introlab
Cloud viewer crash
vtk 9.5.0-6 pcl 1.15.0-3 gtsam 1:4.2-1 g2o-git r1617.d89ab60a-1 opencv 4.12.0-2
rtabmap latest commit
Loading any database and Downloading Map results in this crash at the end.
[ WARN] (2025-08-10 05:17:23.699) Parameters.cpp:136::deserialize() Parameter "SIFT/NFeatures" doesn't exist anymore.
[ WARN] (2025-08-10 05:17:23.699) Parameters.cpp:136::deserialize() Parameter "Vis/ForwardEstOnly" doesn't exist anymore.
[parker-framework:146261:0:146261] Caught signal 11 (Segmentation fault: address not mapped to object at address 0x21)
==== backtrace (tid: 146261) ====
0 0x000000000004dd71 ucs_rcache_distribution_get_num_bins() ???:0
1 0x000000000004df3d ucs_rcache_distribution_get_num_bins() ???:0
2 0x000000000003e540 __sigaction() ???:0
3 0x000000000019a33c vtkOpenGLPolyDataMapper2D::New() ???:0
4 0x00000000000d4172 pcl::visualization::PCLVisualizer::setShapeRenderingProperties() ???:0
5 0x00000000003cae9d rtabmap::CloudViewer::addOrUpdateGraph() ???:0
6 0x000000000014bed0 rtabmap::MainWindow::updateMapCloud() ???:0
7 0x000000000014f5d7 rtabmap::MainWindow::processRtabmapEvent3DMap() ???:0
8 0x00000000002f6e5b QObject::event() ???:0
9 0x0000000000158646 QApplicationPrivate::notify_helper() ???:0
10 0x00000000002cfb68 QCoreApplication::notifyInternal2() ???:0
11 0x00000000002d0ec0 QCoreApplicationPrivate::sendPostedEvents() ???:0
12 0x0000000000323ff0 QEventDispatcherGlib::unregisterSocketNotifier() ???:0
13 0x000000000005e880 g_source_query_unix_fd() ???:0
14 0x000000000005fcd7 g_main_context_check() ???:0
15 0x000000000005fee5 g_main_context_iteration() ???:0
16 0x0000000000321489 QEventDispatcherGlib::processEvents() ???:0
17 0x00000000002c807b QEventLoop::exec() ???:0
18 0x00000000002d439b QCoreApplication::exec() ???:0
19 0x000000000000384c main() ???:0
20 0x0000000000027675 __libc_init_first() ???:0
21 0x0000000000027729 __libc_start_main() ???:0
22 0x0000000000003a15 _start() ???:0
=================================
Segmentation fault (core dumped) rtabmap
Stack trace of thread 147085:
#0 0x00007f77ebf9a33c n/a (libvtkRenderingOpenGL2.so.1 + 0x19a33c)
#1 0x00007f77f6558172 _ZN3pcl13visualization13PCLVisualizer27setShapeRenderingPropertiesEidddRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEi (libpcl_visualization.so.1.15 + 0xd4172)
#2 0x00007f77f8dcae9d _ZN7rtabmap11CloudViewer16addOrUpdateGraphERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKSt10shared_ptrIN3pcl10PointCloudINSA_8PointXYZEEEERK6QColor (librtabmap_gui.so.0.22 + 0x3cae9d)
#3 0x00007f77f8b4bed0 _ZN7rtabmap10MainWindow14updateMapCloudERKSt3mapIiNS_9TransformESt4lessIiESaISt4pairIKiS2_EEERKSt8multimapIiNS_4LinkES4_SaIS5_IS6_SD_EEERKS1_IiiS4_SaIS5_IS6_iEEERKS1_IiNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES4_SaIS5_IS6_ST_EEESB_SB_SI_bPS1_IST_fS3_IST_ESaIS5_IKST_fEEE (librtabmap_gui.so.0.22 + 0x14bed0)
#4 0x00007f77f8b4f5d7 _ZN7rtabmap10MainWindow24processRtabmapEvent3DMapERKNS_17RtabmapEvent3DMapE (librtabmap_gui.so.0.22 + 0x14f5d7)
#5 0x00007f77e40f6e5b _ZN7QObject5eventEP6QEvent (libQt5Core.so.5 + 0x2f6e5b)
#6 0x00007f77e4d58646 _ZN19QApplicationPrivate13notify_helperEP7QObjectP6QEvent (libQt5Widgets.so.5 + 0x158646)
#7 0x00007f77e40cfb68 _ZN16QCoreApplication15notifyInternal2EP7QObjectP6QEvent (libQt5Core.so.5 + 0x2cfb68)
#8 0x00007f77e40d0ec0 _ZN23QCoreApplicationPrivate16sendPostedEventsEP7QObjectiP11QThreadData (libQt5Core.so.5 + 0x2d0ec0)
#9 0x00007f77e4123ff0 n/a (libQt5Core.so.5 + 0x323ff0)
#10 0x00007f77e0d08880 n/a (libglib-2.0.so.0 + 0x5e880)
#11 0x00007f77e0d09cd7 n/a (libglib-2.0.so.0 + 0x5fcd7)
#12 0x00007f77e0d09ee5 g_main_context_iteration (libglib-2.0.so.0 + 0x5fee5)
#13 0x00007f77e4121489 _ZN20QEventDispatcherGlib13processEventsE6QFlagsIN10QEventLoop17ProcessEventsFlagEE (libQt5Core.so.5 + 0x321489)
#14 0x00007f77e40c807b _ZN10QEventLoop4execE6QFlagsINS_17ProcessEventsFlagEE (libQt5Core.so.5 + 0x2c807b)
#15 0x00007f77e40d439b _ZN16QCoreApplication4execEv (libQt5Core.so.5 + 0x2d439b)
#16 0x000055f03e75884c main (/usr/local/bin/rtabmap + 0x384c)
#17 0x00007f77e3627675 n/a (libc.so.6 + 0x27675)
#18 0x00007f77e3627729 __libc_start_main (libc.so.6 + 0x27729)
#19 0x000055f03e758a15 _start (/usr/local/bin/rtabmap + 0x3a15)
I tried this dev container https://github.com/introlab/rtabmap/blob/master/.devcontainer/latest-deps-from-source/Dockerfile (latest VTK, latest PCL, latest openCV, latest GTSAM, latest G2O) and it works, except for this issue: https://github.com/introlab/rtabmap/issues/1567 (had to use Qt5 version binaries coming with ubuntu 24.04 instead of Qt6)
If you can create a Dockerfile to reproduce the issue, I could take a deeper look. Based on your log, it seems related to a compatibility issue between PCL, VTK and Qt5. On which kind of system are you building the projects?
This has been on Arch Linux. Yeah I figured it would have been a mismatch somewhere, just wanted to verify it wasn't something outright in rtabmap.
I'll keep poking it and see if I can figure out what's causing it, thanks!
Wanted to try the Dockerfile, noble seems wrong here?
ARG ROS_DISTRO=noble
That's the Ubuntu codename not ROS. Can't find the image when using noble
Yes, it should be jazzy, it is already overwritten to jazzy in the dev container config, so it is why I didn't notice it (I just updated it). To build with latest deps without the dev container, you may use https://github.com/introlab/rtabmap/blob/master/docker/latest_deps/Dockerfile instead. Note that if qt6 issue happens, you can change:
RUN apt-get update && \
- apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
- apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
+ apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros && \
+ apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libvtk* libopencv* && \
apt-get clean && rm -rf /var/lib/apt/lists/