TEASER-plusplus
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MIT-SPARK
[BUG] Solver killed in teaser++ python
I ran the code for Minimal Python 3 example for linux and the result was as expected.
I modified the code to read two point clouds (25k points each with partial overlap) and perform the registration. The code reads and saves the parameters, but when I run the solver.solve it crashes and ends up being killed.
How can I fix this?
# Libraries
import copy
import time
import numpy as np
import open3d as o3d
import teaserpp_python
NOISE_BOUND = 0.05
if __name__ == "__main__":
print("==================================================")
print(" TEASER++ Python registration example ")
print("==================================================")
# Load data
src_cloud = o3d.io.read_point_cloud("../example_data/Car_000000.txt",format='xyz')
src = np.transpose(np.asarray(src_cloud.points))
N = src.shape[1]
dst_cloud = o3d.io.read_point_cloud("../example_data/s1.txt",format='xyz')
dst = np.transpose(np.asarray(dst_cloud.points))
# Populating the parameters
solver_params = teaserpp_python.RobustRegistrationSolver.Params()
solver_params.cbar2 = 1
solver_params.noise_bound = NOISE_BOUND
solver_params.estimate_scaling = False
solver_params.rotation_estimation_algorithm = teaserpp_python.RobustRegistrationSolver.ROTATION_ESTIMATION_ALGORITHM.GNC_TLS
solver_params.rotation_gnc_factor = 1.4
solver_params.rotation_max_iterations = 100
solver_params.rotation_cost_threshold = 1e-12
solver = teaserpp_python.RobustRegistrationSolver(solver_params)
start = time.time()
solver.solve(src, dst)
end = time.time()
solution = solver.getSolution()
print("=====================================")
print(" TEASER++ Results ")
print("=====================================")
print("Estimated rotation: ")
print(solution.rotation)
print("Estimated translation: ")
print(solution.translation)
print("Time taken (s): ", end - start)
@jbalado Thanks for your interest. It's probably crashing due to memory insufficiency. Note that the src and dst should be viewed as correspondences. In other words, a better way to do what you want to do is to extract corresponding points, then pass those points as Eigen matrices to TEASER++.
@jingnanshi I tried to applied the same code to both downsampled point clouds (4k points) and I received the following error: Segment violation ('core' generated)
@jbalado Have you tried adding OMP_NUM_THREADS=12 to your environment: something like OMP_NUM_THREADS=12 python ./test.py?
Please try to compile everything in debug mode, and use gdb to locate the exact line at which the program faults.
Also, 4k points might still be too much --- you need to double check your memory consumption.
Yes, I think 4K of correspondences are too many (empirically, TEASER++ works in near-real time under 600 correspondences). Please filter the correspondences before you give them as inputs.
