malloc(): memory corruption

LinHuican commented 8 years ago

~/Projects/g2o_ba_example/build$ ./ba_example 1.png 2.png 分别找到了500和500个特征点找到了326组对应特征点。 * Error in `./ba_example': malloc(): memory corruption: 0x000000000079f820 * Aborted (core dumped)

luxinglong commented 7 years ago

$ ./ba_example 1.png 2.png Error in `./ba_example': double free or corruption (out): 0x0000000001410720 已放弃 (核心已转储) 请问这是什么问题呀？有没有小伙伴遇到同样的问题？

LoSealL commented 7 years ago

g2o 版本问题吧，如果你用最新的g2o的话需要稍微修改一下例子中的代码，接口参数有些改变，g2o有些接口用std::unique_ptr取代了裸指针。

Junkai-Liu commented 6 years ago

@LoSealL when i use unique_ptr to modify pointer construction,the compile processing is fine .But when i run the binary file on the dataset of g2o fromat file .output error is malloc():memory corruption(fast):0x0000000001400340 *** how can i fix this bug?Do u have a solution?

Junkai-Liu commented 6 years ago

@LinHuican 老哥找到解决方案了吗？

LinHuican commented 6 years ago

@LinHuican 老哥找到解决方案了吗？

@Junkai-Liu

应该是g2o版本问题，高博slambook里的g2o: https://github.com/gaoxiang12/slambook/blob/master/3rdparty/g2o.tar.gz 我这边没有问题了，你可以试试。

Junkai-Liu commented 6 years ago

@LinHuican 我现在改用新版本的g2o 改了一下程序在运行生成的bin的时候就会报memory corruption这个错，你知道怎么解决吗？

LoSealL commented 6 years ago

@Junkai-Liu 年代久远有点记忆迷糊了，你的bin指的是这个example的执行文件？把你改后的代码贴一下

参考一下我的fork，这是一年前的g2o版本，不保证对现在的仍然有效

Junkai-Liu commented 6 years ago

@LoSealL 对阿是执行文件运行g2o文件时报错代码就是把指针改成unique_ptr的模板指针 Block::LinearSolverType linearSolver = new g2o::LinearSolverCholmod(); Block solver_ptr = new Block( unique_ptr(linearSolver));
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( unique_ptr(solver_ptr) );

因为有需要现在版本的g2o 所以想知道怎么改

LoSealL commented 6 years ago

@Junkai-Liu unique_ptr不要这么用，使用std::move的方式，具体参见fork里面改动的部分

Junkai-Liu commented 6 years ago

@LoSealL 好的老哥谢谢我改改看

zzcczzcc commented 5 years ago

你好请问解决了吗？为什么我换了旧的 Error in `./ba_example': double ======= Backtrace: ========= /lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f56ab67a /lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f56ab683 /lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f56ab6 /usr/local/lib/libg2o_types_sba.so(_ZN3g2o26EdgeProje /usr/local/lib/libg2o_core.so(_ZN3g2o7Factory12regist /usr/local/lib/libg2o_types_sba.so(+0x1bbca)[0x7f56ad /lib64/ld-linux-x86-64.so.2(+0x106ca)[0x7f56adf8e6ca] /lib64/ld-linux-x86-64.so.2(+0x107db)[0x7f56adf8e7db] /lib64/ld-linux-x86-64.so.2(+0xc6a)[0x7f56adf7ec6a] ======= Memory map: ======== 00400000-0041e000 r-xp 00000000 08:15 8919034 0061e000-0061f000 r--p 0001e000 08:15 8919034 0061f000-00620000 rw-p 0001f000 08:15 8919034 0200d000-0204f000 rw-p 00000000 00:00 0 7f56a0000000-7f56a0021000 rw-p 00000000 00:00 0 7f56a0021000-7f56a4000000 ---p 00000000 00:00 0 7f56a6b1f000-7f56a6b5d000 r-xp 00000000 08:14 5251881 7f56a6b5d000-7f56a6d5c000 ---p 0003e000 08:14 5251881 7f56a6d5c000-7f56a6d5d000 r--p 0003d000 08:14 5251881 7f56a6d5d000-7f56a6d5e000 rw-p 0003e000 08:14 5251881 7f56a6d5e000-7f56a6d63000 r-xp 00000000 08:14 5250915 7f56a6d63000-7f56a6f63000 ---p 00005000 08:14 5250915 7f56a6f63000-7f56a6f64000 r--p 00005000 08:14 5250915 7f56a6f64000-7f56a6f65000 rw-p 00006000 08:14 5250915 7f56a6f65000-7f56a6f80000 r-xp 00000000 08:14 5250907 7f56a6f80000-7f56a717f000 ---p 0001b000 08:14 5250907 7f56a717f000-7f56a7182000 r--p 0001a000 08:14 5250907 7f56a7182000-7f56a7183000 rw-p 0001d000 08:14 5250907 7f56a7183000-7f56a71c5000 r-xp 00000000 08:14 5250901 7f56a71c5000-7f56a73c4000 ---p 00042000 08:14 5250901 7f56a73c4000-7f56a73c5000 r--p 00041000 08:14 5250901 7f56a73c5000-7f56a73c6000 rw-p 00042000 08:14 5250901 7f56a73c6000-7f56a73d1000 r-xp 00000000 08:14 5251789 7f56a73d1000-7f56a75d0000 ---p 0000b000 08:14 5251789 7f56a75d0000-7f56a75d1000 r--p 0000a000 08:14 5251789 7f56a75d1000-7f56a75d4000 rw-p 0000b000 08:14 5251789 7f56a75d4000-7f56a75f5000 r-xp 00000000 08:14 10752679 7f56a75f5000-7f56a77f4000 ---p 00021000 08:14 10752679 7f56a77f4000-7f56a77f5000 r--p 00020000 08:14 10752679 7f56a77f5000-7f56a77f6000 rw-p 00021000 08:14 10752679 7f56a77f6000-7f56a791f000 r-xp 00000000 08:14 5244492 7f56a791f000-7f56a7b1e000 ---p 00129000 08:14 5244492 7f56a7b1e000-7f56a7b1f000 r--p 00128000 08:14 5244492 7f56a7b1f000-7f56a7b21000 rw-p 00129000 08:14 5244492 7f56a7b21000-7f56a7b3a000 r-xp 00000000 08:14 10752803 7f56a7b3a000-7f56a7d39000 ---p 00019000 08:14 10752803 7f56a7d39000-7f56a7d3a000 r--p 00018000 08:14 10752803 7f56a7d3a000-7f56a7d3b000 rw-p 00019000 08:14 10752803 7f56a7d3b000-7f56a7da4000 r-xp 00000000 08:14 8914030 7f56a7da4000-7f56a7fa3000 ---p 00069000 08:14 8914030 7f56a7fa3000-7f56a7fa7000 rw-p 00068000 08:14 8914030 7f56a7fa7000-7f56a7fa8000 rw-p 00000000 00:00 0 7f56a7fa8000-7f56a7fab000 r-xp 00000000 08:14 10747986 7f56a7fab000-7f56a81aa000 ---p 00003000 08:14 10747986 7f56a81aa000-7f56a81ab000 r--p 00002000 08:14 10747986 7f56a81ab000-7f56a81ac000 rw-p 00003000 08:14 10747986 7f56a81ac000-7f56a8376000 r-xp 00000000 08:14 5250911 7f56a8376000-7f56a8575000 ---p 001ca000 08:14 5250911 7f56a8575000-7f56a8578000 r--p 001c9000 08:14 5250911 7f56a8578000-7f56a8679000 rw-p 001cc000 08:14 5250911 7f56a8679000-7f56a867a000 rw-p 00000000 00:00 0 7f56a867a000-7f56a86c4000 r-xp 00000000 08:14 5251786 7f56a86c4000-7f56a88c3000 ---p 0004a000 08:14 5251786 7f56a88c3000-7f56a88c4000 r--p 00049000 08:14 5251786 7f56a88c4000-7f56a88c8000 rw-p 0004a000 08:14 5251786 7f56a88c8000-7f56a88cf000 rw-p 00000000 00:00 0 7f56a88cf000-7f56a8940000 r-xp 00000000 08:14 5245113 7f56a8940000-7f56a8b40000 ---p 00071000 08:14 5245113 7f56a8b40000-7f56a8b41000 r--p 00071000 08:14 5245113 7f56a8b41000-7f56a8b44000 rw-p 00072000 08:14 5245113 7f56a8b44000-7f56a8b68000 r-xp 00000000 08:14 10752753 7f56a8b68000-7f56a8d67000 ---p 00024000 08:14 10752753 7f56a8d67000-7f56a8d68000 r--p 00023000 08:14 10752753 7f56a8d68000-7f56a8d69000 rw-p 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7f56a9c63000-7f56a9c65000 r-xp 00000000 08:14 5252215 7f56a9c65000-7f56a9e64000 ---p 00002000 08:14 5252215 7f56a9e64000-7f56a9e65000 r--p 00001000 08:14 5252215 7f56a9e65000-7f56a9e66000 rw-p 00002000 08:14 5252215 7f56a9e66000-7f56a9e6f000 r-xp 00000000 08:14 5252053 7f56a9e6f000-7f56aa06f000 ---p 00009000 08:14 5252053 7f56aa06f000-7f56aa070000 r--p 00009000 08:14 5252053 7f56aa070000-7f56aa071000 rw-p 0000a000 08:14 5252053 7f56aa071000-7f56aa07a000 r-xp 00000000 08:14 5252051 7f56aa07a000-7f56aa279000 ---p 00009000 08:14 5252051 7f56aa279000-7f56aa27a000 r--p 00008000 08:14 5252051 7f56aa27a000-7f56aa27b000 rw-p 00009000 08:14 5252051 7f56aa27b000-7f56aa281000 r-xp 00000000 08:14 5251266 7f56aa281000-7f56aa480000 ---p 00006000 08:14 5251266 7f56aa480000-7f56aa481000 r--p 00005000 08:14 5251266 7f56aa481000-7f56aa482000 rw-p 00006000 08:14 5251266 7f56aa482000-7f56aa48a000 r-xp 00000000 08:14 5248524 7f56aa48a000-7f56aa689000 ---p 00008000 08:14 5248524 7f56aa689000-7f56aa68a000 r--p 00007000 08:14 5248524 7f56aa68a000-7f56aa68b000 rw-p 00008000 08:14 5248524 7f56aa68b000-7f56aac7f000 r-xp 00000000 08:14 9045489 7f56aac7f000-7f56aae7e000 ---p 005f4000 08:14 9045489 7f56aae7e000-7f56aae7f000 r--p 005f3000 08:14 9045489 7f56aae7f000-7f56aae83000 rw-p 005f4000 08:14 9045489 7f56aae83000-7f56aaef1000 r-xp 00000000 08:14 9045457 7f56aaef1000-7f56ab0f0000 ---p 0006e000 08:14 9045457 7f56ab0f0000-7f56ab0f1000 r--p 0006d000 08:14 9045457 7f56ab0f1000-7f56ab0f2000 rw-p 0006e000 08:14 9045457 7f56ab0f2000-7f56ab0f9000 r-xp 00000000 08:14 10747921 7f56ab0f9000-7f56ab2f8000 ---p 00007000 08:14 10747921 7f56ab2f8000-7f56ab2f9000 r--p 00006000 08:14 10747921 7f56ab2f9000-7f56ab2fa000 rw-p 00007000 08:14 10747921 7f56ab2fa000-7f56ab402000 r-xp 00000000 08:14 10752630 7f56ab402000-7f56ab601000 ---p 00108000 08:14 10752630 7f56ab601000-7f56ab602000 r--p 00107000 08:14 10752630 7f56ab602000-7f56ab603000 rw-p 00108000 08:14 10752630 7f56ab603000-7f56ab7c3000 r-xp 00000000 08:14 10748001 7f56ab7c3000-7f56ab9c3000 ---p 001c0000 08:14 10748001 7f56ab9c3000-7f56ab9c7000 r--p 001c0000 08:14 10748001 7f56ab9c7000-7f56ab9c9000 rw-p 001c4000 08:14 10748001 7f56ab9c9000-7f56ab9cd000 rw-p 00000000 00:00 0 7f56ab9cd000-7f56ab9e3000 r-xp 00000000 08:14 10752650 7f56ab9e3000-7f56abbe2000 ---p 00016000 08:14 10752650 7f56abbe2000-7f56abbe3000 rw-p 00015000 08:14 10752650 7f56abbe3000-7f56abd55000 r-xp 00000000 08:14 5243068 7f56abd55000-7f56abf55000 ---p 00172000 08:14 5243068 7f56abf55000-7f56abf5f000 r--p 00172000 08:14 5243068 7f56abf5f000-7f56abf61000 rw-p 0017c000 08:14 5243068 7f56abf61000-7f56abf65000 rw-p 00000000 00:00 0 7f56abf65000-7f56acd3f000 r-xp 00000000 08:14 5381964 7f56acd3f000-7f56acf3f000 ---p 00dda000 08:14 5381964 7f56acf3f000-7f56acf48000 r--p 00dda000 08:14 5381964 7f56acf48000-7f56acf54000 rw-p 00de3000 08:14 5381964 7f56acf54000-7f56acf67000 rw-p 00000000 00:00 0 7f56acf67000-7f56ad081000 r-xp 00000000 08:14 5381998 7f56ad081000-7f56ad280000 ---p 0011a000 08:14 5381998 7f56ad280000-7f56ad283000 r--p 00119000 08:14 5381998 7f56ad283000-7f56ad285000 rw-p 0011c000 08:14 5381998 7f56ad285000-7f56ad287000 rw-p 00000000 00:00 0 7f56ad287000-7f56ad3d0000 r-xp 00000000 08:14 5382016 7f56ad3d0000-7f56ad5d0000 ---p 00149000 08:14 5382016 7f56ad5d0000-7f56ad5d5000 r--p 00149000 08:14 5382016 7f56ad5d5000-7f56ad5da000 rw-p 0014e000 08:14 5382016 7f56ad5da000-7f56ad6ad000 r-xp 00000000 08:14 5260200 7f56ad6ad000-7f56ad8ac000 ---p 000d3000 08:14 5260200 7f56ad8ac000-7f56ad8ad000 r--p 000d2000 08:14 5260200 7f56ad8ad000-7f56ad8ae000 rw-p 000d3000 08:14 5260200 7f56ad8ae000-7f56ad8fe000 r-xp 00000000 08:14 5379683 7f56ad8fe000-7f56adafe000 ---p 00050000 08:14 5379683 7f56adafe000-7f56adb01000 r--p 00050000 08:14 5379683 7f56adb01000-7f56adb02000 rw-p 00053000 08:14 5379683 7f56adb02000-7f56adb1d000 r-xp 00000000 08:14 5379673 7f56adb1d000-7f56add1d000 ---p 0001b000 08:14 5379673 7f56add1d000-7f56add1e000 r--p 0001b000 08:14 5379673 7f56add1e000-7f56add1f000 rw-p 0001c000 08:14 5379673 7f56add1f000-7f56add20000 rw-p 00000000 00:00 0 7f56add20000-7f56add7b000 r-xp 00000000 08:14 5379675 7f56add7b000-7f56adf7b000 ---p 0005b000 08:14 5379675 7f56adf7b000-7f56adf7d000 r--p 0005b000 08:14 5379675 7f56adf7d000-7f56adf7e000 rw-p 0005d000 08:14 5379675 7f56adf7e000-7f56adfa4000 r-xp 00000000 08:14 10747987 7f56ae147000-7f56ae15a000 rw-p 00000000 00:00 0 7f56ae1a1000-7f56ae1a3000 rw-p 00000000 00:00 0 7f56ae1a3000-7f56ae1a4000 r--p 00025000 08:14 10747987 7f56ae1a4000-7f56ae1a5000 rw-p 00026000 08:14 10747987 7f56ae1a5000-7f56ae1a6000 rw-p 00000000 00:00 0 7ffcd9df9000-7ffcd9e1a000 rw-p 00000000 00:00 0 7ffcd9f07000-7ffcd9f0a000 r--p 00000000 00:00 0 7ffcd9f0a000-7ffcd9f0c000 r-xp 00000000 00:00 0 ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 Aborted (core dumped) G2O版本还是不行啊同样的错误啊 555 free or corruption (out): 0x000000000202e6e0 7e5] 37a] 8753c] ctP2MC_IntrinsicsD0Ev+0x2d)[0x7f56ad8d1ced] erTypeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEPNS_32AbstractHyperGraphElementCreatorE+0x497)[0x7f56add5dfe7] 8c9bca] /home/zhenzhen/SLAM/g2o_ba_example-master/build/ba_example /home/zhenzhen/SLAM/g2o_ba_example-master/build/ba_example /home/zhenzhen/SLAM/g2o_ba_example-master/build/ba_example [heap] /usr/lib/x86_64-linux-gnu/libquadmath.so.0.0.0 /usr/lib/x86_64-linux-gnu/libquadmath.so.0.0.0 /usr/lib/x86_64-linux-gnu/libquadmath.so.0.0.0 /usr/lib/x86_64-linux-gnu/libquadmath.so.0.0.0 /usr/lib/x86_64-linux-gnu/libIlmThread-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIlmThread-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIlmThread-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIlmThread-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIex-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIex-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIex-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libIex-2_2.so.12.0.0 /usr/lib/x86_64-linux-gnu/libHalf.so.12.0.0 /usr/lib/x86_64-linux-gnu/libHalf.so.12.0.0 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/lib/x86_64-linux-gnu/libdl-2.23.so /usr/lib/x86_64-linux-gnu/libIlmImf-2_2.so.22.0.0 /usr/lib/x86_64-linux-gnu/libIlmImf-2_2.so.22.0.0 /usr/lib/x86_64-linux-gnu/libIlmImf-2_2.so.22.0.0 /usr/lib/x86_64-linux-gnu/libIlmImf-2_2.so.22.0.0 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 /usr/lib/x86_64-linux-gnu/libjasper.so.1.0.0 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 /usr/lib/x86_64-linux-gnu/libtiff.so.5.2.4 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 /lib/x86_64-linux-gnu/libpng12.so.0.54.0 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 /usr/lib/x86_64-linux-gnu/libjpeg.so.8.0.2 /lib/x86_64-linux-gnu/libpthread-2.23.so /lib/x86_64-linux-gnu/libpthread-2.23.so /lib/x86_64-linux-gnu/libpthread-2.23.so /lib/x86_64-linux-gnu/libpthread-2.23.so /usr/local/lib/libopencv_imgproc.so.3.4.5 /usr/local/lib/libopencv_imgproc.so.3.4.5 /usr/local/lib/libopencv_imgproc.so.3.4.5 /usr/local/lib/libopencv_imgproc.so.3.4.5 /usr/local/lib/libopencv_flann.so.3.4.5 /usr/local/lib/libopencv_flann.so.3.4.5 /usr/local/lib/libopencv_flann.so.3.4.5 /usr/local/lib/libopencv_flann.so.3.4.5 /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so.4.4.6 /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so.4.4.6 /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so.4.4.6 /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so.4.4.6 /usr/lib/x86_64-linux-gnu/libccolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libccolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libccolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libccolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libcamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libcamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libcamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libcamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libcolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libcolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libcolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libcolamd.so.2.9.1 /usr/lib/x86_64-linux-gnu/libamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libamd.so.2.4.1 /usr/lib/x86_64-linux-gnu/libamd.so.2.4.1 /usr/lib/lapack/liblapack.so.3.6.0 /usr/lib/lapack/liblapack.so.3.6.0 /usr/lib/lapack/liblapack.so.3.6.0 /usr/lib/lapack/liblapack.so.3.6.0 /usr/lib/libblas/libblas.so.3.6.0 /usr/lib/libblas/libblas.so.3.6.0 /usr/lib/libblas/libblas.so.3.6.0 /usr/lib/libblas/libblas.so.3.6.0 /lib/x86_64-linux-gnu/librt-2.23.so /lib/x86_64-linux-gnu/librt-2.23.so /lib/x86_64-linux-gnu/librt-2.23.so /lib/x86_64-linux-gnu/librt-2.23.so /lib/x86_64-linux-gnu/libm-2.23.so /lib/x86_64-linux-gnu/libm-2.23.so /lib/x86_64-linux-gnu/libm-2.23.so /lib/x86_64-linux-gnu/libm-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/libgcc_s.so.1 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/local/lib/libopencv_core.so.3.4.5 /usr/local/lib/libopencv_core.so.3.4.5 /usr/local/lib/libopencv_core.so.3.4.5 /usr/local/lib/libopencv_core.so.3.4.5 /usr/local/lib/libopencv_imgcodecs.so.3.4.5 /usr/local/lib/libopencv_imgcodecs.so.3.4.5 /usr/local/lib/libopencv_imgcodecs.so.3.4.5 /usr/local/lib/libopencv_imgcodecs.so.3.4.5 /usr/local/lib/libopencv_features2d.so.3.4.5 /usr/local/lib/libopencv_features2d.so.3.4.5 /usr/local/lib/libopencv_features2d.so.3.4.5 /usr/local/lib/libopencv_features2d.so.3.4.5 /usr/lib/x86_64-linux-gnu/libcholmod.so.3.0.6 /usr/lib/x86_64-linux-gnu/libcholmod.so.3.0.6 /usr/lib/x86_64-linux-gnu/libcholmod.so.3.0.6 /usr/lib/x86_64-linux-gnu/libcholmod.so.3.0.6 /usr/local/lib/libg2o_types_sba.so /usr/local/lib/libg2o_types_sba.so /usr/local/lib/libg2o_types_sba.so /usr/local/lib/libg2o_types_sba.so /usr/local/lib/libg2o_stuff.so /usr/local/lib/libg2o_stuff.so /usr/local/lib/libg2o_stuff.so /usr/local/lib/libg2o_stuff.so /usr/local/lib/libg2o_core.so /usr/local/lib/libg2o_core.so /usr/local/lib/libg2o_core.so /usr/local/lib/libg2o_core.so /lib/x86_64-linux-gnu/ld-2.23.so /lib/x86_64-linux-gnu/ld-2.23.so /lib/x86_64-linux-gnu/ld-2.23.so [stack] [vvar] [vdso] [vsyscall]

lucasjinreal commented 5 years ago

@zzcczzcc Same issue here, to be more specific, the error comes from exactly here:

LOG(INFO) << "g2o optimizer done.";

  // 添加节点
  // 两个位姿节点
  for (int i = 0; i < 2; i++) {
    g2o::VertexSE3Expmap *v = new g2o::VertexSE3Expmap();
    v->setId(i);
    if (i == 0)
      v->setFixed(true); // 第一个点固定为零
    // 预设值为单位Pose，因为我们不知道任何信息
    v->setEstimate(g2o::SE3Quat());
    optimizer.addVertex(v);
  }
  // 很多个特征点的节点
  // 以第一帧为准
//  for (size_t i = 0; i < pts1.size(); i++) {
//    g2o::VertexSBAPointXYZ *v = new g2o::VertexSBAPointXYZ();
//    v->setId(2 + i);
//    // 由于深度不知道，只能把深度设置为1了
//    double z = 1;
//    double x = (pts1[i].x - cx) * z / fx;
//    double y = (pts1[i].y - cy) * z / fy;
//    v->setMarginalized(true);
//    v->setEstimate(Eigen::Vector3d(x, y, z));
//    optimizer.addVertex(v);
//  }

  LOG(INFO) << "vertex added.";

I debuged line by line, only when umcomment those lines got that problem

LoSealL commented 5 years ago

Does this fork version solve your problem?

lucasjinreal commented 5 years ago

@LoSealL It can solve API error, but after compile execution still got above error..... No clue to debug for reason, I am using master branch g2o, does not using your commit version though.

LoSealL commented 5 years ago

@jinfagang I re-tested my forked repo, and update for the latest master branch g2o. It seems no error in my compilation. URL here: https://github.com/LoSealL/g2o_ba_example

Use like this:

cd g2o_ba_example
mkdir _build && cd _build
cmake .. -DEIGEN3_INCLUDE_DIR=<eigen3/path> -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF
cmake --build . --config Release

Test with ./ba_example_win ../data/1.png ../data/2.png

Found 500 and 500 key points respectively. Found331groups matched points. Optimizing... iteration= 0 chi2= 1206.331047 time= 0.00037288 cumTime= 0.00037288 edges= 662 schur= 1 lambda= 11.426977 levenbergIter= 1 iteration= 1 chi2= 673.543713 time= 0.000210095 cumTime= 0.000582975 edges= 662 schur= 1 lambda= 3.808992 levenbergIter= 1 iteration= 2 chi2= 607.516253 time= 0.000345898 cumTime= 0.000928873 edges= 662 schur= 1 lambda= 20.314626 levenbergIter= 3 iteration= 3 chi2= 367.436622 time= 0.000197282 cumTime= 0.00112616 edges= 662 schur= 1 lambda= 6.771542 levenbergIter= 1 iteration= 4 chi2= 298.199199 time= 0.000196061 cumTime= 0.00132222 edges= 662 schur= 1 lambda= 2.257181 levenbergIter= 1 iteration= 5 chi2= 272.903259 time= 0.000195839 cumTime= 0.00151806 edges= 662 schur= 1 lambda= 0.752394 levenbergIter= 1 iteration= 6 chi2= 253.924388 time= 0.000194876 cumTime= 0.00171293 edges= 662 schur= 1 lambda= 0.501596 levenbergIter= 1 iteration= 7 chi2= 223.257697 time= 0.000202584 cumTime= 0.00191552 edges= 662 schur= 1 lambda= 0.167199 levenbergIter= 1 iteration= 8 chi2= 213.846372 time= 0.000194928 cumTime= 0.00211044 edges= 662 schur= 1 lambda= 0.055733 levenbergIter= 1 iteration= 9 chi2= 209.111413 time= 0.000195681 cumTime= 0.00230612 edges= 662 schur= 1 lambda= 0.018578 levenbergIter= 1 Optimized. Pose= 0.999942 -0.0070796 -0.00811293 0.0441778 0.00738186 0.999256 0.0378532 -0.00803821 0.00783891 -0.0379109 0.99925 0.000133666 0 0 0 1 vertex id 2, pos = -0.0164274,-0.262995,0.814918 ...

OS: Ubuntu 18.04 cmake: 3.11.2 g2o version: 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a eigen3: 3.3.7 opencv: 3.4.2 gcc: 7.3.0

lucasjinreal commented 5 years ago

@LoSealL I use your code, but not your fork g2o, cause I installed from master branch

LoSealL commented 5 years ago

@jinfagang I also update CMakeLists of g2o_ba_example. Adding include_directories and remove Cholmod detailly.

You didn't compile g2o from source? How did you link g2o libraries (*.so)?

lucasjinreal commented 5 years ago

@LoSealL I built from master branch of g2o source code, the example provide by g2o can work properly, except this example. Have you tried built and install newest master branch g2o and re-compile this example link to installed g2o? Maybe will be same issue, but to be honest, I have no idea why.

LoSealL commented 5 years ago

@jinfagang Still worked for me... Before I find a time to change g2o as an external library, can you just try to build g2o from the code? Could be some external issues...

The error above seems to be a double free, but I'm not aware where it could be.

lucasjinreal commented 5 years ago

@LoSealL Ok, quick try

lucasjinreal commented 5 years ago

@LoSealL Using the fork and that commit g2o:

[ 89%] Linking CXX executable ba_example_win
CMakeFiles/ba_example_win.dir/main.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE]+0xd8): undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
CMakeFiles/ba_example_win.dir/main.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE]+0xfd): undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
CMakeFiles/ba_example_win.dir/main.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)':
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0xe8): undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0x1ea): undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/ba_example_win.dir/build.make:148: recipe for target 'ba_example_win' failed
make[2]: *** [ba_example_win] Error 1
CMakeFiles/Makefile2:73: recipe for target 'CMakeFiles/ba_example_win.dir/all' failed
make[1]: *** [CMakeFiles/ba_example_win.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

LoSealL commented 5 years ago

@jinfagang Found an issue: I had a cached setting disable cholmod. So add -DG2O_USE_CHOLMOD=OFF to cmake command.

I will look into this later.

lucasjinreal commented 5 years ago

@LoSealL Same issue:

[ 88%] Linking CXX executable ba_example_win
CMakeFiles/ba_example_win.dir/main.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE]+0xd8): undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
CMakeFiles/ba_example_win.dir/main.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE]+0xfd): undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
CMakeFiles/ba_example_win.dir/main.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)':
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0xe8): undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
main.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0x1ea): undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/ba_example_win.dir/build.make:148: recipe for target 'ba_example_win' failed
make[2]: *** [ba_example_win] Error 1
CMakeFiles/Makefile2:73: recipe for target 'CMakeFiles/ba_example_win.dir/all' failed
make[1]: *** [CMakeFiles/ba_example_win.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

```'
with this command:

cmake -DG2O_USE_CHOLMOD=OFF ..

LoSealL commented 5 years ago

@jinfagang emmm... Could you show me your CMakeCache.txt? I'm interested in the following keywords:

G2O_USE_CHOLMOD
G2O_USE_CSPARSE
BUILD_CSPARSE

You can also paste g2o/config.h here to inspect.

lucasjinreal commented 5 years ago

@LoSealL In CmakeCache.txt:

# This is the CMakeCache file.
# For build in directory: /media/jintian/data/tmp/g2o_ba_example/build
# It was generated by CMake: /usr/bin/cmake
# You can edit this file to change values found and used by cmake.
# If you do not want to change any of the values, simply exit the editor.
# If you do want to change a value, simply edit, save, and exit the editor.
# The syntax for the file is as follows:
# KEY:TYPE=VALUE
# KEY is the name of a variable in the cache.
# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
# VALUE is the current value for the KEY.

########################
# EXTERNAL cache entries
########################

//Path to a library.
AMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libamd.so

//Compilation options to use BLAS
BLAS_DEFINITIONS:STRING=-DBLAS_USE_F2C

//Directories containing the BLAS header files
BLAS_INCLUDE_DIR:PATH=

//BLAS libraries name
BLAS_LIBRARIES:FILEPATH=/usr/lib/libopenblas.so

//Directories containing the BLAS libraries
BLAS_LIBRARIES_DIR:PATH=

//Linker flags to use BLAS
BLAS_LINKER_FLAGS:STRING=

//Path to a library.
BLAS_openblas_LIBRARY:FILEPATH=/usr/lib/libopenblas.so

//Build local CSparse library
BUILD_CSPARSE:BOOL=OFF

//Build LGPL Code as Shared Libraries (LGPL Code)
BUILD_LGPL_SHARED_LIBS:BOOL=ON

//Build Shared Libraries (preferred and required for the g2o plugin
// system)
BUILD_SHARED_LIBS:BOOL=ON

//build unit test framework and the tests
BUILD_UNITTESTS:BOOL=OFF

//Build with "-march native"
BUILD_WITH_MARCH_NATIVE:BOOL=OFF

//Path to a library.
CAMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcamd.so

//Path to a library.
CCOLAMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libccolamd.so

//Path to a file.
CHOLMOD_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
CHOLMOD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcholmod.so

//Path to a library.
CHOLMOD_METIS_LIBRARY:FILEPATH=CHOLMOD_METIS_LIBRARY-NOTFOUND

//Path to a program.
CMAKE_AR:FILEPATH=/usr/bin/ar

//Choose the type of build, options are: None Debug Release RelWithDebInfo
// MinSizeRel.
CMAKE_BUILD_TYPE:STRING=Release

//Enable/Disable color output during build.
CMAKE_COLOR_MAKEFILE:BOOL=ON

//CXX compiler
CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++

//Flags used by the compiler during all build types.
CMAKE_CXX_FLAGS:STRING=

//Flags used by the compiler during debug builds.
CMAKE_CXX_FLAGS_DEBUG:STRING=-g

//Flags used by the compiler during release builds for minimum
// size.
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG

//Flags used by the compiler during release builds.
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG

//Flags used by the compiler during release builds with debug info.
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG

//C compiler
CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc

//Flags used by the compiler during all build types.
CMAKE_C_FLAGS:STRING=

//Flags used by the compiler during debug builds.
CMAKE_C_FLAGS_DEBUG:STRING=-g

//Flags used by the compiler during release builds for minimum
// size.
CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG

//Flags used by the compiler during release builds.
CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG

//Flags used by the compiler during release builds with debug info.
CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG

//postfix applied to debug build of libraries
CMAKE_DEBUG_POSTFIX:STRING=_d

//Flags used by the linker.
CMAKE_EXE_LINKER_FLAGS:STRING=

//Flags used by the linker during debug builds.
CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=

//Flags used by the linker during release minsize builds.
CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=

//Flags used by the linker during release builds.
CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=

//Flags used by the linker during Release with Debug Info builds.
CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=

//Enable/Disable output of compile commands during generation.
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF

//Install path prefix, prepended onto install directories.
CMAKE_INSTALL_PREFIX:PATH=/usr/local

//Path to a program.
CMAKE_LINKER:FILEPATH=/usr/bin/ld

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//ADVANCED property for variable: OPENGL_gl_LIBRARY
OPENGL_gl_LIBRARY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: OPENGL_glu_LIBRARY
OPENGL_glu_LIBRARY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: OPENGL_xmesa_INCLUDE_DIR
OPENGL_xmesa_INCLUDE_DIR-ADVANCED:INTERNAL=1

LoSealL commented 5 years ago

@jinfagang Got it. I'm using g2o's external csparse version, which is in g2o/EXTERNAL. This is done only when SuiteSparse's version hasn't been installed, and G2O_USE_CSPAESE=ON.

So here your link to csparse functions failed. Could be a bug in CMakeLists.txt in my repo. I'm working out...

lucasjinreal commented 5 years ago

@LoSealL thanks for your patience, waiting for your move on uncover

LoSealL commented 5 years ago

@jinfagang I think I solved this issue, checkout my latest master branch.

cmake .. -DCSPARSE_DIR=/opt/SuiteSparse

Where /opt/SuiteSparse is my installation dir of SuiteSparse, containing include and lib folders there.

Note in my test, switching from SuiteSparse to G2O_CSPARSE MUST clean all build files.

MingHongDev commented 5 months ago

I fixed this problem (double free or corruption) by myself. On CMakeLists.txt,

# set( CMAKE_CXX_FLAGS "-std=c++11 -Wall -O2 -march=native" )
set(CMAKE_CXX_FLAGS "-O3 -std=c++11")

curryandklay commented 4 months ago

@MingHongDev 你是我的神！ Thank you so much!

gaoxiang12 / g2o_ba_example

malloc(): memory corruption #1