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PRBonn / semantic_suma

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
MIT License
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when i execute,Segfault happend #25

Closed ACFFF closed 4 years ago

ACFFF commented 4 years ago

Hi chen, when i try to use suma++,i got some trouble.can you help me to solve it? my gpu is rtx 2070 SUPER,my computer environment is Driver Version: 440.100 CUDA Version: 10.1 cudnn:7.5.0 TensorRT-5.1.2.2 I configure my environment according to the readme.Can be compiled normally. my system version is ubuntu18.04.the dependencies libqt5libqgtk2 is replaced by qt5-style-plugins. OpenGL Context Version 4.6 core profile GLEW initialized. OpenGL context version: 4.6 OpenGL vendor string : NVIDIA Corporation OpenGL renderer string: GeForce RTX 2070 SUPER/PCIe/SSE2 Extracting surfel maps partially. Performing frame-to-model matching. 段错误 (核心已转储) sometimes is OpenGL Context Version 4.6 core profile GLEW initialized. OpenGL context version: 4.6 OpenGL vendor string : NVIDIA Corporation OpenGL renderer string: GeForce RTX 2070 SUPER/PCIe/SSE2 段错误 (核心已转储) I use the gdb tool to locate the segmentation fault as follows: `GNU gdb (Ubuntu 8.1-0ubuntu3.2) 8.1.0.20180409-git Copyright (C) 2018 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word". (gdb) file visualizer Reading symbols from visualizer...done. (gdb) run Starting program: /home/darren/ros_projects/rangenet_ws/src/semantic_suma/bin/visualizer [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [New Thread 0x7fffbfe89700 (LWP 14197)] [New Thread 0x7fffb59a7700 (LWP 14198)] [New Thread 0x7fffb51a6700 (LWP 14199)] [New Thread 0x7fffaef60700 (LWP 14200)] OpenGL Context Version 4.6 core profile GLEW initialized. OpenGL context version: 4.6 OpenGL vendor string : NVIDIA Corporation OpenGL renderer string: GeForce RTX 2070 SUPER/PCIe/SSE2

Thread 1 "visualizer" received signal SIGSEGV, Segmentation fault. 0x00005555555b3a25 in _mm256_store_ps (A=..., P=) at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:880 880 (__m256 )P = A; (gdb) bt

0 0x00005555555b3a25 in _mm256_store_ps (A=..., P=) at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:880

1 0x00005555555b3a25 in Eigen::internal::pstore<float, float vector(8)>(float*, float vector(8) const&) (from=..., to=)

at /usr/local/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:251

2 0x00005555555b3a25 in Eigen::internal::pstoret<float, float vector(8), 32>(float*, float vector(8) const&) (from=..., to=)

at /usr/local/include/eigen3/Eigen/src/Core/GenericPacketMath.h:474

3 0x00005555555b3a25 in Eigen::internal::assign_op<float, float>::assignPacket<32, float vector(8)>(float*, float vector(8) const&) const (this=, b=..., a=) at /usr/local/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h:28

4 0x00005555555b3a25 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<float, float>, 0>::assignPacket<32, 32, float __vector(8)>(long, long) (this=, this=, col=, row=) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652

5 0x00005555555b3a25 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<float, float>, 0>::assignPacketByOuterInner<32, 32, float __vector(8)>(long, long) (inner=0, outer=0, this=) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666

6 0x00005555555b3a25 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<float, float>, 0>, 0, 16>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<float, float>, 0>&) (kernel=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274

7 0x00005555555b3a25 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<float, float>, 0>, 3, 2>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<float, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<float, float>, 0>&) (kernel=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:434

8 0x00005555555b3a25 in Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<float, float> const&) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:741

9 0x00005555555b3a25 in Eigen::internal::Assignment<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<float, float>, Eigen::internal::Dense2Dense, void>::run(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<float, float> const&) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879

10 0x00005555555b3a25 in Eigen::internal::call_assignment_no_alias<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<float, float> const&) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836

11 0x00005555555b3a25 in Eigen::internal::call_assignment<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<float, float> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::internal::evaluator_traits<Eigen::Matrix<float, 4, 4, 0, 4, 4> >::Shape>::value, void*>::type) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804

12 0x00005555555b3a25 in Eigen::internal::call_assignment<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::Matrix<float, 4, 4, 0, 4, 4> >(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&) (src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782

13 0x00005555555b3a25 in Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 4, 0, 4, 4> >::_set<Eigen::Matrix<float, 4, 4, 0, 4, 4> >(Eigen::DenseBase<Eigen::Matrix<float, 4, 4, 0, 4, 4> > const&) (other=..., this=0x555555f883b0) at /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714

---Type to continue, or q to quit---

14 0x00005555555b3a25 in Eigen::Matrix<float, 4, 4, 0, 4, 4>::operator=(Eigen::Matrix<float, 4, 4, 0, 4, 4> const&) (other=..., this=0x555555f883b0)

at /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:208

15 0x00005555555b3a25 in ViewportWidget::ViewportWidget(QWidget, QGLWidget const, QFlags) (this=0x555555f877d0, parent=, shareWidget=, f=...) at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/visualizer/ViewportWidget.cpp:46

16 0x00005555555d4b72 in Ui_MainWindow::setupUi(QMainWindow*) (this=this@entry=0x7fffffffd2c8, MainWindow=MainWindow@entry=0x7fffffffd280)

at /home/darren/ros_projects/rangenet_ws/build/semantic_suma/ui_visualizer.h:939

17 0x00005555555c7811 in VisualizerWindow::VisualizerWindow(int, char**) (this=0x7fffffffd280, argc=, argv=)

at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/visualizer/VisualizerWindow.cpp:35

18 0x000055555557cb02 in main(int, char**) (argc=, argv=0x7fffffffdbf8)

at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/visualizer/visualizer.cpp:19

` What should I do? Is it an environmental configuration problem?

jbehley commented 4 years ago

Thanks for your very detailed report on the problem.

Please ensure that you have compiled gtsam with the option USE_SYSTEM_EIGEN, since it might give a clash between your and the version of gtsam that (probably) causes the problem:

mkdir build && cd build
cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install

Let us know if you still have trouble.

ACFFF commented 4 years ago

Thanks for your very detailed report on the problem.

Please ensure that you have compiled gtsam with the option USE_SYSTEM_EIGEN, since it might give a clash between your and the version of gtsam that (probably) causes the problem:

mkdir build && cd build
cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install

Let us know if you still have trouble.

Thank you for your prompt answer.i try your way right now.but it does't work. but the gdb result has changed. ` (gdb) bt

0 0x00007ffff7b74d67 in _mm256_load_pd (__P=0x5555561e6310) at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:862

1 0x00007ffff7b74d67 in Eigen::internal::pload<double __vector(4)>(Eigen::internal::unpacket_traits<double __vector(4)>::type const*) (from=0x5555561e6310)

at /usr/local/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:215

2 0x00007ffff7b74d67 in Eigen::internal::ploadt<double __vector(4), 32>(Eigen::internal::unpacket_traits<double __vector(4)>::type const*) (from=0x5555561e6310)

at /usr/local/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463

3 0x00007ffff7b74d67 in Eigen::internal::evaluator<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >::packet<32, double __vector(4)>(long, long) const (this=0x7fffffffce50, col=, row=) at /usr/local/include/eigen3/Eigen/src/Core/CoreEvaluators.h:197

4 0x00007ffff7b74d67 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacket<32, 32, double __vector(4)>(long, long) (this=this@entry=0x7fffffffce80, this=this@entry=0x7fffffffce80, col=, row=) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652

5 0x00007ffff7b74d67 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) (inner=0, outer=0, this=this@entry=0x7fffffffce80)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666

6 0x00007ffff7b74d67 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 0, 16>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>&) (kernel=...)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274

7 0x00007ffff7b6e275 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 2, 2>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>&) (kernel=...)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:468

8 0x00007ffff7b6e275 in Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&) (func=..., src=..., dst=...)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:741

9 0x00007ffff7b6e275 in Eigen::internal::Assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double>, Eigen::internal::Dense2Dense, void>::run(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&) (func=..., src=..., dst=...)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879

10 0x00007ffff7b6e275 in Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&) (func=..., src=..., dst=...)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836

11 0x00007ffff7b6e275 in Eigen::internal::call_assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::evaluator_traits<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::Shape>::value, void*>::type) (func=..., src=..., dst=...)

at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804

12 0x00007ffff7b6e275 in Eigen::internal::call_assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) (src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782

13 0x00007ffff7b6e275 in Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::_set<Eigen::Matrix<double, 4, 4, 0, 4, 4> >(Eigen::DenseBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> > const&) (other=..., this=0x5555561e6410) at /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714

14 0x00007ffff7b6e275 in Eigen::Matrix<double, 4, 4, 0, 4, 4>::operator=(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) (other=..., this=0x5555561e6410)

at /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:208

15 0x00007ffff7b6e275 in SurfelMapping::SurfelMapping(rv::ParameterList const&) (this=0x5555561e5950, params=...) at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/core/SurfelMapping.cpp:46

16 0x000055555557cb92 in main(int, char**) (argc=, argv=0x7fffffffd9d8) at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/visualizer/visualizer.cpp:29

` It seems to be an eigen problem, do you know how to solve it?thank you

jbehley commented 4 years ago

We saw problems with different Eigen Versions, see https://github.com/PRBonn/semantic_suma/issues/14#issuecomment-598629109 and https://github.com/jbehley/SuMa/issues/20#issuecomment-563201525.

Sometimes going back do a different version of gtsam worked. Like https://github.com/jbehley/SuMa/issues/17#issuecomment-528217739 reported this.

Let me know if the switch of the version of gtsam or Eigen did help. Sorry for the trouble.

ACFFF commented 4 years ago

We saw problems with different Eigen Versions, see #14 (comment) and jbehley/SuMa#20 (comment).

Sometimes going back do a different version of gtsam worked. Like jbehley/SuMa#17 (comment) reported this.

Let me know if the switch of the version of gtsam or Eigen did help. Sorry for the trouble.

YES,I chang the gtsam version by 4.0.0-alpha2,now it worked,thank you very much. I suggest you can write this little hint to the readme，it helped a lot! thank you again.

jbehley commented 4 years ago

Very good. Thanks for your suggestion, @Chen-Xieyuanli might add a note the readme.

Since this is now resolved, I close this issue.

Chen-Xieyuanli commented 4 years ago

@ACFFF @jbehley Thank you guys for all the information. I'll add this note to the readme soon!