxel grid filtering of the assembled cloud (voxel=0.010000, 79802 points)
Saving rtabmap_cloud.pcd... done! (72583 points)
Saving rtabmap_trajectory.txt ...
Saving rtabmap_trajectory.txt... done!

However, there should not be an error "Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)". You can try launching in gdb:

$ gdb --args ./rtabmap-rgbd_mapping 1

Type "run" to start, when it crashes, do "bt" to show log.

cheers,
Mathieu