Node Died after Reconstruction is finished

[hichamhendy]

`roslaunch lvr_ros reconstruction.launch
... logging to /home/rnd/.ros/log/892d2194-e88f-11ec-887a-709cd1531f15/roslaunch-user-XMG-ULTRA-17-XUL17M20-4532.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://user-XMG-ULTRA-17-XUL17M20:35691/

SUMMARY

PARAMETERS

• /reconstruction/classifier: PlaneSimpsons
• /reconstruction/cleanContours: 0
• /reconstruction/clusterPlanes: False
• /reconstruction/co:
• /reconstruction/colt: 3.40282346639e+38
• /reconstruction/cro: False
• /reconstruction/ct: 50
• /reconstruction/decomposition: PMC
• /reconstruction/feat: 3.40282346639e+38
• /reconstruction/fillHoles: 30
• /reconstruction/flipx: -1000000
• /reconstruction/flipy: -1000000
• /reconstruction/flipz: -1000000
• /reconstruction/generateTextures: False
• /reconstruction/intersections: 0
• /reconstruction/kd: 50000
• /reconstruction/ki: 50000
• /reconstruction/kn: 50000
• /reconstruction/lft: 0.01
• /reconstruction/mp: 7
• /reconstruction/nccv: 64
• /reconstruction/noExtrusion: False
• /reconstruction/nsc: 16
• /reconstruction/optimizePlanes: False
• /reconstruction/patt: 100
• /reconstruction/pcm: FLANN
• /reconstruction/planeIterations: 3
• /reconstruction/pnt: 0.85
• /reconstruction/ransac: True
• /reconstruction/rda: 0
• /reconstruction/recalcNormals: True
• /reconstruction/reductionRatio: 0.0
• /reconstruction/retesselate: False
• /reconstruction/sct: 0.7
• /reconstruction/sft: 0.9
• /reconstruction/smallRegionThreshold: 10
• /reconstruction/stat: 3.40282346639e+38
• /reconstruction/texMaxClusterSize: 0
• /reconstruction/texMinClusterSize: 100
• /reconstruction/texelSize: 0.01
• /reconstruction/textureAnalysis: False
• /reconstruction/threads: 32
• /reconstruction/tp:
• /reconstruction/useGPU: True
• /reconstruction/vcfp: False
• /reconstruction/voxelsize: 0.1
• /rosdistro: melodic
• /rosversion: 1.14.13

NODES
/
reconstruction (lvr_ros/lvr_ros_reconstruction)

ROS_MASTER_URI=http://localhost:11311

process[reconstruction-1]: started with pid [4566]
[00:00:02 142] ##### Dataset statatistics: #####

[00:00:02 143] Num points: 11453
[00:00:02 143] kn: 1000
[00:00:02 143] ki: 1000
[00:00:02 143] kd: 1000
[00:00:02 143] BB of points:
Bounding Box[min: Vec: [-25.5891 -18.4113 -1.03315]
max: Vec: [19.3196 52.0425 15.3966]
dimension: 44.9088, 70.4537, 16.4297]

[ INFO] [1654846387.746572980, 1635952337.653369371]: Generate GPU kd-tree...
[ INFO] [1654846387.837714547, 1635952337.744325342]: GPU kd-tree done.
[ INFO] [1654846387.837741513, 1635952337.744325342]: Start normal calculation...
[ INFO] [1654846387.851274467, 1635952337.754380208]: Normal computation done.
[00:00:02 267] Used voxelsize is 0.1
[00:00:02 267] Creating grid
[00:00:02 756] Calculating distance values 100%
[00:00:07 096] Elapsed time: 4.34
[00:00:07 096] Creating mesh 100%
[00:00:07 152] Optimizing plane contours 100%
[00:00:07 182] Trying to remove all holes with size ≤ 30
[00:00:07 182] Trying to remove all holes 100%
[ INFO] [1654846392.784994109, 1635952340.191166143]: Reconstruction finished!
[reconstruction-1] process has died [pid 4566, exit code -11, cmd /home/user/catkin_ws/devel/lib/lvr_ros/lvr_ros_reconstruction pointcloud:=/lio_sam/mapping/cloud_registered __name:=reconstruction __log:=/home/rnd/.ros/log/892d2194-e88f-11ec-887a-709cd1531f15/reconstruction-1.log].
log file: /home/rnd/.ros/log/892d2194-e88f-11ec-887a-709cd1531f15/reconstruction-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
`

I get the error when I launch the reconstruction. I have a point cloud from local map of a slam algorithm and I want to generate a mesh. I tried to debug the code and it seems there is a problem in the conversion in the bool fromMeshBufferToMeshMessages() function

especially
` auto buffer_texcoords = buffer->getTextureCoordinates();
{
mesh_materials.vertex_tex_coords.resize(n_vertices);

    for (unsigned int i = 0; i < n_vertices; i++)
    {
        mesh_materials.vertex_tex_coords[i].u = buffer_texcoords[i * 3];
        mesh_materials.vertex_tex_coords[i].v = buffer_texcoords[i * 3 + 1];
    }
}

`

There are comment lines before. I am not sure where the problem is. Can anybody help, please?

I also did some debugging and I think the problem might be in accessing buffer_texcoords!