PCL octree std::bad_alloc c++

我正在使用PCl库来压缩激光雷达数据。然后，此数据通过 ROS 网络与自定义消息一起发送。为此，我有一个压缩节点和一个解压缩节点。如果我运行压缩节点，一切都按预期工作。然而，解压缩节点在调用 decodePointCloud(( 函数时给出一个 std：：bad_alloc。

为了调试它，我将解压缩的代码复制到压缩程序中。当我现在运行压缩程序时，它可以工作。首先对激光雷达数据进行压缩，并在同一文件中解压缩。我用可视化软件rviz验证了这一点。

为什么当我在同一节点上执行所有操作时解压缩有效，但当代码位于单独的节点中时不起作用？我最初想到是因为内存不足，但是当我解压缩同一节点中的数据时，它可以工作。我认为这应该占用大致相同的内存量。

我在具有 Ubuntu 18.04、5gb 内存和 4 个处理器的 VM 上运行这两个程序。

压缩代码：

#include <stdint.h>
#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <inttypes.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <stdio.h>
#include <sstream>
#include <stdlib.h>
#include <chrono>
#include <string>
#include <std_msgs/String.h>
#include <bitset>
#include <std_msgs/UInt8MultiArray.h>
#include <stdint.h>
#include <iostream>
#include <vector>
#include <iterator>
//blob message
#include "my_pcl_tutorial/Blob.h"
ros::Publisher pub;
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA>* PointCloudEncoder;

void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
// Create a container for the data.
std::string output;
std_msgs::String outputString;
//convert to pointxyzrgba type
pcl::PCLPointCloud2 pcl_pc2;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr temp_cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);//convert to pointer to satisfy function requirement
pcl_conversions::toPCL(*input, pcl_pc2);
pcl::fromPCLPointCloud2(pcl_pc2, *temp_cloud); 
// stringstream to store compressed point cloud
std::stringstream compressedData; 
// compress point cloud
PointCloudEncoder->encodePointCloud (temp_cloud, compressedData);

compressedData.seekg(0,ios::end);
int size = compressedData.tellg();
compressedData.seekg(0,ios::beg);
std::cout<<size<<std::endl;

char * buffer = new char[size];
compressedData.read(buffer,size);
uint8_t * tempor = reinterpret_cast<uint8_t *>(buffer);
std::vector<unsigned char> v(tempor, tempor + size);
std::cout<<"Size: "<<v.size()<<std::endl;

my_pcl_tutorial::Blob blobmsg;
blobmsg.data=v;
blobmsg.size=size;
sensor_msgs::PointCloud2 pointcloudheader;
pointcloudheader = *input;
blobmsg.header = pointcloudheader.header;

//////////////////////////////////////////////
/*
//converting back, used for testing
std::stringstream test25;
std::vector<unsigned char> v2(blobmsg.data);
std::cout<<"Size2: "<<v2.size()<<std::endl;
std::cout<<"Size of message: "<<blobmsg.size<<std::endl;
std::copy(v2.begin(), v2.end(), std::ostream_iterator<unsigned char>(test25));
std::cout<<"debug"<<std::endl;
test25.seekg(0,ios::end);
int size2 = test25.tellg();
test25.seekg(0,ios::beg);
std::cout<<size2<<std::endl;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOut (new pcl::PointCloud<pcl::PointXYZRGBA> ());
//decompress
PointCloudDecoder->decodePointCloud (test25, cloudOut);


sensor_msgs::PointCloud2 outputmessage;
std::cout<<"Convert to right format now .."<<std::endl;
//save header info since toROSmsg throws away this information
//convert to pointcloud2
pcl::toROSMsg(*cloudOut, outputmessage);
outputmessage.header = blobmsg.header;
std::cout<<outputmessage.header<<std::endl;
/**/
/////////////////////////////

// Publish the data.
pub.publish (blobmsg);
}
int
main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "my_pcl_tutorial");
ros::NodeHandle nh;

//\
//setup compression algorithm

bool showStatistics = false;
pcl::io::compression_Profiles_e compressionProfile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
// instantiate point cloud compression for encoding and decoding
PointCloudEncoder = new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> (compressionProfile, showStatistics);
//\

// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("velodyne_points", 1, cloud_cb);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<my_pcl_tutorial::Blob> ("velodyne_points/compressed", 1);
// Spin
ros::spin ();
delete(PointCloudEncoder);
}

解压代码：

#include <stdint.h>
#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <inttypes.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <stdio.h>
#include <sstream>
#include <stdlib.h>
#include <chrono>
#include <string>
#include <std_msgs/String.h>
#include <iostream>
#include <cstring>

#include <bitset>
#include <std_msgs/UInt8MultiArray.h>
#include <stdint.h>
#include <iostream>
#include <vector>
#include <iterator>
//blob message
//#include "decompression/Blob.h"
#include <my_pcl_tutorial/Blob.h>
ros::Publisher pub;

pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA>* PointCloudDecoder;


void 
cloud_cb (const my_pcl_tutorial::Blob& input)
{

//converting back, used for testing
std::stringstream test25;
std::vector<unsigned char> v2(input.data);
std::cout<<"Size2: "<<v2.size()<<std::endl;
std::cout<<"Size of message: "<<input.size<<std::endl;
std::copy(v2.begin(), v2.end(), std::ostream_iterator<unsigned char>(test25));
std::cout<<"debug"<<std::endl;
test25.seekg(0,ios::end);
int size2 = test25.tellg();
test25.seekg(0,ios::beg);
std::cout<<size2<<std::endl;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOut (new pcl::PointCloud<pcl::PointXYZRGBA> ());
//decompress
PointCloudDecoder->decodePointCloud (test25, cloudOut);


sensor_msgs::PointCloud2 outputmessage;
std::cout<<"Convert to right format now .."<<std::endl;
//save header info since toROSmsg throws away this information
//convert to pointcloud2
pcl::toROSMsg(*cloudOut, outputmessage);
outputmessage.header = input.header;
std::cout<<outputmessage.header<<std::endl;
pub.publish(outputmessage);
}
int
main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "decompressLidar");
ros::NodeHandle nh;
//\
//setup compression algorithm
PointCloudDecoder = new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> ();
//\

// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("velodyne_points/compressed", 1, cloud_cb);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("decompress", 1);
// Spin
ros::spin ();
//delete(PointCloudDecoder);
}