Segmentation Fault g2o::VertexSE3::VertexSE3() from /usr/local/lib/libg2o_types_slam3d.so

[manhha1402]

Hi, I install g2o branch 20170730_git and test an example with g2o but the program couldn't run. I use gdb to debug and error from file "g2o::VertexSE3::VertexSE3() from /usr/local/lib/libg2o_types_slam3d.so" I am using ubuntu 16.04 eigen 3.4 How can I solve this problem ? Thanks !

[sjulier]

Which example did you try? Which operating system?

[manhha1402]

Hi @sjulier, I use Ubuntu 16.04 eigen 3.4. Here is example that I tried https://github.com/yezhenzhao/RGBD_SLAM/blob/master/g2o_test.cpp I debug with gdb and got : Program received signal SIGSEGV, Segmentation fault. 0x00007ffff7715184 in g2o::VertexSE3::VertexSE3() () from /usr/local/lib/libg2o_types_slam3d.so

[sjulier]

Thanks. I currently don't have my computer available, but could you build in debug and get a full stack trace?

[apozharski]

I currently have the same problem (a segfault in the VertexSE3 constructor) though not in an example but in a slam algorithm using g2o. The full trace from valgrind is is:

==12909== Process terminating with default action of signal 11 (SIGSEGV) ==12909== General Protection Fault ==12909== at 0x7469E0A: g2o::VertexSE3::VertexSE3() (in /usr/local/lib/libg2o_types_slam3d.so) ==12909== by 0x4F1F3BE: dvo_slam::internal::LocalMapImpl::addFrameVertex(ros::Time const&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4F1FFB0: dvo_slam::internal::LocalMapImpl::LocalMapImpl(boost::shared_ptr const&, Eigen::Transform<double, 3, 2, 0> const&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4F1EF8B: dvo_slam::LocalMap::LocalMap(boost::shared_ptr const&, Eigen::Transform<double, 3, 2, 0> const&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4F1EFDD: dvo_slam::LocalMap::create(boost::shared_ptr const&, Eigen::Transform<double, 3, 2, 0> const&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4F210AF: dvo_slam::LocalTracker::initNewLocalMap(boost::shared_ptr const&, boost::shared_ptr const&, dvo::DenseTracker::Result&, Eigen::Transform<double, 3, 2, 0> const&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4F2250C: dvo_slam::LocalTracker::update(boost::shared_ptr const&, Eigen::Transform<double, 3, 2, 0>&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4EBE8A7: dvo_slam::KeyframeTracker::Impl::update(boost::shared_ptr const&, ros::Time const&, Eigen::Transform<double, 3, 2, 0>&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x4EEF6E7: dvo_slam::CameraKeyframeTracker::handleImages(boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const> const&, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const> const&) (in /home/anton/dvo-ws/devel/lib/libdvo_slam.so) ==12909== by 0x7C46015: boost::detail::function::void_function_obj_invoker9<boost::function<void (boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const> const&, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const> const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&)>, void, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr) (in /home/anton/dvo-ws/devel/lib/libdvo_ros.so) ==12909== by 0x7C5B24B: boost::function9<void, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr >::operator()(boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::Image<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const>, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr, boost::shared_ptr) const (in /home/anton/dvo-ws/devel/lib/libdvo_ros.so) ==12909== by 0x7C5B872: message_filters::CallbackHelper9T<boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<sensormsgs::Image<std::allocator > const> const&, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const> const&, boost::shared_ptr<sensormsgs::CameraInfo<std::allocator > const> const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&, boost::shared_ptr const&>::call(bool, ros::MessageEvent<sensormsgs::Image<std::allocator > const> const&, ros::MessageEvent<sensormsgs::Image<std::allocator > const> const&, ros::MessageEvent<sensormsgs::CameraInfo<std::allocator > const> const&, ros::MessageEvent<sensormsgs::CameraInfo<std::allocator > const> const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&, ros::MessageEvent const&) (in /home/anton/dvo-ws/devel/lib/libdvo_ros.so)

This is with g2o compiled with Eigen 3.3.90.

[apozharski]

As an update I cannot reproduce this issue when I used g2o built in debug mode, which means I can't provide a trace beyond the constructor. I honestly find that a bit odd.

[YoshuaNava]

Hi, I experienced the same issue, and ended up rolling back to commit a48ff8c42136f18fbe215b02bfeca48fa0c67507from jlblancoc, which works well.

[lambdald]

same problem. A older version works well.

[MMYY]

same problem. vesion:8564e1e365d4e719dceca6269a0ba203f7f43dec Segmentation fault (core dumped)

call stack:

0 g2o::VertexSE3::VertexSE3()() at /usr/local/lib/libg2o_types_slam3d.so

1 main() at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:239