capture doesn't work

[ghost]

Hi,
I'm trying to use ORK with ROS Groovy, and I have several issues.
I'm following this tuto : http://wg-perception.github.io/capture/index.html
using an Asus Xtion pro live sensor.

Firstly, I can't use capture with no "-i" argument, the program throws a segmentation fault.
here is what I get :
$ rosrun object_recognition_capture capture -o object.bag -m
Registration? 1
Sync? 0

1. device on bus: 1 @ 6 with serial number: PrimeSense : PrimeSense Device
   Time diff max: 16.8667
   Registered:on Supported: 1
   Setting registration on
   Setting sync off
   Segmentation fault (core dumped)

So i decided to make an ORB template of the inverted dot pattern provided on the web page. It seems to works, when I run orb_track. But it don't show the 'xyz' axis attached to the plan, is that OK? Here are results of
rosrun object_recognition_capture orb_track --track_directory fiducial_dot_pattern_bigger/ --track_show_matches_enable

My second problem is when I try to capture an object with this orb template.
When I run
rosrun object_recognition_capture capture -o object.bag -m -i fiducial_dot_pattern_bigger/
the mask is all black, and the xyz axis still don't appear in the 'pose' window. but matches looks OK for the orb template.
I don't get anything similar to the picture of the tuto : http://wg-perception.github.io/capture/_images/capture.gif
When I turn the board, nothing appends but the update of the display, the program don't stop after a full rotation and I have no output file.

Am I doing something wrong? Is there a solution (I guess there is!)?
Thank you for your help,
I hope this is the good place for submitting that kind of issues.

Jules

(excuse if my English is not that good :) )

[vrabaud]

The ORB technique is only for a textured pattern and the dot pattern has too much texture for it to work. Still, the z axis should show up. No wonder if the rests fails.
I just tried the latest groovy pacakges and they work for me ... (and the fisrt algorithm does not crash).
Any way you can compile from source and gdb the crash ? Make sure you have the latest drivers of everything.

[fivef]

Same for me. I just don't get the axes in capture mode.

[vrabaud]

ok, that bug is really pissing me :) (in a nice way). I have heard of it for while. I checked the code from/source packages on Fuerte/Groovy/Hydro on two different machines and two different sensors (ASUS XTION and Kinect) with checkerboards of different sizes. It all worked in the same way !

Now, does any of you guys have time to help me hunt it down ? It would require printing some debug messages here and there and give me the outputs. Just contact me on the email address in the package.xml if so, I am afraid there might be a lot of back and forth :)

[vrabaud]

Oh, btw, this is a duplicate of wg-perception/capture#19 I believe and it is a better location to talk about it. I'll close this one (please reopen if you think it is not).