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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
1.58k stars 542 forks source link

received signal SIGSEGV, Segmentation fault #481

Open MasterY0416 opened 2 years ago

MasterY0416 commented 2 years ago

Ｔhank you very much for your work. I have this problem when using libpointmatcher. I spent a long time to solve this problem, but there is still no result. `Thread 1 "localizer_node" received signal SIGSEGV, Segmentation fault. 0x00007ffff7bb0515 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op<float, float> const&) () from /home/yuan/icp_localization_ws/devel/.private/icp_localization/lib/libicp_localization.so (gdb) [icp_node-2] killing on exit Quit (gdb) bt

0 0x00007ffff7bb0515 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op<float, float> const&) () from /home/yuan/icp_localization_ws/devel/.private/icp_localization/lib/libicp_localization.so

1 0x00007ffff5947b15 in SamplingSurfaceNormalDataPointsFilter::fuseRange(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int) const ()

from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

2 0x00007ffff5949e15 in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

3 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

4 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

5 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

6 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

7 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

8 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

9 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

10 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

11 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

12 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

13 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

14 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

15 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

16 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

17 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

18 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

19 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

20 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

21 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter::buildNew(SamplingSurfaceNormalDataPointsFilter::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

`

pomerlef commented 2 years ago

Could you report more information on your system. Some thing along: https://github.com/ethz-asl/libpointmatcher/blob/master/utest/listVersionsUbuntu.sh

MasterY0416 commented 2 years ago

Shocked by your efficiency, this is the information of the system：

Name Version

./listVersionsUbuntu.sh: line 7: lsb_release: command not found ubuntu: | architecture: | 64-bit gcc: | gcc (Ubuntu 7.5.0-3ubuntu1~16.04) 7.5.0 git: | git version 2.7.4 cmake: | cmake version 3.20.5 CMake suite maintained and supported by Kitware (kitware.com/cmake). boost: | Version: 1.58.0.1ubuntu1 eigen3: | Version: 3.3~beta1-2 doxygen: | Version: 1.8.11-1ubuntu0.1

pomerlef commented 2 years ago

and do you have a minimum code example that trigger this segfault? I don't understand why you have a long list of buildNew(SamplingSurfaceNormalDataPointsFilter [...] in the backtrace.