wangzhengboo
commented
4 years ago I have solved the problem following the step in https://github.com/colmap/colmap/issues/67 by adding add_definitions(-DEIGEN_DONT_ALIGN) in CmakeLists.txt. However, I can not run the node as well. I find the code exit at cube_slam/object_slam/src/main_obj.cpp line 562: graph.optimize(5); // do optimization!
The error I encountered is as follows: terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc [object_slam_node-1] process has died [pid 22119, exit code -6, cmd /home/wzb/cubeslam_ws/devel/lib/object_slam/object_slam_node name:=object_slam_node log:=/home/wzb/.ros/log/b7f52834-a492-11ea-8ac7-7cb27d1a2d0e/object_slam_node-1.log]. log file: /home/wzb/.ros/log/b7f52834-a492-11ea-8ac7-7cb27d1a2d0e/object_slam_node-1*.log
And when I use gdb to backtrace, the displayed content is as follows: terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc Thread 1 "object_slam_nod" received signal SIGABRT, Aborted. 0x00007ffff0f48428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54 54 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory. (gdb) bt
0 0x00007ffff0f48428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
1 0x00007ffff0f4a02a in __GI_abort () at abort.c:89
2 0x00007ffff158284d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
3 0x00007ffff15806b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
4 0x00007ffff1580701 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
5 0x00007ffff1580919 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
6 0x0000000000434a42 in Eigen::internal::throw_std_bad_alloc() ()
7 0x0000000000434abe in Eigen::internal::aligned_malloc(unsigned long) ()
8 0x000000000044d3c5 in void std::vector<g2o::SE3Quat, Eigen::aligned_allocator >::_M_emplace_back_aux<g2o::SE3Quat const&>(g2o::SE3Quat const&) ()
9 0x00007ffff33407b8 in g2o::SparseOptimizer::push(std::vector<g2o::OptimizableGraph::Vertex, std::allocator<g2o::OptimizableGraph::Vertex> >&) () from /home/wzb/cubeslam_ws/src/cube_slam/object_slam/Thirdparty/g2o/lib/libg2o.so
10 0x00007ffff334a6cf in g2o::OptimizationAlgorithmLevenberg::solve(int, bool) ()
from /home/wzb/cubeslam_ws/src/cube_slam/object_slam/Thirdparty/g2o/lib/libg2o.so
11 0x00007ffff3341e27 in g2o::SparseOptimizer::optimize(int, bool) ()
from /home/wzb/cubeslam_ws/src/cube_slam/object_slam/Thirdparty/g2o/lib/libg2o.so
TINY-KE
Augusthyq
lin-fangzhou
when I run roslaunch object_slam object_slam_example.launch, the error I encountered is as follows: [object_slam_node-1] process has died [pid 18032, exit code -11, cmd /home/wzb/cubeslam_ws/devel/lib/object_slam/object_slam_node name:=object_slam_node log:=/home/wzb/.ros/log/b7f52834-a492-11ea-8ac7-7cb27d1a2d0e/object_slam_node-1.log]. log file: /home/wzb/.ros/log/b7f52834-a492-11ea-8ac7-7cb27d1a2d0e/object_slam_node-1*.log
And I find the code exit at cube_slam/detect_3d_cuboid/src/object_3d_util.cpp line 304: merge_lines_out = all_lines;
And when I use gdb to backtrace, the displayed content is as follows: Thread 1 "object_slam_nod" received signal SIGSEGV, Segmentation fault. 0x00000000004444a0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op const&) ()
(gdb) bt
0 0x00000000004444a0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op const&) ()
1 0x00007ffff45cd21c in merge_break_lines(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, double, double, double)
2 0x00007ffff45c13b1 in detect_3d_cuboid::detect_cuboid(cv::Mat const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::vector<std::vector<cuboid, std::allocator<cuboid> >, std::allocator<std::vector<cuboid, std::allocator<cuboid> > > >&) ()
from /home/wzb/cubeslam_ws/devel/lib/libdetect_3d_cuboid.so
3 0x000000000042f7f4 in incremental_build_graph(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&) ()
4 0x0000000000421712 in main ()
Could you please help me to solve the problem? Thank you very much!