Apollo9.0；40系感知camera_tracking报错

[lynsws]

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System information

• OS Platform and Distribution : Linux Ubuntu 20.04
• Apollo installed from : source
• Apollo version : 9.0
• GPU驱动： 525.147.05 RTX4080
• Output of apollo.sh config if on master branch: [INFO] Apollo Environment Settings: [INFO] APOLLO_ROOT_DIR: /apollo [INFO] APOLLO_CACHE_DIR: /apollo/.cache [INFO] APOLLO_IN_DOCKER: true [INFO] APOLLO_VERSION: master-2024-01-09-a1009a6783 [INFO] DOCKER_IMG: dev-x86_64-18.04-20231128_2222 [INFO] APOLLO_ENV: STAGE=dev USE_ESD_CAN=false [INFO] USE_GPU_HOST: 1 [INFO] USE_GPU_TARGET: 1 [INFO] GPU_PLATFORM: NVIDIA [INFO] Configure .apollo.bazelrc in non-interactive mode [INFO] You have bazel 5.2.0 installed. [INFO] Found possible Python library paths: /usr/lib/python3/dist-packages /usr/local/lib/python3.6/dist-packages [INFO] Found CUDA 11.8 in: /usr/local/cuda-11.8/targets/x86_64-linux/lib /usr/local/cuda-11.8/targets/x86_64-linux/include [INFO] Found cuDNN 8 in: /usr/lib/x86_64-linux-gnu /usr/include [INFO] Found TensorRT 8 in: /usr/lib/x86_64-linux-gnu /usr/include/x86_64-linux-gnu [ OK ] Successfully configured .apollo.bazelrc in non-interactive mode. [INFO] Usage: /apollo/scripts/apollo_config.sh [Options] [INFO] Options: [INFO] -i|--interactive Run in interactive mode [INFO] -n|--noninteractive Run in non-interactive mode [INFO] -h|--help Show this message and exit

  Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:
  1. 根据40系编译Apollo9.0方法编译Apollo，参考
  2. 使用amodel下载yolox3D模型
  3. cyber_launch start modules/transform/launch/static_transform.launch
  4. cyber_launch start modules/perception/launch/perception_camera_multi_stage.launch
  5. cyber_recorder play -f data/bag/sensor_rgb.record

     Supporting materials (screenshots, command lines, code/script snippets):

• 问题截图 libc.so.6!free (未知源:0) libapollo_perception_camera_tracking.so!apollo::perception::camera::Target::~Target() (未知源:0) libapollo_perception_camera_tracking.so!void std::vector<apollo::perception::camera::Target, Eigen::aligned_allocator >::_M_realloc_insert<apollo::perception::camera::Target const&>(__gnu_cxx::__normal_iterator<apollo::perception::camera::Target, std::vector<apollo::perception::camera::Target, Eigen::aligned_allocator > >, apollo::perception::camera::Target const&) (未知源:0) libapollo_perception_camera_tracking.so!apollo::perception::camera::OMTObstacleTracker::CreateNewTarget(std::vector<std::shared_ptr, std::allocator<std::shared_ptr > > const&) (未知源:0) libapollo_perception_camera_tracking.so!apollo::perception::camera::OMTObstacleTracker::Associate2D(std::shared_ptr) (未知源:0) libapollo_perception_camera_tracking.so!apollo::perception::camera::OMTObstacleTracker::Process(std::shared_ptr) (未知源:0) libcamera_tracking_component_camera_lib.so!apollo::perception::camera::CameraTrackingComponent::InternalProc(std::shared_ptr const&, std::shared_ptr) (未知源:0) libcamera_tracking_component_camera_lib.so!apollo::perception::camera::CameraTrackingComponent::Proc(std::shared_ptr const&) (未知源:0) libcamera_location_estimation_component_camera_lib.so!apollo::cyber::croutine::RoutineFactory apollo::cyber::croutine::CreateRoutineFactory<apollo::perception::onboard::CameraFrame, apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&)#1}&>(apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&)#1}&, std::shared_ptr<apollo::cyber::data::DataVisitor<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType> > const&)::{lambda()#1}::operator()() const::{lambda()#1}::operator()() const (未知源:0) libcamera_location_estimation_component_camera_lib.so!std::_Function_handler<void (), apollo::cyber::croutine::RoutineFactory apollo::cyber::croutine::CreateRoutineFactory<apollo::perception::onboard::CameraFrame, apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&)#1}&>(apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptr const&)#1}&, std::shared_ptr<apollo::cyber::data::DataVisitor<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType> > const&)::{lambda()#1}::operator()() const::{lambda()#1}>::_M_invoke(std::_Any_data const&) (未知源:0) libcyber_croutine.so!apollo::cyber::croutine::(anonymous namespace)::CRoutineEntry(void) (未知源:0) [Unknown/Just-In-Time compiled code] (未知源:0)
• 其他问题
  1. perception_camera_single_stage报错
  2. Ubantu22.04报错
  3. 新的CenterPoint模型在40系平台上也不能正常使用，更换Pointpillars正常

[daohu527]

The error is due to eigen aligned, you can try the latest version.

Here is a doc explains eigen aligned error. https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html

[lynsws]

The error is due to eigen aligned, you can try the latest version.

Here is a doc explains eigen aligned error. https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html

感谢回复！我刚刚在1月31日在ubantu18上尝试了最新版本（master），这个问题似乎并没有解决。 同时，我也尝试在 /apollo/modules/perception/camera_tracking/base/target.h /apollo/modules/perception/camera_tracking/base/track_object.h /apollo/modules/common/util/eigen_defs.h 添加#include<Eigen/StdVector>，EIGEN_MAKE_ALIGNED_OPERATOR_NEW，Eigen::aligned_allocator等矩阵对齐标志，但都没有解决这个问题。

[lynsws]

@daohu527 您好，我怀疑这是同一个问题。#15267 请问这个问题目前有得到解决吗？