Another segmentation fault in mapping thread

[ccrystal2018]

Hello, Thanks for providing the source code of DefSLAM library! I am a freshman at the SLAM and I'm getting a segmentation fault while running the DefSLAM executable. I don't know how to solve this problem, so I come here for help.

As described in #2, the sequence runs for several frames and then crashes due to the segmentation fault. The error also occurs at NormalEstimator::ObtainK1K2(), but I get another I got another error message. I try to find the location of the error, specifically at line 153 at NormalEstimator.cc (Solve (options, &problem, &summary)).

I compiled the DefSLAM library on Ubuntu 16.04. I refer to #2 to list the following information. If you need anything else, please let me know.

Here is the gdb output: Thread 14 "DefSLAM" received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7f0d27a19700 (LWP 4340)] 0x00007f0d82333af0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op const&) () from /home/crystal/compareWorkbench/DefSLAM-master/lib/libDeformableSLAM.so

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For help, type "help". Type "apropos word" to search for commands related to "word". [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [New Thread 0x7f0d53ea3700 (LWP 4320)] [New Thread 0x7f0d536a2700 (LWP 4321)] [New Thread 0x7f0d4eea1700 (LWP 4322)] [New Thread 0x7f0d4c6a0700 (LWP 4323)] [New Thread 0x7f0d4be9f700 (LWP 4324)] [New Thread 0x7f0d4769e700 (LWP 4325)] [New Thread 0x7f0d44e9d700 (LWP 4326)] [New Thread 0x7f0d4269c700 (LWP 4327)] [New Thread 0x7f0d3fe9b700 (LWP 4328)] [New Thread 0x7f0d3d69a700 (LWP 4329)] [New Thread 0x7f0d3ce99700 (LWP 4330)] [New Thread 0x7f0d38698700 (LWP 4331)] [New Thread 0x7f0d27a19700 (LWP 4340)] [New Thread 0x7f0d27218700 (LWP 4341)] [New Thread 0x7f0d24b37700 (LWP 4342)] [New Thread 0x7f0d17fff700 (LWP 4343)] [New Thread 0x7f0d177fe700 (LWP 4344)] [New Thread 0x7f0d16ffd700 (LWP 4345)] [New Thread 0x7f0d167fc700 (LWP 4346)] [New Thread 0x7f0d15ffb700 (LWP 4347)] [New Thread 0x7f0d157fa700 (LWP 4348)] [New Thread 0x7f0d14ff9700 (LWP 4349)] [New Thread 0x7f0cf7fff700 (LWP 4350)] [New Thread 0x7f0cf77fe700 (LWP 4351)] [New Thread 0x7f0cf6ffd700 (LWP 4352)] [New Thread 0x7f0cf67fc700 (LWP 4353)] [New Thread 0x7f0cf5ffb700 (LWP 4354)] [New Thread 0x7f0cf57fa700 (LWP 4355)] [New Thread 0x7f0cf4ff9700 (LWP 4356)] [New Thread 0x7f0ce7fff700 (LWP 4357)] [New Thread 0x7f0ce77fe700 (LWP 4358)] [New Thread 0x7f0ce6ffd700 (LWP 4359)] [New Thread 0x7f0ce67fc700 (LWP 4360)] [New Thread 0x7f0ce5ffb700 (LWP 4361)] [New Thread 0x7f0ce57fa700 (LWP 4362)] [New Thread 0x7f0ce4ff9700 (LWP 4363)] [New Thread 0x7f0cdffff700 (LWP 4364)] [New Thread 0x7f0cdf7fe700 (LWP 4365)] [New Thread 0x7f0cddf7a700 (LWP 4367)] [New Thread 0x7f0cdd779700 (LWP 4368)] [New Thread 0x7f0cdcf78700 (LWP 4369)] [New Thread 0x7f0ccf5ff700 (LWP 4370)] [Thread 0x7f0ccf5ff700 (LWP 4370) exited] [New Thread 0x7f0ccf5ff700 (LWP 4371)] [New Thread 0x7f0ccedfe700 (LWP 4372)] [Thread 0x7f0ccedfe700 (LWP 4372) exited] [New Thread 0x7f0ccedfe700 (LWP 4373)] [Thread 0x7f0ccedfe700 (LWP 4373) exited] [New Thread 0x7f0cce5fd700 (LWP 4374)] [Thread 0x7f0cce5fd700 (LWP 4374) exited] [New Thread 0x7f0ccedfe700 (LWP 4375)] [Thread 0x7f0ccedfe700 (LWP 4375) exited] [New Thread 0x7f0cce5fd700 (LWP 4376)] [Thread 0x7f0cce5fd700 (LWP 4376) exited] [New Thread 0x7f0ccedfe700 (LWP 4377)] [Thread 0x7f0ccedfe700 (LWP 4377) exited] [New Thread 0x7f0ccedfe700 (LWP 4378)] [New Thread 0x7f0cce5fd700 (LWP 4379)] [Thread 0x7f0cce5fd700 (LWP 4379) exited] [Thread 0x7f0ccedfe700 (LWP 4378) exited] [New Thread 0x7f0cce5fd700 (LWP 4380)] [New Thread 0x7f0ccedfe700 (LWP 4381)] [Thread 0x7f0cce5fd700 (LWP 4380) exited] [Thread 0x7f0ccedfe700 (LWP 4381) exited] [New Thread 0x7f0ccedfe700 (LWP 4382)] [Thread 0x7f0ccedfe700 (LWP 4382) exited] [New Thread 0x7f0ccedfe700 (LWP 4383)] [Thread 0x7f0ccedfe700 (LWP 4383) exited] [New Thread 0x7f0cce5fd700 (LWP 4384)] [Thread 0x7f0cce5fd700 (LWP 4384) exited] [New Thread 0x7f0ccedfe700 (LWP 4385)] [Thread 0x7f0ccedfe700 (LWP 4385) exited] [New Thread 0x7f0cce5fd700 (LWP 4386)] [Thread 0x7f0cce5fd700 (LWP 4386) exited] [New Thread 0x7f0ccedfe700 (LWP 4387)] [Thread 0x7f0ccedfe700 (LWP 4387) exited] [New Thread 0x7f0ccedfe700 (LWP 4388)] [Thread 0x7f0ccedfe700 (LWP 4388) exited] [New Thread 0x7f0ccedfe700 (LWP 4389)] [Thread 0x7f0ccedfe700 (LWP 4389) exited] [New Thread 0x7f0cce5fd700 (LWP 4390)] [Thread 0x7f0cce5fd700 (LWP 4390) exited] [New Thread 0x7f0ccedfe700 (LWP 4391)] [Thread 0x7f0ccedfe700 (LWP 4391) exited] [New Thread 0x7f0cce5fd700 (LWP 4392)] [Thread 0x7f0cce5fd700 (LWP 4392) exited] [New Thread 0x7f0ccedfe700 (LWP 4393)] [Thread 0x7f0ccedfe700 (LWP 4393) exited] [New Thread 0x7f0ccedfe700 (LWP 4394)] [Thread 0x7f0ccedfe700 (LWP 4394) exited] [New Thread 0x7f0ccedfe700 (LWP 4395)] [Thread 0x7f0ccedfe700 (LWP 4395) exited] [New Thread 0x7f0cce5fd700 (LWP 4396)] [Thread 0x7f0cce5fd700 (LWP 4396) exited] [New Thread 0x7f0ccedfe700 (LWP 4397)] [Thread 0x7f0ccedfe700 (LWP 4397) exited] [New Thread 0x7f0cce5fd700 (LWP 4398)] [Thread 0x7f0cce5fd700 (LWP 4398) exited] [New Thread 0x7f0ccedfe700 (LWP 4399)] [Thread 0x7f0ccedfe700 (LWP 4399) exited]

Thread 14 "DefSLAM" received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7f0d27a19700 (LWP 4340)] 0x00007f0d82333af0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op const&) () from /home/crystal/compareWorkbench/DefSLAM-master/lib/libDeformableSLAM.so

Here is the debugger output:

Here is the console output: /home/crystal/compareWorkbench/DefSLAM-master/Apps/DefSLAM /home/crystal/compareWorkbench/DefSLAM-master/Vocabulary/ORBvoc.txt /home/crystal/Dataset/sequence_heart/hamlyn.yaml /home/crystal/Dataset/f5phantom/f5_dynamic_deint_L.avi 4

DefSLAM 2019-2020 José Lamarca, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it

Input sensor was set to: Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Camera Parameters:

• fx: 579.057
• fy: 579.057
• cx: 139.815
• cy: 159.224
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 20
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 2000
• Scale Levels: 1
• Scale Factor: 1.2
• Initial Fast Threshold: 10
• Minimum Fast Threshold: 5

Defomation tracking Parameters:

• Reg. Inextensibility: 16000
• Reg. Laplacian: 300
• Reg. Temporal: 0.02
• Reg. LocalZone: 1 New map created with 577 points POINTS matched:440 NORMAL ESTIMATOR IN - NORMALS REESTIMATED : 0 - 0 NORMAL ESTIMATOR OUTPoints potential : 0 160 Number Of normals 0 0x803840 Not enough normals Reprojection error: 4.92431 Points considered: 440 00001 440 0 575 POINTS matched:378 Reprojection error: 4.3275 Points considered: 404 00002 406 0 575 Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.POINTS matched:368 Reprojection error: 3.63231 Points considered: 419 00003 420 0 575 POINTS matched:377 Reprojection error: 4.37176 Points considered: 411 00004 413 0 575 POINTS matched:355 Reprojection error: 4.01546 Points considered: 396 00005 398 0 575 POINTS matched:347 Reprojection error: 4.15708 Points considered: 386 00006 386 0 575 POINTS matched:300 Reprojection error: 5.60106 Points considered: 330 00007 332 0 575 POINTS matched:276 Reprojection error: 4.48035 Points considered: 336 00008 337 0 575 POINTS matched:291 Reprojection error: 5.16353 Points considered: 344 00009 346 0 575 POINTS matched:283 Reprojection error: 5.89413 Points considered: 323 00010 323 0 575 POINTS matched:285 Finding by Schwarp -0.265467 0.355908 -0.288624-0.265467 0.355908 -0.288624New points : 2 Calculating final Schwarp -0.265467 0.355908 -0.288624Points to reestimate : 263 321 Signal: SIGSEGV (Segmentation fault)

Thanks and look forward to your response.

[JoseLamarca]

Hi! Have you tried to pull the last version of the code? I had a similar error that was related to the Ceres library, I had changed the Eigen library and not reinstalling Ceres. You can take a look if it is that. I am not completely sure.

Best,

[ccrystal2018]

Hi, Jose

Thanks for your quick response!

I try to pull the last version and change several versions of the Eigen library. It seems that the problem is caused by the Eigen library. When I use eigen-3.2.92, #5 appears.I replace the comman “find package(Eigen3 REQUIRED)“ with “include directories("/home/crystal/develop/eigen-3.3.9") “ in CMakeLists.txt to change different versions. Then there is a new error, which is similar to the last one. I also try with Eigen-3.1.0, but it doesn't compile correctly. Could you tell me the version of Eigen you are using?

Thanks for your help.

Here is the information when I use Eigen-3.3.9:

[JoseLamarca]

My CMake is finding Eigen 3.3.90.

[ccrystal2018]

Thank you for your help. I have re-installed the environment and downloaded the code. The problem has been solved.