catkin_make complile error
dxls168 opened this issue · comments
Hi:
When i try to make the code.I got that error.
**ls@ls:~/dev/rosbook/ros_kinfu-one$ catkin_make
Base path: /home/ls/dev/rosbook/ros_kinfu-one
Source space: /home/ls/dev/rosbook/ros_kinfu-one/src
Build space: /home/ls/dev/rosbook/ros_kinfu-one/build
Devel space: /home/ls/dev/rosbook/ros_kinfu-one/devel
Install space: /home/ls/dev/rosbook/ros_kinfu-one/install
Running command: "cmake /home/ls/dev/rosbook/ros_kinfu-one/src -DCATKIN_DEVEL_PREFIX=/home/ls/dev/rosbook/ros_kinfu-one/devel -DCMAKE_INSTALL_PREFIX=/home/ls/dev/rosbook/ros_kinfu-one/install -G Unix Makefiles" in "/home/ls/dev/rosbook/ros_kinfu-one/build"
-- Using CATKIN_DEVEL_PREFIX: /home/ls/dev/rosbook/ros_kinfu-one/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ls/dev/rosbook/ros_kinfu-one/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - kinfu_msgs
-- ~~ - kinfu
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'kinfu_msgs'
-- ==> add_subdirectory(kinfu_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action kinfu_msgs/Request /home/ls/dev/rosbook/ros_kinfu-one/src/kinfu_msgs/action/Request.action
-- kinfu_msgs: 13 messages, 0 services
-- +++ processing catkin package: 'kinfu'
-- ==> add_subdirectory(kinfu)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
- The file was deleted, renamed, or moved to another location.
- An install or uninstall procedure did not complete successfully.
- The installation package was faulty and contained
"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
- The file was deleted, renamed, or moved to another location.
- An install or uninstall procedure did not complete successfully.
- The installation package was faulty and contained
"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_VISUALIZATION
-- looking for PCL_PEOPLE
-- looking for PCL_OUTOFCORE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- looking for PCL_MODELER
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
CMake Warning at /opt/ros/kinetic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
The FindEigen.cmake Module in the cmake_modules package is deprecated.
Please use the FindEigen3.cmake Module provided with Eigen. Change
instances of find_package(Eigen) to find_package(Eigen3). Check the
FindEigen3.cmake Module for the resulting CMake variable names.
Call Stack (most recent call first):
kinfu/CMakeLists.txt:22 (find_package)
-- Eigen found (include: /usr/include/eigen3)
-- kinfu: file cmake/KinfuTrigger.cmake found, kinfu will be built.
-- kinfu: CUDA 8.0 found.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ls/dev/rosbook/ros_kinfu-one/build
Running command: "make -j8 -l8" in "/home/ls/dev/rosbook/ros_kinfu-one/build"
[ 0%] Built target pcl_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestResult
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_KinfuCommand
[ 0%] Built target actionlib_msgs_generate_messages_cpp
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_KinfuRequestHeader
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestGoal
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestActionResult
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_KinfuCloudPoint
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestActionGoal
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestAction
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestFeedback
[ 0%] Built target pcl_msgs_generate_messages_py
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_KinfuPose
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_KinfuCameraIntrinsics
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_RequestActionFeedback
[ 0%] Built target actionlib_msgs_generate_messages_nodejs
[ 0%] Built target _kinfu_msgs_generate_messages_check_deps_KinfuTsdfRequest
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target pcl_msgs_generate_messages_nodejs
[ 0%] Built target actionlib_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target pcl_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
[ 1%] Built target actionlib_msgs_generate_messages_lisp
[ 1%] Building NVCC (Device) object kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_tsdf_volume.cu.o
[ 1%] Built target pcl_msgs_generate_messages_lisp
[ 1%] Built target sensor_msgs_generate_messages_lisp
[ 1%] Building NVCC (Device) object kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_bilateral_pyrdown.cu.o
[ 2%] Building NVCC (Device) object kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_colors.cu.o
CMake Warning (dev) at KinfuLargeScaleCUDA_generated_tsdf_volume.cu.o.Debug.cmake:81:
Syntax Warning in cmake code at column 78
Argument not separated from preceding token by whitespace.
This warning is for project developers. Use -Wno-dev to suppress it.
[ 15%] Built target kinfu_msgs_generate_messages_py
[ 29%] Built target kinfu_msgs_generate_messages_cpp
CMake Warning (dev) at KinfuLargeScaleCUDA_generated_colors.cu.o.Debug.cmake:81:
Syntax Warning in cmake code at column 78
Argument not separated from preceding token by whitespace.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at KinfuLargeScaleCUDA_generated_bilateral_pyrdown.cu.o.Debug.cmake:81:
Syntax Warning in cmake code at column 78
Argument not separated from preceding token by whitespace.
This warning is for project developers. Use -Wno-dev to suppress it.
[ 41%] Built target kinfu_msgs_generate_messages_nodejs
[ 42%] Building NVCC (Device) object kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_coresp.cu.o
[ 55%] Built target kinfu_msgs_generate_messages_eus
[ 56%] Building NVCC (Device) object kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_estimate_combined.cu.o
[ 57%] Building NVCC (Device) object kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_estimate_tranform.cu.o
CMake Warning (dev) at KinfuLargeScaleCUDA_generated_coresp.cu.o.Debug.cmake:81:
Syntax Warning in cmake code at column 78
Argument not separated from preceding token by whitespace.
This warning is for project developers. Use -Wno-dev to suppress it.
nvcc fatal : Stray '"' character
nvcc fatal : Stray '"' character
CMake Error at KinfuLargeScaleCUDA_generated_colors.cu.o.Debug.cmake:222 (message):
Error generating
/home/ls/dev/rosbook/ros_kinfu-one/build/kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/./KinfuLargeScaleCUDA_generated_colors.cu.o
CMake Error at KinfuLargeScaleCUDA_generated_bilateral_pyrdown.cu.o.Debug.cmake:222 (message):
Error generating
/home/ls/dev/rosbook/ros_kinfu-one/build/kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/./KinfuLargeScaleCUDA_generated_bilateral_pyrdown.cu.o
kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/build.make:63: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_bilateral_pyrdown.cu.o' failed
make[2]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_bilateral_pyrdown.cu.o] Error 1
make[2]: *** Waiting for unfinished jobs....
kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/build.make:70: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_colors.cu.o' failed
make[2]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_colors.cu.o] Error 1
nvcc fatal : Stray '"' character
CMake Error at KinfuLargeScaleCUDA_generated_tsdf_volume.cu.o.Debug.cmake:222 (message):
Error generating
/home/ls/dev/rosbook/ros_kinfu-one/build/kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/./KinfuLargeScaleCUDA_generated_tsdf_volume.cu.o
kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/build.make:154: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_tsdf_volume.cu.o' failed
make[2]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_tsdf_volume.cu.o] Error 1
[ 70%] Built target kinfu_msgs_generate_messages_lisp
CMake Warning (dev) at KinfuLargeScaleCUDA_generated_estimate_tranform.cu.o.Debug.cmake:81:
Syntax Warning in cmake code at column 78
Argument not separated from preceding token by whitespace.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at KinfuLargeScaleCUDA_generated_estimate_combined.cu.o.Debug.cmake:81:
Syntax Warning in cmake code at column 78
Argument not separated from preceding token by whitespace.
This warning is for project developers. Use -Wno-dev to suppress it.
nvcc fatal : Stray '"' character
CMake Error at KinfuLargeScaleCUDA_generated_coresp.cu.o.Debug.cmake:222 (message):
Error generating
/home/ls/dev/rosbook/ros_kinfu-one/build/kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/./KinfuLargeScaleCUDA_generated_coresp.cu.o
kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/build.make:77: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_coresp.cu.o' failed
make[2]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_coresp.cu.o] Error 1
nvcc fatal : Stray '"' character
nvcc fatal : Stray '"' character
CMake Error at KinfuLargeScaleCUDA_generated_estimate_tranform.cu.o.Debug.cmake:222 (message):
Error generating
/home/ls/dev/rosbook/ros_kinfu-one/build/kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/./KinfuLargeScaleCUDA_generated_estimate_tranform.cu.o
CMake Error at KinfuLargeScaleCUDA_generated_estimate_combined.cu.o.Debug.cmake:222 (message):
Error generating
/home/ls/dev/rosbook/ros_kinfu-one/build/kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/./KinfuLargeScaleCUDA_generated_estimate_combined.cu.o
[ 70%] Built target kinfu_msgs_generate_messages
kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/build.make:91: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_estimate_tranform.cu.o' failed
make[2]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_estimate_tranform.cu.o] Error 1
kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/build.make:84: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_estimate_combined.cu.o' failed
make[2]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/kinfu_large_scale/src/cuda/KinfuLargeScaleCUDA_generated_estimate_combined.cu.o] Error 1
CMakeFiles/Makefile2:3012: recipe for target 'kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/all' failed
make[1]: *** [kinfu/pcl_kinfu_large_scale/CMakeFiles/KinfuLargeScaleCUDA.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 83%] Built target KinfuLargeScaleCPP
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed**
Looking forward to your reply.
**
I've solved the problem because my cmake are too new!
**
Hi dxls168.
Yes. It seems that there is a compatibility problem between CMake 3.7+ and CUDA.
Hi RMonica.
Do you have an example of publishing a kinfu PointCloud2?
Hi RMonica.
I have added a cloud publishing class that use the kinfu.getLastFrameCloud() function to get the point cloud.
Although successful, the point cloud coordinate system is not compatible with the camera coordinate system.
How can I determine the relationship between these two coordinate systems?
Looking forward to your reply.
Hi RMonica.
I tried to implement the point cloud display based on the MSG interface you provided, but there was an error.
[ INFO] [1499920810.156835632]: Avg frame time = 51.48 ms (19.42 fps)
[ INFO] [1499920810.594873966]: kinfu: Extract Cloud Worker started.
[ INFO] [1499920810.594956885]: kinfu: Locking kinfu...
[ INFO] [1499920810.649165937]: kinfu: Locked.
Extracting current volume...The old cube's metric origin was (0.000000, 0.000000, 0.000000).
The new cube's metric origin is now (0.011235, -0.002101, -0.000021).
SIZE IS 35596
shift: downloading weights...
[ INFO] [1499920811.595139044]: kinfu: Extract Cloud Worker started.
[ INFO] [1499920811.595303670]: kinfu: Locking kinfu...
[ INFO] [1499920812.594661118]: kinfu: Extract Cloud Worker started.
[ INFO] [1499920812.594713790]: kinfu: Locking kinfu...
shift: weights downloaded.
world contains 0 points after update
world contains 0 points after cleaning
[ INFO] [1499920812.994885805]: kinfu: retrieveOldCube: scheduled old cube.
shift: calling weight listener...
shift: done.
[ INFO] [1499920812.995164543]: kinfu: RetrieveCubeWorker: working...
Done
[ INFO] [1499920812.996942357]: kinfu: Marching cubes...
[ INFO] [1499920812.997216875]: kinfu: Locked.
Extracting current volume...checkForShift skipped: already done.Done
[ INFO] [1499920812.999218491]: kinfu: Marching cubes...
[ INFO] [1499920812.999320440]: kinfu: Locked.
Extracting current volume...checkForShift skipped: already done.Done
[ INFO] [1499920813.001819940]: kinfu: Marching cubes...
Getting world as cubes. World contains 35596 points.
World contains 35596 points after nan removal.
cube size is set to 512
Getting world as cubes. World contains 35596 points.
World contains 35596 points after nan removal.
cube size is set to 512
Getting world as cubes. World contains 35596 points.
World contains 35596 points after nan removal.
cube size is set to 512
Bounding box for the world:
[194.000000 - 338.000000]
[206.000000 - 311.000000]
[25.000000 - 101.000000]
Extracting cube at: [194.000000, 206.000000, 25.000000].
returning 1 cubes
Processing world with volume size set to 3meters
Bounding box for the world:
[194.000000 - 338.000000]
[206.000000 - 311.000000]
[25.000000 - 101.000000]
Extracting cube at: [194.000000, 206.000000, 25.000000].
Bounding box for the world:
[194.000000 - 338.000000]
[206.000000 - 311.000000]
[25.000000 - 101.000000]
Extracting cube at: [194.000000, 206.000000, 25.000000].
returning 1 cubes
Processing world with volume size set to 3meters
returning 1 cubes
Processing world with volume size set to 3meters
Error: out of memory /home/ls/dev/rosbook/ros_kinfu-one/src/kinfu/pcl_kinfu_large_scale/containers/src/device_memory.cpp:260
Error: out of memory /home/ls/dev/rosbook/ros_kinfu-one/src/kinfu/pcl_kinfu_large_scale/containers/src/device_memory.cpp:260
Error: driver shutting down /home/ls/dev/rosbook/ros_kinfu-one/src/kinfu/pcl_kinfu_large_scale/containers/src/device_memory.cpp:191
kinfu: /usr/include/boost/thread/pthread/recursive_mutex.hpp:104: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.
[kinect_kinfu1-25] process has died [pid 24595, exit code -6, cmd /home/ls/dev/rosbook/ros_kinfu-one/devel/lib/kinfu/kinfu __name:=kinect_kinfu1 __log:=/home/ls/.ros/log/40260130-6768-11e7-aa5d-80fa5b079d4f/kinect_kinfu1-25.log].
log file: /home/ls/.ros/log/40260130-6768-11e7-aa5d-80fa5b079d4f/kinect_kinfu1-25*.log
Thank you!
Hi RMonica.
I try to use the action methods,but still make the same mistake.
[ INFO] [1499930569.824148155]: Avg frame time = 44.73 ms (22.36 fps)
[ INFO] [1499930571.352483990]: Avg frame time = 45.30 ms (22.07 fps)
[ INFO] [1499930572.883382095]: Avg frame time = 45.27 ms (22.09 fps)
[ INFO] [1499930574.381905836]: Avg frame time = 44.33 ms (22.56 fps)
[ INFO] [1499930575.202293332]: kinfu_output: executing new request action, id 0.
[ INFO] [1499930575.202671943]: kinfu: Extract Cloud Worker started.
[ INFO] [1499930575.202708289]: kinfu: Locking kinfu...
[ INFO] [1499930575.262600125]: kinfu: Locked.
Extracting current volume...The old cube's metric origin was (0.000000, 0.000000, 0.000000).
The new cube's metric origin is now (-0.010581, -0.000183, -0.000686).
SIZE IS 74205
shift: downloading weights...
shift: weights downloaded.
world contains 0 points after update
world contains 0 points after cleaning
[ INFO] [1499930577.295796136]: kinfu: retrieveOldCube: scheduled old cube.
shift: calling weight listener...
shift: done.
[ INFO] [1499930577.295967752]: kinfu: RetrieveCubeWorker: working...
Done
[ INFO] [1499930577.298849147]: kinfu: Marching cubes...
Getting world as cubes. World contains 74205 points.
World contains 74205 points after nan removal.
cube size is set to 512
Bounding box for the world:
[185.000000 - 337.000000]
[208.000000 - 313.000000]
[27.000000 - 105.000000]
Extracting cube at: [185.000000, 208.000000, 27.000000].
returning 1 cubes
Processing world with volume size set to 3meters
[ INFO] [1499930577.645837532]: kinfu: RetrieveCubeWorker: retrieved 0 voxels.
[ INFO] [1499930577.645973972]: kinfu: NewCubeWorker: Setting known voxels...
[ INFO] [1499930577.691297026]: kinfu: retrieveOldCube: returned old cube.
known: uploading weights...
known: upload complete.
There are 1 cubes to be processed
Processing cube number 0
VOLUME SIZE IS 3
[ INFO] [1499930578.235980365]: Avg frame time = 54.03 ms (18.51 fps)
Error: out of memory /home/ls/dev/rosbook/ros_kinfu-one/src/kinfu/pcl_kinfu_large_scale/containers/src/device_memory.cpp:149
Error: driver shutting down /home/ls/dev/rosbook/ros_kinfu-one/src/kinfu/pcl_kinfu_large_scale/kinfu_large_scale/src/cuda/estimate_combined.cu:324
Looking forward to your answer！
Hi dxls168.
You are out of video memory.
Unfortunately, memory usage increases significantly during Marching Cubes.
The command nvidia-smi may help you monitor your video memory.
Others have worked around it by reducing the TSDF volume resolution (the VOLUME_X, _Y, _Z constants in device.h). This will cause loss of precision, however.
Hi dxls168.
In the last commit, I have attempted to reduce marching cubes memory usage.
Hi RMonica.
Thank you for your reply.
My computer is a GTX860M graphics card, the memory is too small.
I'm trying to use the original kinfu to solve my problem, thanks again.