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[segmentation] SupervoxelClustering extract generates "double free or corruption (out)" in PCL 1.12.X #5457

Closed EngDanielAraujo closed 1 year ago

EngDanielAraujo commented 2 years ago

Describe the bug

When using an extract function from SupervoxelClustering the following error is presented double free or corruption (out)

Context

I'm trying to run the example code Clustering of Pointclouds into Supervoxels for segmenting 3D point clouds in PCD format

Expected behavior

Extract the label map from the supervoxel structure

Current Behavior

When executing the extract method, it returns the error: double free or corruption (out), similarly to the one reported by #2598

Example output:

$ ./supervoxel_clustering ../milk_cartoon_all_small_clorox.pcd --NT
PCL_VERSION: 101201
> Loading point cloud...
> Extracting supervoxels!
double free or corruption (out)

To Reproduce

  1. Download the supervoxel_clustering.cpp exemple, CMakeLists.txt and input point cloud milk_cartoon_all_small_clorox.pcd
  2. Compile the supervoxel_clustering.cpp file
  3. run ./supervoxel_clustering milk_cartoon_all_small_clorox.pcd --NT

Your Environment (please complete the following information):

Additional context

Although in #2598 it was reported that the problem was fixed in version 1.9.0, I am encountering the same problem in newer versions of the library (>=1.12.0).

mvieth commented 2 years ago

So far, I can't reproduce your problem. Can you run the program with valgrind, like this: valgrind ./supervoxel_clustering milk_cartoon_all_small_clorox.pcd --NT

EngDanielAraujo commented 2 years ago

Hi, thanks for replying. Here is the output of running with valgrind:

$ valgrind ./supervoxel_clustering ../milk_cartoon_all_small_clorox.pcd --NT
==14961== Memcheck, a memory error detector
==14961== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==14961== Using Valgrind-3.18.1 and LibVEX; rerun with -h for copyright info
==14961== Command: ./supervoxel_clustering ../milk_cartoon_all_small_clorox.pcd --NT
==14961== 
PCL_VERSION: 101201
> Loading point cloud...
> Extracting supervoxels!
==14961== Invalid read of size 8
==14961==    at 0x539C92E: handmade_aligned_free (Memory.h:118)
==14961==    by 0x539C92E: aligned_free (Memory.h:206)
==14961==    by 0x539C92E: deallocate (Memory.h:921)
==14961==    by 0x539C92E: deallocate (alloc_traits.h:345)
==14961==    by 0x539C92E: _M_deallocate (stl_vector.h:354)
==14961==    by 0x539C92E: ~_Vector_base (stl_vector.h:335)
==14961==    by 0x539C92E: ~vector (stl_vector.h:683)
==14961==    by 0x539C92E: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::selectInitialSupervoxelSeeds(std::vector<int, std::allocator<int> >&) (supervoxel_clustering.hpp:415)
==14961==    by 0x539D887: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:117)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961==  Address 0x17651078 is 8 bytes before a block of size 16,384 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x122E2D: Eigen::aligned_allocator<pcl::PointXYZRGBA>::allocate(unsigned long, void const*) (Memory.h:916)
==14961==    by 0x12181D: std::allocator_traits<Eigen::aligned_allocator<pcl::PointXYZRGBA> >::allocate(Eigen::aligned_allocator<pcl::PointXYZRGBA>&, unsigned long) (alloc_traits.h:318)
==14961==    by 0x11FC01: std::_Vector_base<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >::_M_allocate(unsigned long) (stl_vector.h:346)
==14961==    by 0x11D312: void std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >::_M_realloc_insert<pcl::PointXYZRGBA const&>(__gnu_cxx::__normal_iterator<pcl::PointXYZRGBA*, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> > >, pcl::PointXYZRGBA const&) (vector.tcc:440)
==14961==    by 0x539C306: push_back (stl_vector.h:1198)
==14961==    by 0x539C306: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::getOccupiedVoxelCentersRecursive(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty> const*, pcl::octree::OctreeKey const&, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >&) const (octree_pointcloud.hpp:951)
==14961==    by 0x539C2B4: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::getOccupiedVoxelCentersRecursive(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty> const*, pcl::octree::OctreeKey const&, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >&) const (octree_pointcloud.hpp:943)
==14961==    by 0x539C2B4: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::getOccupiedVoxelCentersRecursive(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty> const*, pcl::octree::OctreeKey const&, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >&) const (octree_pointcloud.hpp:943)
==14961==    by 0x539C2B4: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::getOccupiedVoxelCentersRecursive(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty> const*, pcl::octree::OctreeKey const&, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >&) const (octree_pointcloud.hpp:943)
==14961==    by 0x539C2B4: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::getOccupiedVoxelCentersRecursive(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty> const*, pcl::octree::OctreeKey const&, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >&) const (octree_pointcloud.hpp:943)
==14961==    by 0x539C2B4: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::getOccupiedVoxelCentersRecursive(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty> const*, pcl::octree::OctreeKey const&, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> >&) const (octree_pointcloud.hpp:943)
==14961== 
==14961== Invalid read of size 8
==14961==    at 0x537CF4A: handmade_aligned_free (Memory.h:118)
==14961==    by 0x537CF4A: aligned_free (Memory.h:206)
==14961==    by 0x537CF4A: conditional_aligned_free<true> (Memory.h:259)
==14961==    by 0x537CF4A: operator delete (octree_nodes.h:171)
==14961==    by 0x537CF4A: pcl::octree::OctreeLeafNode<pcl::octree::OctreeContainerPointIndices>::~OctreeLeafNode() (octree_nodes.h:94)
==14961==    by 0x5375622: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:611)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x537D1E3: deleteBranch (octree_base.h:631)
==14961==    by 0x537D1E3: deleteBranchChild (octree_base.h:604)
==14961==    by 0x537D1E3: deleteBranch (octree_base.h:631)
==14961==    by 0x537D1E3: deleteTree (octree_base.hpp:166)
==14961==    by 0x537D1E3: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::~OctreeBase() (octree_base.hpp:62)
==14961==    by 0x539C977: ~OctreePointCloud (octree_pointcloud.h:72)
==14961==    by 0x539C977: ~OctreePointCloudSearch (octree_search.h:57)
==14961==    by 0x539C977: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::selectInitialSupervoxelSeeds(std::vector<int, std::allocator<int> >&) (supervoxel_clustering.hpp:415)
==14961==    by 0x539D887: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:117)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961==  Address 0x175f6948 is 8 bytes before a block of size 40 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x538EF61: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x538EF61: operator new (octree_nodes.h:171)
==14961==    by 0x538EF61: createLeafChild (octree_base.h:656)
==14961==    by 0x538EF61: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::createLeafRecursive(pcl::octree::OctreeKey const&, unsigned int, pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>*, pcl::octree::OctreeLeafNode<pcl::octree::OctreeContainerPointIndices>*&, pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>*&) (octree_base.hpp:315)
==14961==    by 0x539BF90: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty> >::addPointIdx(unsigned int) (octree_pointcloud.hpp:634)
==14961==    by 0x539CB93: addPointsFromInputCloud (octree_pointcloud.hpp:95)
==14961==    by 0x539CB93: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::selectInitialSupervoxelSeeds(std::vector<int, std::allocator<int> >&) (supervoxel_clustering.hpp:372)
==14961==    by 0x539D887: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:117)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484B27F: free (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x5375622: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:611)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x5375613: deleteBranch (octree_base.h:631)
==14961==    by 0x5375613: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x537D1E3: deleteBranch (octree_base.h:631)
==14961==    by 0x537D1E3: deleteBranchChild (octree_base.h:604)
==14961==    by 0x537D1E3: deleteBranch (octree_base.h:631)
==14961==    by 0x537D1E3: deleteTree (octree_base.hpp:166)
==14961==    by 0x537D1E3: pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>::~OctreeBase() (octree_base.hpp:62)
==14961==    by 0x539C977: ~OctreePointCloud (octree_pointcloud.h:72)
==14961==    by 0x539C977: ~OctreePointCloudSearch (octree_search.h:57)
==14961==    by 0x539C977: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::selectInitialSupervoxelSeeds(std::vector<int, std::allocator<int> >&) (supervoxel_clustering.hpp:415)
==14961==    by 0x539D887: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:117)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961==  Address 0x4bba00004bbf is not stack'd, malloc'd or (recently) free'd
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484BB6F: operator delete(void*, unsigned long) (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x12B572: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x5393134: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x5393134: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x5393134: reset<pcl::PointCloud<pcl::PointXYZRGBA> > (shared_ptr_base.h:1280)
==14961==    by 0x5393134: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::SupervoxelHelper::getVoxels(std::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >&) const (supervoxel_clustering.hpp:890)
==14961==    by 0x539D53E: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::makeSupervoxels(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:333)
==14961==    by 0x539D8BB: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:129)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961==  Address 0x123f7ec0 is 16 bytes inside a block of size 160 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x539D0E9: handmade_aligned_malloc (Memory.h:105)
==14961==    by 0x539D0E9: aligned_malloc (Memory.h:188)
==14961==    by 0x539D0E9: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x539D0E9: operator new (point_cloud.h:900)
==14961==    by 0x539D0E9: Supervoxel (supervoxel_clustering.h:71)
==14961==    by 0x539D0E9: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::makeSupervoxels(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:329)
==14961==    by 0x539D8BB: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:129)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961== 
> Teste
Found 423 supervoxels
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484BB6F: operator delete(void*, unsigned long) (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x12B572: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x5395FB4: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x5395FB4: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x5395FB4: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x5395FB4: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:560)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961==  Address 0x16eaff00 is 32 bytes inside a block of size 160 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x539306D: handmade_aligned_malloc (Memory.h:105)
==14961==    by 0x539306D: aligned_malloc (Memory.h:188)
==14961==    by 0x539306D: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x539306D: operator new (point_cloud.h:900)
==14961==    by 0x539306D: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::SupervoxelHelper::getVoxels(std::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >&) const (supervoxel_clustering.hpp:890)
==14961==    by 0x5395E7D: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:563)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961== 
==14961== Invalid read of size 8
==14961==    at 0x5377566: handmade_aligned_free (Memory.h:118)
==14961==    by 0x5377566: aligned_free (Memory.h:206)
==14961==    by 0x5377566: deallocate (Memory.h:921)
==14961==    by 0x5377566: deallocate (alloc_traits.h:345)
==14961==    by 0x5377566: _M_deallocate (stl_vector.h:354)
==14961==    by 0x5377566: void std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> >::_M_range_insert<__gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > >(__gnu_cxx::__normal_iterator<pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, std::forward_iterator_tag) [clone .isra.0] (vector.tcc:796)
==14961==    by 0x5395F53: _M_insert_dispatch<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1665)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1383)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (point_cloud.h:769)
==14961==    by 0x5395F53: concatenate (point_cloud.h:239)
==14961==    by 0x5395F53: operator+= (point_cloud.h:216)
==14961==    by 0x5395F53: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:571)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961==  Address 0x16e15ff8 is 8 bytes before a block of size 2,208 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x5377660: allocate (Memory.h:916)
==14961==    by 0x5377660: allocate (alloc_traits.h:318)
==14961==    by 0x5377660: _M_allocate (stl_vector.h:346)
==14961==    by 0x5377660: void std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> >::_M_range_insert<__gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > >(__gnu_cxx::__normal_iterator<pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, std::forward_iterator_tag) [clone .isra.0] (vector.tcc:769)
==14961==    by 0x5395F53: _M_insert_dispatch<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1665)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1383)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (point_cloud.h:769)
==14961==    by 0x5395F53: concatenate (point_cloud.h:239)
==14961==    by 0x5395F53: operator+= (point_cloud.h:216)
==14961==    by 0x5395F53: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:571)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484B27F: free (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x537756E: handmade_aligned_free (Memory.h:118)
==14961==    by 0x537756E: aligned_free (Memory.h:206)
==14961==    by 0x537756E: deallocate (Memory.h:921)
==14961==    by 0x537756E: deallocate (alloc_traits.h:345)
==14961==    by 0x537756E: _M_deallocate (stl_vector.h:354)
==14961==    by 0x537756E: void std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> >::_M_range_insert<__gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > >(__gnu_cxx::__normal_iterator<pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, std::forward_iterator_tag) [clone .isra.0] (vector.tcc:796)
==14961==    by 0x5395F53: _M_insert_dispatch<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1665)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1383)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (point_cloud.h:769)
==14961==    by 0x5395F53: concatenate (point_cloud.h:239)
==14961==    by 0x5395F53: operator+= (point_cloud.h:216)
==14961==    by 0x5395F53: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:571)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961==  Address 0x7d4400007d9c is not stack'd, malloc'd or (recently) free'd
==14961== 
> Getting supervoxel adjacency
==14961== Conditional jump or move depends on uninitialised value(s)
==14961==    at 0x1190B62B: ftc_cache_add (ftccache.c:431)
==14961==    by 0x1190B741: FTC_Cache_NewNode (ftccache.c:470)
==14961==    by 0x1190BE75: vtkfreetype_FTC_CMapCache_Lookup (ftccmap.c:268)
==14961==    by 0xD255606: vtkFreeTypeTools::GetGlyphIndex(unsigned long, unsigned int, unsigned int*) (vtkFreeTypeTools.cxx:837)
==14961==    by 0xD25DABC: vtkFreeTypeTools::GetBitmap(unsigned int, FTC_ScalerRec_*, unsigned int&, FT_BitmapGlyphRec_*&) (vtkFreeTypeTools.cxx:2294)
==14961==    by 0xD25DD4F: vtkFreeTypeTools::GetLineMetrics(__gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, __gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, vtkFreeTypeTools::MetaData&, int&, int*) (vtkFreeTypeTools.cxx:2383)
==14961==    by 0xD259C3B: vtkFreeTypeTools::CalculateBoundingBox(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, vtkFreeTypeTools::MetaData&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (vtkFreeTypeTools.cxx:1352)
==14961==    by 0xD259989: vtkFreeTypeTools::CalculateBoundingBox(vtkStdString const&, vtkFreeTypeTools::MetaData&) (vtkFreeTypeTools.cxx:1324)
==14961==    by 0xD25808A: vtkFreeTypeTools::RenderStringInternal(vtkTextProperty*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:1197)
==14961==    by 0xD2528BF: vtkFreeTypeTools::RenderString(vtkTextProperty*, vtkStdString const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:550)
==14961==    by 0xD269373: vtkMathTextFreeTypeTextRenderer::RenderStringInternal(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkMathTextFreeTypeTextRenderer.cxx:216)
==14961==    by 0x5AFD7DF: vtkTextRenderer::RenderString(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkTextRenderer.h:225)
==14961== 
==14961== Conditional jump or move depends on uninitialised value(s)
==14961==    at 0x1190D036: FTC_Manager_Compress (ftcmanag.c:555)
==14961==    by 0x1190B64D: ftc_cache_add (ftccache.c:434)
==14961==    by 0x1190B741: FTC_Cache_NewNode (ftccache.c:470)
==14961==    by 0x1190BE75: vtkfreetype_FTC_CMapCache_Lookup (ftccmap.c:268)
==14961==    by 0xD255606: vtkFreeTypeTools::GetGlyphIndex(unsigned long, unsigned int, unsigned int*) (vtkFreeTypeTools.cxx:837)
==14961==    by 0xD25DABC: vtkFreeTypeTools::GetBitmap(unsigned int, FTC_ScalerRec_*, unsigned int&, FT_BitmapGlyphRec_*&) (vtkFreeTypeTools.cxx:2294)
==14961==    by 0xD25DD4F: vtkFreeTypeTools::GetLineMetrics(__gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, __gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, vtkFreeTypeTools::MetaData&, int&, int*) (vtkFreeTypeTools.cxx:2383)
==14961==    by 0xD259C3B: vtkFreeTypeTools::CalculateBoundingBox(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, vtkFreeTypeTools::MetaData&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (vtkFreeTypeTools.cxx:1352)
==14961==    by 0xD259989: vtkFreeTypeTools::CalculateBoundingBox(vtkStdString const&, vtkFreeTypeTools::MetaData&) (vtkFreeTypeTools.cxx:1324)
==14961==    by 0xD25808A: vtkFreeTypeTools::RenderStringInternal(vtkTextProperty*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:1197)
==14961==    by 0xD2528BF: vtkFreeTypeTools::RenderString(vtkTextProperty*, vtkStdString const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:550)
==14961==    by 0xD269373: vtkMathTextFreeTypeTextRenderer::RenderStringInternal(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkMathTextFreeTypeTextRenderer.cxx:216)
==14961== 
==14961== Conditional jump or move depends on uninitialised value(s)
==14961==    at 0x1190B62B: ftc_cache_add (ftccache.c:431)
==14961==    by 0x1190B741: FTC_Cache_NewNode (ftccache.c:470)
==14961==    by 0x1190A028: vtkfreetype_FTC_ImageCache_LookupScaler (ftcbasic.c:413)
==14961==    by 0xD256398: vtkFreeTypeTools::GetGlyph(FTC_ScalerRec_*, unsigned int, FT_GlyphRec_**, int) (vtkFreeTypeTools.cxx:935)
==14961==    by 0xD25DAEA: vtkFreeTypeTools::GetBitmap(unsigned int, FTC_ScalerRec_*, unsigned int&, FT_BitmapGlyphRec_*&) (vtkFreeTypeTools.cxx:2301)
==14961==    by 0xD25DD4F: vtkFreeTypeTools::GetLineMetrics(__gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, __gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, vtkFreeTypeTools::MetaData&, int&, int*) (vtkFreeTypeTools.cxx:2383)
==14961==    by 0xD259C3B: vtkFreeTypeTools::CalculateBoundingBox(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, vtkFreeTypeTools::MetaData&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (vtkFreeTypeTools.cxx:1352)
==14961==    by 0xD259989: vtkFreeTypeTools::CalculateBoundingBox(vtkStdString const&, vtkFreeTypeTools::MetaData&) (vtkFreeTypeTools.cxx:1324)
==14961==    by 0xD25808A: vtkFreeTypeTools::RenderStringInternal(vtkTextProperty*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:1197)
==14961==    by 0xD2528BF: vtkFreeTypeTools::RenderString(vtkTextProperty*, vtkStdString const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:550)
==14961==    by 0xD269373: vtkMathTextFreeTypeTextRenderer::RenderStringInternal(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkMathTextFreeTypeTextRenderer.cxx:216)
==14961==    by 0x5AFD7DF: vtkTextRenderer::RenderString(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkTextRenderer.h:225)
==14961== 
==14961== Conditional jump or move depends on uninitialised value(s)
==14961==    at 0x1190D036: FTC_Manager_Compress (ftcmanag.c:555)
==14961==    by 0x1190B64D: ftc_cache_add (ftccache.c:434)
==14961==    by 0x1190B741: FTC_Cache_NewNode (ftccache.c:470)
==14961==    by 0x1190A028: vtkfreetype_FTC_ImageCache_LookupScaler (ftcbasic.c:413)
==14961==    by 0xD256398: vtkFreeTypeTools::GetGlyph(FTC_ScalerRec_*, unsigned int, FT_GlyphRec_**, int) (vtkFreeTypeTools.cxx:935)
==14961==    by 0xD25DAEA: vtkFreeTypeTools::GetBitmap(unsigned int, FTC_ScalerRec_*, unsigned int&, FT_BitmapGlyphRec_*&) (vtkFreeTypeTools.cxx:2301)
==14961==    by 0xD25DD4F: vtkFreeTypeTools::GetLineMetrics(__gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, __gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, vtkFreeTypeTools::MetaData&, int&, int*) (vtkFreeTypeTools.cxx:2383)
==14961==    by 0xD259C3B: vtkFreeTypeTools::CalculateBoundingBox(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, vtkFreeTypeTools::MetaData&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (vtkFreeTypeTools.cxx:1352)
==14961==    by 0xD259989: vtkFreeTypeTools::CalculateBoundingBox(vtkStdString const&, vtkFreeTypeTools::MetaData&) (vtkFreeTypeTools.cxx:1324)
==14961==    by 0xD25808A: vtkFreeTypeTools::RenderStringInternal(vtkTextProperty*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:1197)
==14961==    by 0xD2528BF: vtkFreeTypeTools::RenderString(vtkTextProperty*, vtkStdString const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:550)
==14961==    by 0xD269373: vtkMathTextFreeTypeTextRenderer::RenderStringInternal(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkMathTextFreeTypeTextRenderer.cxx:216)
==14961== 
==14961== Conditional jump or move depends on uninitialised value(s)
==14961==    at 0x1190D0AA: FTC_Manager_Compress (ftcmanag.c:572)
==14961==    by 0x1190B64D: ftc_cache_add (ftccache.c:434)
==14961==    by 0x1190B741: FTC_Cache_NewNode (ftccache.c:470)
==14961==    by 0x1190A028: vtkfreetype_FTC_ImageCache_LookupScaler (ftcbasic.c:413)
==14961==    by 0xD256398: vtkFreeTypeTools::GetGlyph(FTC_ScalerRec_*, unsigned int, FT_GlyphRec_**, int) (vtkFreeTypeTools.cxx:935)
==14961==    by 0xD25DAEA: vtkFreeTypeTools::GetBitmap(unsigned int, FTC_ScalerRec_*, unsigned int&, FT_BitmapGlyphRec_*&) (vtkFreeTypeTools.cxx:2301)
==14961==    by 0xD25DD4F: vtkFreeTypeTools::GetLineMetrics(__gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, __gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, vtkFreeTypeTools::MetaData&, int&, int*) (vtkFreeTypeTools.cxx:2383)
==14961==    by 0xD259C3B: vtkFreeTypeTools::CalculateBoundingBox(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, vtkFreeTypeTools::MetaData&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (vtkFreeTypeTools.cxx:1352)
==14961==    by 0xD259989: vtkFreeTypeTools::CalculateBoundingBox(vtkStdString const&, vtkFreeTypeTools::MetaData&) (vtkFreeTypeTools.cxx:1324)
==14961==    by 0xD25808A: vtkFreeTypeTools::RenderStringInternal(vtkTextProperty*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:1197)
==14961==    by 0xD2528BF: vtkFreeTypeTools::RenderString(vtkTextProperty*, vtkStdString const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:550)
==14961==    by 0xD269373: vtkMathTextFreeTypeTextRenderer::RenderStringInternal(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkMathTextFreeTypeTextRenderer.cxx:216)
==14961== 
==14961== Conditional jump or move depends on uninitialised value(s)
==14961==    at 0x1190D0AA: FTC_Manager_Compress (ftcmanag.c:572)
==14961==    by 0x1190B64D: ftc_cache_add (ftccache.c:434)
==14961==    by 0x1190B741: FTC_Cache_NewNode (ftccache.c:470)
==14961==    by 0x1190BE75: vtkfreetype_FTC_CMapCache_Lookup (ftccmap.c:268)
==14961==    by 0xD255606: vtkFreeTypeTools::GetGlyphIndex(unsigned long, unsigned int, unsigned int*) (vtkFreeTypeTools.cxx:837)
==14961==    by 0xD25DABC: vtkFreeTypeTools::GetBitmap(unsigned int, FTC_ScalerRec_*, unsigned int&, FT_BitmapGlyphRec_*&) (vtkFreeTypeTools.cxx:2294)
==14961==    by 0xD25DD4F: vtkFreeTypeTools::GetLineMetrics(__gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, __gnu_cxx::__normal_iterator<char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, vtkFreeTypeTools::MetaData&, int&, int*) (vtkFreeTypeTools.cxx:2383)
==14961==    by 0xD259C3B: vtkFreeTypeTools::CalculateBoundingBox(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, vtkFreeTypeTools::MetaData&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (vtkFreeTypeTools.cxx:1352)
==14961==    by 0xD259989: vtkFreeTypeTools::CalculateBoundingBox(vtkStdString const&, vtkFreeTypeTools::MetaData&) (vtkFreeTypeTools.cxx:1324)
==14961==    by 0xD25808A: vtkFreeTypeTools::RenderStringInternal(vtkTextProperty*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:1197)
==14961==    by 0xD2528BF: vtkFreeTypeTools::RenderString(vtkTextProperty*, vtkStdString const&, int, vtkImageData*, int*) (vtkFreeTypeTools.cxx:550)
==14961==    by 0xD269373: vtkMathTextFreeTypeTextRenderer::RenderStringInternal(vtkTextProperty*, vtkStdString const&, vtkImageData*, int*, int, int) (vtkMathTextFreeTypeTextRenderer.cxx:216)
==14961== 
Clipping plane [near,far] 4.02949, 7.67671
Focal point [x,y,z] 0.045847, 0.324889, -1.28296
Position [x,y,z] 0.045847, 0.324889, 4.35518
View up [x,y,z] 0, 1, 0
Camera view angle [degrees] 30
Window size [x,y] 1846, 540
Window position [x,y] 10, 45
==14961== Invalid read of size 8
==14961==    at 0x52FEE77: handmade_aligned_free (Memory.h:118)
==14961==    by 0x52FEE77: aligned_free (Memory.h:206)
==14961==    by 0x52FEE77: deallocate (Memory.h:921)
==14961==    by 0x52FEE77: deallocate (alloc_traits.h:345)
==14961==    by 0x52FEE77: _M_deallocate (stl_vector.h:354)
==14961==    by 0x52FEE77: ~_Vector_base (stl_vector.h:335)
==14961==    by 0x52FEE77: ~vector (stl_vector.h:683)
==14961==    by 0x52FEE77: ~PointCloud (point_cloud.h:172)
==14961==    by 0x52FEE77: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZL>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115C03: std::__shared_ptr<pcl::PointCloud<pcl::PointXYZL>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115C23: std::shared_ptr<pcl::PointCloud<pcl::PointXYZL> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x113C9A: main (supervoxel_clustering.cpp:142)
==14961==  Address 0x2e247038 is 8 bytes before a block of size 1,879,552 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x5377660: allocate (Memory.h:916)
==14961==    by 0x5377660: allocate (alloc_traits.h:318)
==14961==    by 0x5377660: _M_allocate (stl_vector.h:346)
==14961==    by 0x5377660: void std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> >::_M_range_insert<__gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > >(__gnu_cxx::__normal_iterator<pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, __gnu_cxx::__normal_iterator<pcl::PointXYZL const*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > >, std::forward_iterator_tag) [clone .isra.0] (vector.tcc:769)
==14961==    by 0x5395F53: _M_insert_dispatch<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1665)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (stl_vector.h:1383)
==14961==    by 0x5395F53: insert<__gnu_cxx::__normal_iterator<const pcl::PointXYZL*, std::vector<pcl::PointXYZL, Eigen::aligned_allocator<pcl::PointXYZL> > > > (point_cloud.h:769)
==14961==    by 0x5395F53: concatenate (point_cloud.h:239)
==14961==    by 0x5395F53: operator+= (point_cloud.h:216)
==14961==    by 0x5395F53: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:571)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961== 
==14961== Invalid read of size 8
==14961==    at 0x52FEE9A: handmade_aligned_free (Memory.h:118)
==14961==    by 0x52FEE9A: aligned_free (Memory.h:206)
==14961==    by 0x52FEE9A: conditional_aligned_free<true> (Memory.h:259)
==14961==    by 0x52FEE9A: operator delete (point_cloud.h:900)
==14961==    by 0x52FEE9A: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZL>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115C03: std::__shared_ptr<pcl::PointCloud<pcl::PointXYZL>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115C23: std::shared_ptr<pcl::PointCloud<pcl::PointXYZL> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x113C9A: main (supervoxel_clustering.cpp:142)
==14961==  Address 0x16eafdb8 is 8 bytes before a block of size 128 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x5395DD1: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x5395DD1: operator new (point_cloud.h:900)
==14961==    by 0x5395DD1: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getLabeledVoxelCloud() const (supervoxel_clustering.hpp:559)
==14961==    by 0x1137F8: main (supervoxel_clustering.cpp:102)
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484B27F: free (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115C03: std::__shared_ptr<pcl::PointCloud<pcl::PointXYZL>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115C23: std::shared_ptr<pcl::PointCloud<pcl::PointXYZL> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x113C9A: main (supervoxel_clustering.cpp:142)
==14961==  Address 0x7f7b00007f78 is not stack'd, malloc'd or (recently) free'd
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484BB6F: operator delete(void*, unsigned long) (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x12B572: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115AB7: std::__shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115AD7: std::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x113CA9: main (supervoxel_clustering.cpp:142)
==14961==  Address 0x16d3ff40 is 16 bytes inside a block of size 160 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x539326D: handmade_aligned_malloc (Memory.h:105)
==14961==    by 0x539326D: aligned_malloc (Memory.h:188)
==14961==    by 0x539326D: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x539326D: operator new (point_cloud.h:900)
==14961==    by 0x539326D: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::getVoxelCentroidCloud() const (supervoxel_clustering.hpp:550)
==14961==    by 0x113632: main (supervoxel_clustering.cpp:97)
==14961== 
==14961== Invalid read of size 8
==14961==    at 0x52FED87: handmade_aligned_free (Memory.h:118)
==14961==    by 0x52FED87: aligned_free (Memory.h:206)
==14961==    by 0x52FED87: deallocate (Memory.h:921)
==14961==    by 0x52FED87: deallocate (alloc_traits.h:345)
==14961==    by 0x52FED87: _M_deallocate (stl_vector.h:354)
==14961==    by 0x52FED87: ~_Vector_base (stl_vector.h:335)
==14961==    by 0x52FED87: ~vector (stl_vector.h:683)
==14961==    by 0x52FED87: ~PointCloud (point_cloud.h:172)
==14961==    by 0x52FED87: std::_Sp_counted_ptr<pcl::PointCloud<pcl::Normal>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x538340B: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x538340B: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x538340B: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x538340B: ~Supervoxel (supervoxel_clustering.h:67)
==14961==    by 0x538340B: std::_Sp_counted_ptr<pcl::Supervoxel<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115D8F: std::__shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115DD9: std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x122C7B: std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >::~pair() (stl_pair.h:211)
==14961==    by 0x122C9F: void __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::destroy<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >(std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >*) (new_allocator.h:168)
==14961==    by 0x121622: void std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > > >::destroy<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >(std::allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >*) (alloc_traits.h:535)
==14961==    by 0x11F7AE: std::_Rb_tree<unsigned int, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >, std::_Select1st<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::_M_destroy_node(std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >*) (stl_tree.h:623)
==14961==    by 0x11CDAC: std::_Rb_tree<unsigned int, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >, std::_Select1st<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::_M_drop_node(std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >*) (stl_tree.h:631)
==14961==  Address 0x17bb80b8 is 8 bytes before a block of size 32 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x5311E86: allocate (Memory.h:916)
==14961==    by 0x5311E86: allocate (alloc_traits.h:318)
==14961==    by 0x5311E86: _M_allocate (stl_vector.h:346)
==14961==    by 0x5311E86: std::vector<pcl::Normal, Eigen::aligned_allocator<pcl::Normal> >::_M_default_append(unsigned long) (vector.tcc:635)
==14961==    by 0x5390B36: resize (stl_vector.h:940)
==14961==    by 0x5390B36: resize (point_cloud.h:464)
==14961==    by 0x5390B36: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::SupervoxelHelper::getNormals(std::shared_ptr<pcl::PointCloud<pcl::Normal> >&) const (supervoxel_clustering.hpp:907)
==14961==    by 0x539D5B6: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::makeSupervoxels(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:334)
==14961==    by 0x539D8BB: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:129)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484B27F: free (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x52FED8F: handmade_aligned_free (Memory.h:118)
==14961==    by 0x52FED8F: aligned_free (Memory.h:206)
==14961==    by 0x52FED8F: deallocate (Memory.h:921)
==14961==    by 0x52FED8F: deallocate (alloc_traits.h:345)
==14961==    by 0x52FED8F: _M_deallocate (stl_vector.h:354)
==14961==    by 0x52FED8F: ~_Vector_base (stl_vector.h:335)
==14961==    by 0x52FED8F: ~vector (stl_vector.h:683)
==14961==    by 0x52FED8F: ~PointCloud (point_cloud.h:172)
==14961==    by 0x52FED8F: std::_Sp_counted_ptr<pcl::PointCloud<pcl::Normal>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x538340B: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x538340B: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x538340B: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x538340B: ~Supervoxel (supervoxel_clustering.h:67)
==14961==    by 0x538340B: std::_Sp_counted_ptr<pcl::Supervoxel<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115D8F: std::__shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115DD9: std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x122C7B: std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >::~pair() (stl_pair.h:211)
==14961==    by 0x122C9F: void __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::destroy<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >(std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >*) (new_allocator.h:168)
==14961==    by 0x121622: void std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > > >::destroy<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >(std::allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >*) (alloc_traits.h:535)
==14961==    by 0x11F7AE: std::_Rb_tree<unsigned int, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >, std::_Select1st<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::_M_destroy_node(std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >*) (stl_tree.h:623)
==14961==  Address 0xbfea9fbe is not stack'd, malloc'd or (recently) free'd
==14961== 
==14961== Invalid free() / delete / delete[] / realloc()
==14961==    at 0x484BB6F: operator delete(void*, unsigned long) (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x12B572: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x5383419: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x5383419: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x5383419: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x5383419: ~Supervoxel (supervoxel_clustering.h:67)
==14961==    by 0x5383419: std::_Sp_counted_ptr<pcl::Supervoxel<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x116508: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (shared_ptr_base.h:705)
==14961==    by 0x115D8F: std::__shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (shared_ptr_base.h:1154)
==14961==    by 0x115DD9: std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >::~shared_ptr() (shared_ptr.h:122)
==14961==    by 0x122C7B: std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >::~pair() (stl_pair.h:211)
==14961==    by 0x122C9F: void __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::destroy<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >(std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >*) (new_allocator.h:168)
==14961==    by 0x121622: void std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > > >::destroy<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >(std::allocator<std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >*) (alloc_traits.h:535)
==14961==    by 0x11F7AE: std::_Rb_tree<unsigned int, std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > >, std::_Select1st<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >::_M_destroy_node(std::_Rb_tree_node<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > >*) (stl_tree.h:623)
==14961==  Address 0x16c42f60 is 16 bytes inside a block of size 160 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x539306D: handmade_aligned_malloc (Memory.h:105)
==14961==    by 0x539306D: aligned_malloc (Memory.h:188)
==14961==    by 0x539306D: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x539306D: operator new (point_cloud.h:900)
==14961==    by 0x539306D: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::SupervoxelHelper::getVoxels(std::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >&) const (supervoxel_clustering.hpp:890)
==14961==    by 0x539D53E: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::makeSupervoxels(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:333)
==14961==    by 0x539D8BB: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:129)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961== 
==14961== Invalid read of size 8
==14961==    at 0x537BFEE: handmade_aligned_free (Memory.h:118)
==14961==    by 0x537BFEE: aligned_free (Memory.h:206)
==14961==    by 0x537BFEE: conditional_aligned_free<true> (Memory.h:259)
==14961==    by 0x537BFEE: operator delete (octree_nodes.h:171)
==14961==    by 0x537BFEE: pcl::octree::OctreeLeafNode<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData> >::~OctreeLeafNode() (octree_nodes.h:94)
==14961==    by 0x53770D6: deleteBranchChild (octree_base.h:611)
==14961==    by 0x53770D6: deleteBranch (octree_base.h:631)
==14961==    by 0x53770D6: deleteBranchChild (octree_base.h:604)
==14961==    by 0x53770D6: deleteBranch (octree_base.h:631)
==14961==    by 0x53770D6: pcl::octree::OctreeBase<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x53771BD: deleteBranch (octree_base.h:631)
==14961==    by 0x53771BD: deleteBranchChild (octree_base.h:604)
==14961==    by 0x53771BD: deleteBranch (octree_base.h:631)
==14961==    by 0x53771BD: deleteBranchChild (octree_base.h:604)
==14961==    by 0x53771BD: deleteBranch (octree_base.h:631)
==14961==    by 0x53771BD: deleteBranchChild (octree_base.h:604)
==14961==    by 0x53771BD: deleteBranch (octree_base.h:631)
==14961==    by 0x53771BD: deleteBranchChild (octree_base.h:604)
==14961==    by 0x53771BD: deleteBranch (octree_base.h:631)
==14961==    by 0x53771BD: pcl::octree::OctreeBase<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::deleteBranchChild(pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>&, unsigned char) [clone .isra.0] (octree_base.h:604)
==14961==    by 0x537D603: deleteBranch (octree_base.h:631)
==14961==    by 0x537D603: deleteBranchChild (octree_base.h:604)
==14961==    by 0x537D603: deleteBranch (octree_base.h:631)
==14961==    by 0x537D603: deleteTree (octree_base.hpp:166)
==14961==    by 0x537D603: pcl::octree::OctreeBase<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::~OctreeBase() (octree_base.hpp:62)
==14961==    by 0x5383790: ~OctreePointCloud (octree_pointcloud.h:72)
==14961==    by 0x5383790: ~OctreePointCloudAdjacency (octree_pointcloud_adjacency.h:78)
==14961==    by 0x5383790: pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGBA, pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::~OctreePointCloudAdjacency() (octree_pointcloud_adjacency.h:78)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x5383E5E: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x5383E5E: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x5383E5E: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x5383E5E: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::~SupervoxelClustering() (supervoxel_clustering.hpp:63)
==14961==    by 0x113CD6: main (supervoxel_clustering.cpp:142)
==14961==  Address 0x13fec818 is 8 bytes before a block of size 144 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x538C801: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x538C801: operator new (octree_nodes.h:171)
==14961==    by 0x538C801: createLeafChild (octree_base.h:656)
==14961==    by 0x538C801: pcl::octree::OctreeBase<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::createLeafRecursive(pcl::octree::OctreeKey const&, unsigned int, pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>*, pcl::octree::OctreeLeafNode<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData> >*&, pcl::octree::OctreeBranchNode<pcl::octree::OctreeContainerEmpty>*&) (octree_base.hpp:315)
==14961==    by 0x538C979: createLeaf (octree_base.h:486)
==14961==    by 0x538C979: pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGBA, pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::addPointIdx(unsigned int) (octree_pointcloud_adjacency.hpp:163)
==14961==    by 0x53875F4: pcl::octree::OctreePointCloud<pcl::PointXYZRGBA, pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty> >::addPointsFromInputCloud() (octree_pointcloud.hpp:95)
==14961==    by 0x53A21E3: pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGBA, pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>, pcl::octree::OctreeContainerEmpty>::addPointsFromInputCloud() (octree_pointcloud_adjacency.hpp:98)
==14961==    by 0x53A2510: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::prepareForSegmentation() (supervoxel_clustering.hpp:192)
==14961==    by 0x539D835: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:107)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961== 
==14961== Mismatched free() / delete / delete []
==14961==    at 0x484BB6F: operator delete(void*, unsigned long) (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x12B572: std::_Sp_counted_ptr<pcl::PointCloud<pcl::PointXYZRGBA>*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x4EC2964: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x4EC2964: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x4EC2964: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x4EC2964: ~Search (search.h:92)
==14961==    by 0x4EC2964: ~KdTree (kdtree.h:93)
==14961==    by 0x4EC2964: ~KdTree (kdtree.h:93)
==14961==    by 0x4EC2964: std::_Sp_counted_ptr<pcl::search::KdTree<pcl::PointXYZRGBA, pcl::KdTreeFLANN<pcl::PointXYZRGBA, flann::L2_Simple<float> > >*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (shared_ptr_base.h:348)
==14961==    by 0x118690: std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (shared_ptr_base.h:168)
==14961==    by 0x5383E6C: ~__shared_count (shared_ptr_base.h:705)
==14961==    by 0x5383E6C: ~__shared_ptr (shared_ptr_base.h:1154)
==14961==    by 0x5383E6C: ~shared_ptr (shared_ptr.h:122)
==14961==    by 0x5383E6C: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::~SupervoxelClustering() (supervoxel_clustering.hpp:63)
==14961==    by 0x113CD6: main (supervoxel_clustering.cpp:142)
==14961==  Address 0x1678d960 is 0 bytes inside a block of size 128 alloc'd
==14961==    at 0x4848899: malloc (in /usr/libexec/valgrind/vgpreload_memcheck-amd64-linux.so)
==14961==    by 0x114B19: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:182)
==14961==    by 0x5393874: conditional_aligned_malloc<true> (Memory.h:241)
==14961==    by 0x5393874: operator new (point_cloud.h:900)
==14961==    by 0x5393874: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::computeVoxelData() (supervoxel_clustering.hpp:208)
==14961==    by 0x53A2518: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::prepareForSegmentation() (supervoxel_clustering.hpp:198)
==14961==    by 0x539D835: pcl::SupervoxelClustering<pcl::PointXYZRGBA>::extract(std::map<unsigned int, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> >, std::less<unsigned int>, std::allocator<std::pair<unsigned int const, std::shared_ptr<pcl::Supervoxel<pcl::PointXYZRGBA> > > > >&) (supervoxel_clustering.hpp:107)
==14961==    by 0x1134FB: main (supervoxel_clustering.cpp:90)
==14961== 
==14961== 
==14961== HEAP SUMMARY:
==14961==     in use at exit: 62,001,076 bytes in 489,583 blocks
==14961==   total heap usage: 1,799,932 allocs, 1,312,079 frees, 305,447,681 bytes allocated
==14961== 
==14961== LEAK SUMMARY:
==14961==    definitely lost: 8,245,416 bytes in 37,160 blocks
==14961==    indirectly lost: 51,402,922 bytes in 447,132 blocks
==14961==      possibly lost: 2,095,277 bytes in 2,039 blocks
==14961==    still reachable: 257,461 bytes in 3,252 blocks
==14961==         suppressed: 0 bytes in 0 blocks
==14961== Rerun with --leak-check=full to see details of leaked memory
==14961== 
==14961== Use --track-origins=yes to see where uninitialised values come from
==14961== For lists of detected and suppressed errors, rerun with: -s
==14961== ERROR SUMMARY: 43704 errors from 22 contexts (suppressed: 0 from 0)

Some observations: The 3D Viewer starts showing the point cloud, however this is only displayed using valgrind..

mvieth commented 2 years ago

Looks like this is caused (at least partially) by alignment issues. I assume you compiled PCL from source? Did you use any non-default options while doing that? Especially SIMD (SSE/AVX) or architecture specific options? Same for the compilation of supervoxel_clustering.cpp: do you modify the CMakeLists.txt in any way or supply additional options?

EngDanielAraujo commented 2 years ago

Correct, I had to compile from source because of the issue with the ubuntu 22.04 package reported in #5237.

Here are the files I'm using for testing: supervoxel_clustering.ccp

#include <pcl/console/parse.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/segmentation/supervoxel_clustering.h>
#include <pcl/pcl_config.h>

//VTK include needed for drawing graph lines 
#include <vtkPolyLine.h>

// Types
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
typedef pcl::PointNormal PointNT;
typedef pcl::PointCloud<PointNT> PointNCloudT;
typedef pcl::PointXYZL PointLT;
typedef pcl::PointCloud<PointLT> PointLCloudT;

void addSupervoxelConnectionsToViewer (PointT &supervoxel_center,
                                       PointCloudT &adjacent_supervoxel_centers,
                                       std::string supervoxel_name,
                                       pcl::visualization::PCLVisualizer::Ptr & viewer);

int
main (int argc, char ** argv)
{
  std::cout << "PCL_VERSION: " << PCL_VERSION << std::endl;

  if (argc < 2)
  {
    pcl::console::print_error ("Syntax is: %s <pcd-file> \n "
                                "--NT Dsables the single cloud transform \n"
                                "-v <voxel resolution>\n-s <seed resolution>\n"
                                "-c <color weight> \n-z <spatial weight> \n"
                                "-n <normal_weight>\n", argv[0]);
    return (1);
  }

  PointCloudT::Ptr cloud (new PointCloudT);
  pcl::console::print_highlight ("Loading point cloud...\n");
  if (pcl::io::loadPCDFile<PointT> (argv[1], *cloud))
  {
    pcl::console::print_error ("Error loading cloud file!\n");
    return (1);
  }

  bool disable_transform = pcl::console::find_switch (argc, argv, "--NT");

  float voxel_resolution = 0.008f;
  bool voxel_res_specified = pcl::console::find_switch (argc, argv, "-v");
  if (voxel_res_specified)
    pcl::console::parse (argc, argv, "-v", voxel_resolution);

  float seed_resolution = 0.1f;
  bool seed_res_specified = pcl::console::find_switch (argc, argv, "-s");
  if (seed_res_specified)
    pcl::console::parse (argc, argv, "-s", seed_resolution);

  float color_importance = 0.2f;
  if (pcl::console::find_switch (argc, argv, "-c"))
    pcl::console::parse (argc, argv, "-c", color_importance);

  float spatial_importance = 0.4f;
  if (pcl::console::find_switch (argc, argv, "-z"))
    pcl::console::parse (argc, argv, "-z", spatial_importance);

  float normal_importance = 1.0f;
  if (pcl::console::find_switch (argc, argv, "-n"))
    pcl::console::parse (argc, argv, "-n", normal_importance);

  //////////////////////////////  //////////////////////////////
  ////// This is how to use supervoxels
  //////////////////////////////  //////////////////////////////

  pcl::SupervoxelClustering<PointT> super (voxel_resolution, seed_resolution);
  if (disable_transform)
    super.setUseSingleCameraTransform (false);
  super.setInputCloud (cloud);
  super.setColorImportance (color_importance);
  super.setSpatialImportance (spatial_importance);
  super.setNormalImportance (normal_importance);

  std::map <std::uint32_t, pcl::Supervoxel<PointT>::Ptr > supervoxel_clusters;

  pcl::console::print_highlight ("Extracting supervoxels!\n");
  super.extract (supervoxel_clusters);
  pcl::console::print_highlight ("Teste\n");
  pcl::console::print_info ("Found %d supervoxels\n", supervoxel_clusters.size());

  pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);

  PointCloudT::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud ();
  viewer->addPointCloud (voxel_centroid_cloud, "voxel centroids");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,2.0, "voxel centroids");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY,0.95, "voxel centroids");

  PointLCloudT::Ptr labeled_voxel_cloud = super.getLabeledVoxelCloud ();
  viewer->addPointCloud (labeled_voxel_cloud, "labeled voxels");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY,0.8, "labeled voxels");

  PointNCloudT::Ptr sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);
  //We have this disabled so graph is easy to see, uncomment to see supervoxel normals
  //viewer->addPointCloudNormals<PointNormal> (sv_normal_cloud,1,0.05f, "supervoxel_normals");

  pcl::console::print_highlight ("Getting supervoxel adjacency\n");
  std::multimap<std::uint32_t, std::uint32_t> supervoxel_adjacency;
  super.getSupervoxelAdjacency (supervoxel_adjacency);
  //To make a graph of the supervoxel adjacency, we need to iterate through the supervoxel adjacency multimap
  for (auto label_itr = supervoxel_adjacency.cbegin (); label_itr != supervoxel_adjacency.cend (); )
  {
    //First get the label
    std::uint32_t supervoxel_label = label_itr->first;
    //Now get the supervoxel corresponding to the label
    pcl::Supervoxel<PointT>::Ptr supervoxel = supervoxel_clusters.at (supervoxel_label);

    //Now we need to iterate through the adjacent supervoxels and make a point cloud of them
    PointCloudT adjacent_supervoxel_centers;
    for (auto adjacent_itr = supervoxel_adjacency.equal_range (supervoxel_label).first; adjacent_itr!=supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)
    {
      pcl::Supervoxel<PointT>::Ptr neighbor_supervoxel = supervoxel_clusters.at (adjacent_itr->second);
      adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);
    }
    //Now we make a name for this polygon
    std::stringstream ss;
    ss << "supervoxel_" << supervoxel_label;
    //This function is shown below, but is beyond the scope of this tutorial - basically it just generates a "star" polygon mesh from the points given
    addSupervoxelConnectionsToViewer (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);
    //Move iterator forward to next label
    label_itr = supervoxel_adjacency.upper_bound (supervoxel_label);
  }

  while (!viewer->wasStopped ())
  {
    viewer->spinOnce (100);
  }
  return (0);
}

void
addSupervoxelConnectionsToViewer (PointT &supervoxel_center,
                                  PointCloudT &adjacent_supervoxel_centers,
                                  std::string supervoxel_name,
                                  pcl::visualization::PCLVisualizer::Ptr & viewer)
{
  vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
  vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New ();
  vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();

  //Iterate through all adjacent points, and add a center point to adjacent point pair
  for (auto adjacent_itr = adjacent_supervoxel_centers.begin (); adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr)
  {
    points->InsertNextPoint (supervoxel_center.data);
    points->InsertNextPoint (adjacent_itr->data);
  }
  // Create a polydata to store everything in
  vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
  // Add the points to the dataset
  polyData->SetPoints (points);
  polyLine->GetPointIds  ()->SetNumberOfIds(points->GetNumberOfPoints ());
  for(unsigned int i = 0; i < points->GetNumberOfPoints (); i++)
    polyLine->GetPointIds ()->SetId (i,i);
  cells->InsertNextCell (polyLine);
  // Add the lines to the dataset
  polyData->SetLines (cells);
  viewer->addModelFromPolyData (polyData,supervoxel_name);
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.5...3.13)

project(supervoxel_clustering)

find_package(PCL 1.8 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (supervoxel_clustering supervoxel_clustering.cpp)
target_link_libraries (supervoxel_clustering ${PCL_LIBRARIES})

The configuration for compilation was as follows:

 BUILD_2d                         ON
 BUILD_CUDA                       OFF
 BUILD_GPU                        OFF
 BUILD_apps                       OFF
 BUILD_benchmarks                 OFF
 BUILD_common                     ON
 BUILD_examples                   OFF
 BUILD_features                   ON
 BUILD_filters                    ON
 BUILD_geometry                   ON
 BUILD_global_tests               OFF
 BUILD_io                         ON
 BUILD_kdtree                     ON
 BUILD_keypoints                  ON
 BUILD_ml                         ON
 BUILD_octree                     ON
 BUILD_outofcore                  ON
 BUILD_people                     ON
 BUILD_recognition                ON
 BUILD_registration               ON
 BUILD_sample_consensus           ON
 BUILD_search                     ON
 BUILD_segmentation               ON
 BUILD_simulation                 OFF
 BUILD_stereo                     ON
 BUILD_surface                    ON
 BUILD_surface_on_nurbs           OFF
 BUILD_tools                      ON
 BUILD_tracking                   ON
 BUILD_visualization              ON
 Boost_DATE_TIME_LIBRARY_RELEAS   /usr/lib/x86_64-linux-gnu/libboost_date_time.so.1.74.0
 Boost_DIR                        /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0
 Boost_FILESYSTEM_LIBRARY_RELEA   /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.74.0
 Boost_INCLUDE_DIR                /usr/include
 Boost_IOSTREAMS_LIBRARY_RELEAS   /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.74.0
 Boost_MPI_LIBRARY_RELEASE        /usr/lib/x86_64-linux-gnu/libboost_mpi.so.1.74.0
 Boost_SERIALIZATION_LIBRARY_RE   /usr/lib/x86_64-linux-gnu/libboost_serialization.so.1.74.0
 Boost_SYSTEM_LIBRARY_RELEASE     /usr/lib/x86_64-linux-gnu/libboost_system.so.1.74.0
 CMAKE_ADDR2LINE                  /usr/bin/addr2line
 CMAKE_AR                         /usr/bin/ar
 CMAKE_BUILD_TYPE                 RelWithDebInfo
 CMAKE_COLOR_MAKEFILE             ON
 CMAKE_CONFIGURATION_TYPES        Debug;Release
 CMAKE_CUDA_COMPILER              /usr/local/cuda/bin/nvcc
 CMAKE_CUDA_FLAGS 
 CMAKE_CUDA_FLAGS_DEBUG           -g
 CMAKE_CUDA_FLAGS_MINSIZEREL      -O1 -DNDEBUG
 CMAKE_CUDA_FLAGS_RELEASE         -O3 -DNDEBUG
 CMAKE_CUDA_FLAGS_RELWITHDEBINF   -O2 -g -DNDEBUG
 CMAKE_CUDA_STANDARD              14
 CMAKE_CXX_COMPILER               /usr/bin/c++
 CMAKE_CXX_COMPILER_AR            /usr/bin/gcc-ar-11
 CMAKE_CXX_COMPILER_RANLIB        /usr/bin/gcc-ranlib-11
 CMAKE_CXX_FLAGS
 CMAKE_CXX_FLAGS_DEBUG            -g
 CMAKE_CXX_FLAGS_MINSIZEREL       -Os -DNDEBUG
 CMAKE_CXX_FLAGS_RELEASE          -O3 -DNDEBUG
 CMAKE_CXX_FLAGS_RELWITHDEBINFO   -O2 -g -DNDEBUG
 CMAKE_CXX_STANDARD               14
 CMAKE_C_COMPILER                 /usr/bin/cc
 CMAKE_C_COMPILER_AR              /usr/bin/gcc-ar-11
 CMAKE_C_COMPILER_RANLIB          /usr/bin/gcc-ranlib-11
 CMAKE_C_FLAGS                    -I/usr/local/cuda/include -I/usr/local/cuda/include -I/usr/local/cuda/include -I/usr/local/cuda/include
 CMAKE_C_FLAGS_DEBUG              -g
 CMAKE_C_FLAGS_MINSIZEREL         -Os -DNDEBUG
 CMAKE_C_FLAGS_RELEASE            -O3 -DNDEBUG
 CMAKE_C_FLAGS_RELWITHDEBINFO     -O2 -g -DNDEBUG
 CMAKE_DLLTOOL                    CMAKE_DLLTOOL-NOTFOUND
 CMAKE_EXE_LINKER_FLAGS
 CMAKE_EXE_LINKER_FLAGS_DEBUG     
 CMAKE_EXE_LINKER_FLAGS_MINSIZE   
 CMAKE_EXE_LINKER_FLAGS_RELEASE   
 CMAKE_EXE_LINKER_FLAGS_RELWITH   
 CMAKE_EXPORT_COMPILE_COMMANDS    OFF
 CMAKE_INSTALL_PREFIX             /usr/local
 CMAKE_LINKER                     /usr/bin/ld
 CMAKE_MAKE_PROGRAM               /usr/bin/gmake
 CMAKE_MODULE_LINKER_FLAGS
 CMAKE_MODULE_LINKER_FLAGS_DEBU   
 CMAKE_MODULE_LINKER_FLAGS_MINS   
 CMAKE_MODULE_LINKER_FLAGS_RELE   
 CMAKE_MODULE_LINKER_FLAGS_RELW   
 CMAKE_MSVC_CODE_LINK_OPTIMIZAT   ON
 CMAKE_NM                         /usr/bin/nm
 CMAKE_OBJCOPY                    /usr/bin/objcopy  
 CMAKE_OBJDUMP                    /usr/bin/objdump
 CMAKE_RANLIB                     /usr/bin/ranlib
 CMAKE_READELF                    /usr/bin/readelf
 CMAKE_SHARED_LINKER_FLAGS                     
 CMAKE_SHARED_LINKER_FLAGS_DEBU   
 CMAKE_SHARED_LINKER_FLAGS_MINS
 CMAKE_SHARED_LINKER_FLAGS_RELE     
 CMAKE_SHARED_LINKER_FLAGS_RELW               
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mvieth commented 2 years ago

Ok, now I was partially able to reproduce the problem, and I may have found a solution. When you compile supervoxel_clustering.cpp, you use gcc 11 and don't explicitly specify the used C++ standard, correct? The thing is, gcc 11 and gcc 12 default to C++17 if the standard is not specified, all earlier gcc versions default to C++14. PCL is always built with C++14. When the standards differ between PCL and the downstream project, the "double free or corruption" error happens in the shared pointer (not totally sure why yet). Can you try setting the C++ standard to 14 when compiling supervoxel_clustering.cpp, e.g. with the compiler flag -std=c++14 or the cmake option -DCMAKE_CXX_STANDARD=14?

EngDanielAraujo commented 2 years ago

Ok, now I was partially able to reproduce the problem, and I may have found a solution. When you compile supervoxel_clustering.cpp, you use gcc 11 and don't explicitly specify the used C++ standard, correct? The thing is, gcc 11 and gcc 12 default to C++17 if the standard is not specified, all earlier gcc versions default to C++14. PCL is always built with C++14. When the standards differ between PCL and the downstream project, the "double free or corruption" error happens in the shared pointer (not totally sure why yet). Can you try setting the C++ standard to 14 when compiling supervoxel_clustering.cpp, e.g. with the compiler flag -std=c++14 or the cmake option -DCMAKE_CXX_STANDARD=14?

Perfect, thank you very much, this worked for me!

Here's the CmakeLists.txt for anyone interested:

cmake_minimum_required(VERSION 3.5...3.13)

project(supervoxel_clustering)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

find_package(PCL 1.8 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (supervoxel_clustering supervoxel_clustering.cpp)
target_link_libraries (supervoxel_clustering ${PCL_LIBRARIES})
mvieth commented 2 years ago

That's great to hear. I wonder if we should somehow force the C++ standard of downstream project to be the one used when PCL was compiled, or at least make that the default standard of downstream projects

themightyoarfish commented 1 year ago

Or somehow raise a warning or an error, if this can lead to hard-to-debug memory problems.

mvieth commented 1 year ago

@themightyoarfish Do you have an idea how to do that? I can't think of a way off the top of my head.

themightyoarfish commented 1 year ago

Couldn't one save the cxx standard using during the PCL build in the installed cmake module? and that module code can check the project being built and compare it's language version to the one pcl was installed with.

themightyoarfish commented 1 year ago

I've never understood the link-time compatibility of different c++ versions, the GCC doc has this to say

Versioning gives subsequent releases of library binaries the ability to add new symbols and add functionality, all the while retaining compatibility with the previous releases in the series. Thus, program binaries linked with the initial release of a library binary will still run correctly if the library binary is replaced by carefully-managed subsequent library binaries. This is called forward compatibility.

The reverse (backwards compatibility) is not true. It is not possible to take program binaries linked with the latest version of a library binary in a release series (with additional symbols added), substitute in the initial release of the library binary, and remain link compatible.

I'm wondering if ABI incompatible binaries shouldn't produce an errors when linked. But the text doesn't seem to state whether two different language versions are ABI compatible, just that first linking to pcl-c++14 and then relinking to pcl-c++17 for instance would work.

mvieth commented 1 year ago

Couldn't one save the cxx standard using during the PCL build in the installed cmake module? and that module code can check the project being built and compare it's language version to the one pcl was installed with.

Problem is just that it may not be easy to find out in PCLConfig.cmake, which C++ version the downstream project uses, especially if no explicit version is set and the compiler default is used. It may be easier to test this in a PCL header file like pcl_config.h.

I'm wondering if ABI incompatible binaries shouldn't produce an errors when linked

They do produce a link error when a symbol is not found, e.g. because a function/class is removed, or a function changed parameters. This seems to be about alignment (at least partially), which is apparently not checked during linking.

On a related note: currently, the compiler is forced to use C++14 when compiling PCL. Most compilers also default to C++14, but some newer ones default to C++17 (gcc-11, gcc-12, and the newest clang as well, I think). PCL is fully compatible with C++17, so perhaps it makes sense to let the compiler decide which C++ standard to use when compiling PCL (as long as it is at least C++14), unless the user specified one.