Memory Free issue on save

Hello David,

I've be able to run the example code, but each time on exit, the problem tries to free unallocated memory. I'm not sure if this is a big deal, or not, but some relevant information is posted below. Thanks!

Here is the result of running lldb ./C++/build/bin/SE-Sync data/CSAIL.g2o

===== END SE-SYNC =====

Saving final poses to file: poses.txt
SE-Sync(24330,0x7fff98f93380) malloc: *** error for object 0xbfd00f9944bcb218: pointer being freed was not allocated
*** set a breakpoint in malloc_error_break to debug
Process 24330 stopped
* thread #1, queue = 'com.apple.main-thread', stop reason = signal SIGABRT
    frame #0: 0x00007fff60ab6b6e libsystem_kernel.dylib`__pthread_kill + 10
libsystem_kernel.dylib`__pthread_kill:
->  0x7fff60ab6b6e <+10>: jae    0x7fff60ab6b78            ; <+20>
    0x7fff60ab6b70 <+12>: movq   %rax, %rdi
    0x7fff60ab6b73 <+15>: jmp    0x7fff60aadb00            ; cerror_nocancel
    0x7fff60ab6b78 <+20>: retq   
Target 0: (SE-Sync) stopped.
(lldb) bt
* thread #1, queue = 'com.apple.main-thread', stop reason = signal SIGABRT
  * frame #0: 0x00007fff60ab6b6e libsystem_kernel.dylib`__pthread_kill + 10
    frame #1: 0x00007fff60c81080 libsystem_pthread.dylib`pthread_kill + 333
    frame #2: 0x00007fff60a121ae libsystem_c.dylib`abort + 127
    frame #3: 0x00007fff60b10822 libsystem_malloc.dylib`free + 521
    frame #4: 0x000000010000432d SE-Sync`main [inlined] Eigen::internal::handmade_aligned_free(void*) at Memory.h:98 [opt]
    frame #5: 0x000000010000431f SE-Sync`main [inlined] Eigen::internal::aligned_free(void*) at Memory.h:179 [opt]
    frame #6: 0x000000010000431f SE-Sync`main [inlined] void Eigen::internal::conditional_aligned_free<true>(void*) at Memory.h:230 [opt]
    frame #7: 0x000000010000431f SE-Sync`main [inlined] void Eigen::internal::conditional_aligned_delete_auto<double, true>(ptr=<unavailable>) at Memory.h:416 [opt]
    frame #8: 0x000000010000431f SE-Sync`main [inlined] Eigen::DenseStorage<double, -1, -1, 1, 0>::~DenseStorage() at DenseStorage.h:542 [opt]
    frame #9: 0x000000010000431b SE-Sync`main [inlined] Eigen::DenseStorage<double, -1, -1, 1, 0>::~DenseStorage() at DenseStorage.h:542 [opt]
    frame #10: 0x000000010000431b SE-Sync`main [inlined] Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> >::~PlainObjectBase() at PlainObjectBase.h:98 [opt]
    frame #11: 0x000000010000431b SE-Sync`main [inlined] Eigen::Matrix<double, -1, 1, 0, -1, 1>::~Matrix() at Matrix.h:178 [opt]
    frame #12: 0x000000010000431b SE-Sync`main [inlined] Eigen::Matrix<double, -1, 1, 0, -1, 1>::~Matrix() at Matrix.h:178 [opt]
    frame #13: 0x000000010000431b SE-Sync`main [inlined] SESync::RelativePoseMeasurement::~RelativePoseMeasurement(this=<unavailable>) at RelativePoseMeasurement.h:17 [opt]
    frame #14: 0x000000010000431b SE-Sync`main [inlined] SESync::RelativePoseMeasurement::~RelativePoseMeasurement(this=<unavailable>) at RelativePoseMeasurement.h:17 [opt]
    frame #15: 0x000000010000431b SE-Sync`main [inlined] std::__1::allocator<SESync::RelativePoseMeasurement>::destroy(__p=<unavailable>) at memory:1838 [opt]
    frame #16: 0x000000010000431b SE-Sync`main [inlined] void std::__1::allocator_traits<std::__1::allocator<SESync::RelativePoseMeasurement> >::__destroy<SESync::RelativePoseMeasurement>(__p=<unavailable>) at memory:1706 [opt]
    frame #17: 0x000000010000431b SE-Sync`main [inlined] void std::__1::allocator_traits<std::__1::allocator<SESync::RelativePoseMeasurement> >::destroy<SESync::RelativePoseMeasurement>(__p=<unavailable>) at memory:1574 [opt]
    frame #18: 0x000000010000431b SE-Sync`main [inlined] std::__1::__vector_base<SESync::RelativePoseMeasurement, std::__1::allocator<SESync::RelativePoseMeasurement> >::__destruct_at_end(__new_last=0x0000000100357000) at vector:417 [opt]
    frame #19: 0x00000001000042fe SE-Sync`main [inlined] std::__1::__vector_base<SESync::RelativePoseMeasurement, std::__1::allocator<SESync::RelativePoseMeasurement> >::clear() at vector:361 [opt]
    frame #20: 0x00000001000042fe SE-Sync`main [inlined] std::__1::__vector_base<SESync::RelativePoseMeasurement, std::__1::allocator<SESync::RelativePoseMeasurement> >::~__vector_base() at vector:444 [opt]
    frame #21: 0x00000001000042f2 SE-Sync`main [inlined] std::__1::vector<SESync::RelativePoseMeasurement, std::__1::allocator<SESync::RelativePoseMeasurement> >::~vector() at vector:450 [opt]
    frame #22: 0x00000001000042f2 SE-Sync`main [inlined] std::__1::vector<SESync::RelativePoseMeasurement, std::__1::allocator<SESync::RelativePoseMeasurement> >::~vector() at vector:450 [opt]
    frame #23: 0x00000001000042f2 SE-Sync`main(argc=<unavailable>, argv=<unavailable>) at main.cpp:40 [opt]
    frame #24: 0x00007fff60966015 libdyld.dylib`start + 1
    frame #25: 0x00007fff60966015 libdyld.dylib`start + 1

From a previous build, running lldb ./C++/build/bin/SE-Sync data/kitti_00.g2o:

* * thread #1, queue = 'com.apple.main-thread', stop reason = EXC_BAD_ACCESS (code=1, address=0x101a52ff8)
    frame #0: 0x0000000100005b2f SE-Sync`SESync::SESyncResult::~SESyncResult() [inlined] Eigen::internal::handmade_aligned_free(void*) at Memory.h:98 [opt]
   95   /** \internal Frees memory allocated with handmade_aligned_malloc */
   96   inline void handmade_aligned_free(void *ptr)
   97   {
-> 98     if (ptr) std::free(*(reinterpret_cast<void**>(ptr) - 1));
   99   }
   100  
   101  /** \internal

System: macOS 10.13.4 Compiler: clang --version

clang version 4.0.1 (tags/RELEASE_401/final)
Target: x86_64-apple-darwin17.5.0
Thread model: posix
InstalledDir: /usr/local/opt/llvm@4/bin

Debugger: lldb --version

lldb-902.0.79.2
  Swift-4.1

david-m-rosen / SE-Sync

Memory Free issue on save #11