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pointcloudregistrationtool's Issues

Hey

I am trying to use this tool and not sure how to get the best results. I am making point clouds with a diy structured light scanner and found it very time consuming manually aligning them. I have a ton of overlap in my scans. I have uploaded an example to ask for advice.

I could not figure out the batch process either

test.zip

Tool crashes after computing descriptors

I am trying to use the tool to automatically align two point clouds that have a lot of overlap. Unfortunately, I cannot release the point clouds for privacy reasons, but I can perform tests that may help to track down the source of the bug.

The command output looks like this:

Executing in parallel
Loaded point cloud with 240283 points:
Scan 3.ply
Loaded point cloud with 849421 points:
Scan 2.ply
Computed source cloud normals (240283)
Computed target cloud normals (849421)
Subsampled source cloud from 240283 -> 204804
Subsampled target cloud from 849421 -> 722911
Computed 204804 descriptors on source cloud keypoints
Segmentation fault (core dumped)

I ran the tool in GDB and got the following backtrace:

(gdb) bt
#0  __GI___libc_free (mem=0x9600d4) at malloc.c:3103
#1  0x00000000080698cb in boost::detail::sp_counted_impl_p<pcl::PointCloud<pcl::ReferenceFrame>>::dispose() ()
#2  0x000000000803c19a in boost::detail::sp_counted_base::release() ()
#3  0x000000000806cb67 in pcl::SHOTEstimationBase<pcl::PointXYZ, pcl::Normal, pcl::SHOT352, pcl::ReferenceFrame>::~SHOTEstimationBase() ()
#4  0x00000000080613d5 in Registrator::computeDescriptors() [clone ._omp_fn.4] ()
#5  0x00007ffff6c96c2e in ?? () from /usr/lib/x86_64-linux-gnu/libgomp.so.1
#6  0x00007ffffefd76db in start_thread (arg=0x7fffde150700) at pthread_create.c:463
#7  0x00007ffff678188f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
(gdb)

I am running this on Ubuntu LTS 18.04 on Windows 10. I am running VcXsrv in case the tool's --gui mode is trying to connect to an X server. The nature of the error makes me suspect that this is a logic error in the code, and not something specific to what platform it is running on.

What is my next step?

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