Process finished with exit code 139 (interrupted by signal 11: SIGSEGV) when g2o_types_sba linked

[elegracer]

My Development Environment is: OS: Arch Linux x86_64 cmake: 3.9.3 gcc: 7.2.0 eigen: 3.3.4 suitesparse 4.5.4 opencv: 3.3.0

After I compiled g2o, I tried it with a simple curve fitting program:

#include <iostream>
#include <g2o/core/base_vertex.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/dense/linear_solver_dense.h>
#include <Eigen/Core>
#include <opencv2/core/core.hpp>
#include <cmath>
#include <chrono>
using namespace std;

class CurveFittingVertex : public g2o::BaseVertex<3, Eigen::Vector3d>{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    virtual void setToOriginImpl(){
        _estimate << 0,0,0;
    }
    virtual void oplusImpl(double const * update){
        _estimate += Eigen::Vector3d(update);
    }
    virtual bool read(istream& in){}
    virtual bool write(ostream& out) const {}
};

class CurveFittingEdge : public g2o::BaseUnaryEdge<1,double,CurveFittingVertex>{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    CurveFittingEdge(double x) : BaseUnaryEdge(), _x(x) {}
    void computeError(){
        const CurveFittingVertex* v = static_cast<const CurveFittingVertex*>(_vertices[0]);
        const Eigen::Vector3d abc = v->estimate();
        _error[0] = _measurement - std::exp(abc(0,0)*_x*_x+abc(1,0)*_x+abc(2,0));
    }
    virtual bool read(istream& in) {}
    virtual bool write(ostream& out) const {}
private:
    double _x;
};

int main(){
    double a = 1.0, b = 2.0, c = 1.0;
    int N = 100;
    double w_sigma = 1.0;
    cv::RNG rng;
    double abc[3] = {0,0,0};
    vector<double> x_data, y_data;

    cout << "generating date ..." << endl;
    for (int i = 0; i < N; ++i){
        double x = i/(double)N;
        x_data.push_back(x);
        y_data.push_back(std::exp(a*x*x+b*x+c) + rng.gaussian(w_sigma));
        cout << x_data[i] << " " << y_data[i] << endl;
    }

    typedef g2o::BlockSolver<g2o::BlockSolverTraits<3,1>> Block;
    typedef g2o::LinearSolverDense<Block::PoseMatrixType> LinearSolver;
    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(
            g2o::make_unique<Block>(g2o::make_unique<LinearSolver>())
    );

    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm(solver);
    optimizer.setVerbose(true);

    CurveFittingVertex* v = new CurveFittingVertex();
    v->setEstimate(Eigen::Vector3d(0,0,0));
    v->setId(0);
    optimizer.addVertex(v);

    for (int i = 0; i < N; ++i){
        CurveFittingEdge* edge = new CurveFittingEdge(x_data[i]);
        edge->setId(i);
        edge->setVertex(0, v);
        edge->setMeasurement(y_data[i]);
        edge->setInformation(Eigen::Matrix<double,1,1>::Identity()/(w_sigma*w_sigma));
        optimizer.addEdge(edge);
    }

    cout << "start optimization" << endl;
    chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
    optimizer.initializeOptimization();
    optimizer.optimize(100);
    chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
    chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2-t1);
    cout << "solve time cost = " << time_used.count() << " seconds. " << endl;

    Eigen::Vector3d abc_estimate = v->estimate();
    cout << "estimate model: " << abc_estimate.transpose() << endl;

    return 0;
}

and the following is the CMakeLists.txt:

cmake_minimum_required(VERSION 3.8)
project(g2o_curve_fitting)

set(CMAKE_CXX_STANDARD 11)

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake-build-debug)

find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(G2O REQUIRED)

include_directories(${G2O_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})

set(SOURCE_FILES main.cpp)
add_executable(g2o_curve_fitting ${SOURCE_FILES})

target_link_libraries(g2o_curve_fitting ${OpenCV_LIBS} g2o_core g2o_stuff g2o_types_sba)

there is a FindG2O.cmake in the cmake-build-debug subdirectory, with the same content as the one in this repository.

Compiling this is OK, but when I run the binary, even before the first line of main function, it failed:

Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)

But if I remove the last linked library g2o_types_sba, the program can run normally.

Note: the last linked library g2o_types_sba is not used anywhere in this .cpp file, but I deliberately added it, because I had tried to use sparse bundle adjustment in another program but had failed, so I tried to test it in this program. It seems that this .so file is broken? But it's pretty strange that the examples compiled during compiling g2o can run without any incident.

Please help me ~ I don't know how to deal with it now .....

[jvhoven]

Hi,

We're currently trying to implement Bundle Adjustment for our school project and we ran into similar problems. In order to bypass these problems we started using an older version of g2o to link against (this one to be specific).

I'm not sure what the actual problem is but there have been updates concerning memory usage and I'm guessing that has to do with the problem. As you have mentioned in your comment the example within g2o seemed to be running just fine, but when running the exact same code linked to g2o it gives a segmentation fault.

[DellBrother]

Same case for me. Sometime just linking (no invoking) the g2o_types_sba.so will cause the problem. sometimes instance creation such as g2o::VertexSE3Expmap * pose = new g2o::VertexSE3Expmap() will cause the problem.

sb. says that Eigen 3.2.10 can fix this issue. I tried but not working. sb. says it is caused by environment setup. I am not sure.

be waiting for answer. thanks.

[YangSiri]

Hi, @DellBrother You statement seems to be my problem too, I'm wondering if you have any solution? That would be great!

Looking forward to you reply. THANKS