QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

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QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Transpose
Hello PCL developers:

I believe the fpcs (also kfpcs) has big problem in PCL 1.80.

I download the source code from pcl-master https://github.com/PointCloudLibrary/pcl, and it turns out there is no necessary file name (like ia-fpcs.h, ia-kfpcs.h, matching_cadidate.h, etc) in CMake file list, but it does have in include folder.

However, when I add all the necessary name into the cmake list and compile, and got the latest lib/ dll file,  
this algorithm is still not working!!! I am following the example on pcl document, if this algorithm is not work, why it appears on the official document???

Best
Jun
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Sérgio Agostinho
You might have tripped on something. I can see the headers in the source folder, but they do not seem to have been installed. 

Also, the test for fcps is commented out...





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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Transpose
Hello:

Do mean that fpcs is not working in PCL-1.80 but k-fpcs does?

As far as I see, there is no such document about installing pcl with (k)fpcs, it does not make any sense that it exists in source folder but not available in CMake List.

Can pcl-developer at least provide the tutorial about installing right and complete pcl-1.80 (with fpcs or k-fpcs)?

Best Regards
Jun
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

VictorLamoine
Administrator
Hello,

This pull request solves your problem:
https://github.com/PointCloudLibrary/pcl/pull/1510

The files are being compiled/installed like any other PCL class/algorithm.

Bye
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Sergey
Administrator
In reply to this post by Transpose
Hi,

Thanks for the heads up. It was a problem on our side, fixed now with PR1510. Please pull the latest changes and re-install.

Sergio, which test did you refer to?

Cheers,
Sergey
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Sérgio Agostinho
This one over here

The commented part seems to be the relevant part of the test.

Cheers

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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Sergey
Administrator
Hm.
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

theilerp
This post was updated on .
In reply to this post by Sérgio Agostinho
The reason why the "crucial" part is commented is simply because the algorithm is random based. Hence there is a chance that the resulting alignment is incorrect, but the algorithm runs still smoothless/without errors.

Testing the algorithm including a comparison of the result could thus end in test errors, which is not the idea behind the test itself. Hope that this was clear enough ^^...
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Sérgio Agostinho
Under those scenarios the preferable approach is to try to expose some control over the random seeds used, so that the random scenario is always replicable. 

Not sure if (what I assume to be) your code is exposing this type of control though.

Nevertheless, thanks for the clearing that. 

Cheers

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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Transpose
In reply to this post by Sergey
Hello:

I just update pcl-master and reinstalled again. The fpcs and k-fpcs is still not working at all. It just crashed as before when it comes to the function "align".

Did I make some mistake? All the other functions work other than fpcs (k-fpcs), could it be the lib or dll file problem???

Best
Jun
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Transpose
In reply to this post by Sérgio Agostinho
Hello:

Since this algorithm crashed again even in the latest version pcl-1.80, I tried to debug source code of fpcs by creating my own class and following the source code's logic, it turns out the algorithm always crashed at the line "all_candidates[i] = candidates;" (181-184 in ia-fpcs.hpp).

What could be the problem of it?

Best Regards
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

Transpose
In reply to this post by VictorLamoine
And also, the problem is here:

Assertion failed: (reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertio
n is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalign
edArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"

I don't you if you disable the check of empty eigen matrix (vector), I am using eigen3 library. Can you explain how to solve this issue?

Best
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Re: QUESTION ABOUT FPCS (BUG REPORT) !!!!!!!!!

theilerp
This post was updated on .
In reply to this post by Transpose
Hi

The method would potentially crash at the specific position if the all_candidates vector is smaller than the variable i. But this should never happen, since i loops from 0 to nr_iterations - 1 and the all_candidates vector is initialized accordingly.

Can you run the code in DEBUG mode and OpenMP disabled and check the content of candidates (size, transformation matrices, ...) and report it here? Maybe I can help you then, or maybe it is even an unhandled expection case which should be corrected.

Cheers