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RegistrationIcp: added some debug logs to track down seg fault error caused by multiple Eigen version used to build third party libraries (should be same version than one used by libpointmatcher)

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matlabbe
2017-08-22 17:40:05 -04:00
parent bc2c998b7c
commit 268c92a1af
1 changed files with 10 additions and 0 deletions
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10
corelib/src/RegistrationIcp.cpp
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@@ -47,6 +47,7 @@ typedef PM::DataPoints DP;
DP pclToDP(const pcl::PointCloud<pcl::PointXYZ>::Ptr & pclCloud)
{
UDEBUG("");
typedef DP::Label Label;
typedef DP::Labels Labels;
typedef DP::View View;
@@ -88,6 +89,7 @@ DP pclToDP(const pcl::PointCloud<pcl::PointXYZ>::Ptr & pclCloud)
DP pclToDP(const pcl::PointCloud<pcl::PointNormal>::Ptr & pclCloud)
{
UDEBUG("");
typedef DP::Label Label;
typedef DP::Labels Labels;
typedef DP::View View;
@@ -141,6 +143,7 @@ DP pclToDP(const pcl::PointCloud<pcl::PointNormal>::Ptr & pclCloud)
void pclFromDP(const DP & cloud, pcl::PointCloud<pcl::PointXYZ> & pclCloud)
{
UDEBUG("");
typedef DP::ConstView ConstView;
if (cloud.features.cols() == 0)
@@ -163,6 +166,7 @@ void pclFromDP(const DP & cloud, pcl::PointCloud<pcl::PointXYZ> & pclCloud)
void pclFromDP(const DP & cloud, pcl::PointCloud<pcl::PointNormal> & pclCloud)
{
UDEBUG("");
typedef DP::ConstView ConstView;
if (cloud.features.cols() == 0)
@@ -421,7 +425,9 @@ Transform RegistrationIcp::computeTransformationImpl(
{
UASSERT(_libpointmatcherICP != 0);
PM::ICP & icp = *((PM::ICP*)_libpointmatcherICP);
UDEBUG("libpointmatcher icp... (if there is a seg fault here, make sure all third party libraries are built with same Eigen version.)");
T = icp(data, ref);
UDEBUG("libpointmatcher icp...done!");
icpT = Transform::fromEigen3d(Eigen::Affine3d(Eigen::Matrix4d(eigenMatrixToDim<double>(T.template cast<double>(), 4))));
float matchRatio = icp.errorMinimizer->getWeightedPointUsedRatio();
@@ -527,7 +533,9 @@ Transform RegistrationIcp::computeTransformationImpl(
{
UASSERT(_libpointmatcherICP != 0);
PM::ICP & icp = *((PM::ICP*)_libpointmatcherICP);
UDEBUG("libpointmatcher icp... (if there is a seg fault here, make sure all third party libraries are built with same Eigen version.)");
T = icp(data, ref);
UDEBUG("libpointmatcher icp...done!");
icpT = Transform::fromEigen3d(Eigen::Affine3d(Eigen::Matrix4d(eigenMatrixToDim<double>(T.template cast<double>(), 4))));
float matchRatio = icp.errorMinimizer->getWeightedPointUsedRatio();
@@ -592,7 +600,9 @@ Transform RegistrationIcp::computeTransformationImpl(
{
UASSERT(_libpointmatcherICP != 0);
PM::ICP & icp = *((PM::ICP*)_libpointmatcherICP);
UDEBUG("libpointmatcher icp... (if there is a seg fault here, make sure all third party libraries are built with same Eigen version.)");
T = icp(data, ref);
UDEBUG("libpointmatcher icp...done!");
icpT = Transform::fromEigen3d(Eigen::Affine3d(Eigen::Matrix4d(eigenMatrixToDim<double>(T.template cast<double>(), 4))));
float matchRatio = icp.errorMinimizer->getWeightedPointUsedRatio();