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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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run rtabmap segmentation fault #890

Open Userpc1010 opened 2 years ago

Userpc1010 commented 2 years ago
Platform Desktop
OS Ubuntu 18.04.6 LTS
Kernel Version 5.4.0-124-generic
Device: Desktop AMD FX8320 / Nvidia 750Ti
CODE Source Code From Last github

After run rtabmap from source: 

sencis@sencis-desktop:~/build-rtabmap-Desktop-Default$ gdb -r ./bin/rtabmap
GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from ./bin/rtabmap...expanding to full symbols...(no debugging symbols found)...done.
(gdb) r
Starting program: /home/sencis/build-rtabmap-Desktop-Default/bin/rtabmap 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffb3e2a700 (LWP 3220)]
[New Thread 0x7fffb3629700 (LWP 3221)]
[New Thread 0x7fffaee28700 (LWP 3222)]
[New Thread 0x7fffac627700 (LWP 3223)]
[New Thread 0x7fffa9e26700 (LWP 3224)]
[New Thread 0x7fffa7625700 (LWP 3225)]
[New Thread 0x7fffa4e24700 (LWP 3226)]
[New Thread 0x7fffa2623700 (LWP 3227)]
[New Thread 0x7fffa1e22700 (LWP 3228)]
[New Thread 0x7fffa1621700 (LWP 3229)]
[New Thread 0x7fffa0e20700 (LWP 3230)]
[New Thread 0x7fffa061f700 (LWP 3231)]
[New Thread 0x7fff9fe1e700 (LWP 3232)]
[New Thread 0x7fff9f61d700 (LWP 3233)]
[New Thread 0x7fff9ee1c700 (LWP 3234)]
[New Thread 0x7fff9b4d9700 (LWP 3235)]
[New Thread 0x7fff9395e700 (LWP 3236)]
[New Thread 0x7fff9315d700 (LWP 3237)]
[New Thread 0x7fff91f0c700 (LWP 3238)]
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[New Thread 0x7fff81908700 (LWP 3240)]
[ WARN] (2022-08-22 22:44:48.758) Parameters.cpp:1237::readINI() Section "Core" in /home/sencis/.rtabmap/rtabmap.ini doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when rtabmap will close.
[ WARN] (2022-08-22 22:44:50.235) StatsToolBox.cpp:651::setWorkingDirectory() The directory "/home/sencis/Documents/RTAB-Map" doesn't exist, using "/home/sencis" instead...
Program started...
[New Thread 0x7fff80b1d700 (LWP 3241)]

Thread 1 "rtabmap" received signal SIGSEGV, Segmentation fault.
0x00007ffff4f38f80 in _int_malloc () from /lib/x86_64-linux-gnu/libc.so.6
(gdb)

cmake:

sencis@sencis-desktop:~/rtabmap/build$ cmake ..
-- The C compiler identification is GNU 6.5.0
-- The CXX compiler identification is GNU 6.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- MOBILE_BUILD=OFF
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr (found suitable exact version "9.1") 
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.9
-- Found eigen: /usr/local/include/eigen3  
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so  
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
-- Checking for module 'flann'
--   Found flann, version 1.9.1
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so  
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so  
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so  
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so  
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so  
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so  
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so  
-- Found PCL_2D: /usr/include/pcl-1.8  
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so  
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so  
-- Found PCL_GEOMETRY: /usr/include/pcl-1.8  
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so  
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so  
-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5") found components:  C CXX 
-- Found OpenMP: /usr/lib/gcc/x86_64-linux-gnu/6/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Add PCL_OMP to definitions
-- Found OpenCV: /usr/include/opencv4
-- Found PCL: /usr/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.3;/usr/include/freetype2;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include;/usr/lib/x86_64-linux-gnu/openmpi/include;/usr/include/python2.7;/usr/include/x86_64-linux-gnu;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/jsoncpp;/usr/include/tcl
-- Found ZLIB: /usr/include
-- Could NOT find Qt5Svg (missing: Qt5Svg_DIR)
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:39 (message):
  Failed to find Qt5 component "Svg" config file at
  "/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
  CMakeLists.txt:299 (FIND_PACKAGE)

-- VTK_RENDERING_BACKEND=OpenGL
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- RTAB-Map's cmake g2o find module used for convenience (for older g2o versions)
-- Found CSPARSE: /usr/include/suitesparse  
CMake Warning at cmake_modules/FindG2O.cmake:127 (MESSAGE):
  Latest g2o version detected with c++11 interface (config file:
  /opt/ros/melodic/include/g2o/config.h).  Make sure g2o is built with
  "-DBUILD_WITH_MARCH_NATIVE=OFF" to avoid segmentation faults caused by
  Eigen.
Call Stack (most recent call first):
  CMakeLists.txt:463 (FIND_PACKAGE)

-- Old g2o factory version detected without shared ptr (factory file: /opt/ros/melodic/include/g2o/core/factory.h).
-- Found g2o: /opt/ros/melodic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   atomic
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   atomic
-- Found libpointmatcher: /opt/ros/melodic/include;/usr/include/eigen3
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   atomic
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   timer
--   serialization
--   atomic
-- Found RealSense2: 
-- Found octomap 1.9.8: /opt/ros/melodic/include
-- Architecture: x86_64
-- Performing Test COMPILER_SUPPORTS_CXX14
-- Performing Test COMPILER_SUPPORTS_CXX14 - Success
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.20.20
--   CMAKE_VERSION =        3.10.2
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++14
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS =  ;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
--   PCL_VERSION = 1.8.1
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 4.6.0 xfeatures2d = YES, nonfree = YES (License: Non commercial)
--   With Qt 5.9.5            = YES (License: Open Source or Commercial)
--   With VTK 6.3              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint          = NO (WITH_TORCH=OFF)
--   With Python3              = NO (WITH_PYTHON=OFF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = NO (PDAL not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = YES (License: BSD)
--  *With Ceres                = NO (WITH_CERES=OFF)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (WITH_CVSBA=OFF)
--  *With libpointmatcher      = YES (License: BSD)
--   With CCCoreLib            = NO (WITH_CCCORELIB=OFF)
--   With Open3D               = NO (WITH_OPEN3D=OFF)
--   With OpenGV               = NO (WITH_OPENGV=OFF)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (WITH_CPUTSDF=OFF)
--   With OpenChisel           = NO (WITH_OPENCHISEL=OFF)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = NO (WITH_DEPTHAI=OFF)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (WITH_LOAM=OFF)
--   With floam                = NO (WITH_FLOAM=OFF)
--   With libfovis             = NO (WITH_FOVIS=OFF)
--   With libviso2             = NO (WITH_VISO2=OFF)
--   With dvo_core             = NO (WITH_DVO=OFF)
--   With okvis                = NO (WITH_OKVIS=OFF)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (WITH_VINS=OFF)
--   With OpenVINS             = NO (WITH_OPENVINS=OFF)
--   With ORB_SLAM             = NO (WITH_ORB_SLAM=OFF)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/sencis/rtabmap/build
sencis@sencis-desktop:~/rtabmap/build$
sumitsarkar1 commented 2 years ago

May be the following points , not sure :

1.) -- Could NOT find Qt5Svg (missing: Qt5Svg_DIR)..install this library ..try sudo apt-get install libqt5svg5 2.) If you build pcl from source check march native flag

matlabbe commented 1 year ago

Please do bt (backtrace) in gdb when the segfault happens. A malloc error seems to be a wrong version library (if multiple versions of the same library exist, like OpenCV) used on runtime. Can you try "-DWITH_GTSAM=OFF"? gtsam seems built from source, make sure it is not built with -march=native flag.