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uzh-rpg / rpg_svo

Semi-direct Visual Odometry
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Crash After Initial Triangulation in ROS Hydro on ARM #40

Open ghost opened 10 years ago

ghost commented 10 years ago

I have SVO running on an ODROID U3 in ROS Hydro. SVO detects features and begins tracking. Once the second frame is selected and the initialization is performed, SVO crashes with the following error:

[ INFO] [946685447.012625556]: Init: Homography RANSAC 59 inliers.
[ INFO] [946685447.013208473]: Init: Selected second frame, triangulated initial map.
[ WARN] [946685447.020911390]: Not enough matched features.
[ WARN] [946685447.024558973]: Relocalizing frame
[ WARN] [946685448.028804723]: Relocalizing frame
[ WARN] [946685448.035998640]: Not enough matched features.
*** Error in `/root/catkin_ws/devel/lib/svo_ros/vo': free(): invalid next size (normal): 0x00074fa0 ***
[svo-2] process has died [pid 2591, exit code -6, cmd /root/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/root/.ros/log/137fbeaa-226f-11e4-b65c-00265abbe815/svo-2.log].
log file: /root/.ros/log/137fbeaa-226f-11e4-b65c-00265abbe815/svo-2*.log

I have not been able to get SVO past the initialization without crashing.

cfo commented 10 years ago

Hi, is it maybe the same issue as this one: https://github.com/uzh-rpg/rpg_svo/issues/27 ? can you try to run gdb, valgrind? best

ghost commented 10 years ago

I added launch-prefix="gdb -ex run --args" to the launch file as you instructed in #27. SVO crashes with:

*** Error in `/root/catkin_ws/devel/lib/svo_ros/vo': double free or corruption (!prev): 0x0006d2d0 ***
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]

Program received signal SIGABRT, Aborted.
__libc_do_syscall ()
    at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
44      ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S: No such file or directory.```

After typing bt I get:

#0  __libc_do_syscall ()
    at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
#1  0xb67e25fe in __GI_raise (sig=sig@entry=6)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#2  0xb67e4e1a in __GI_abort () at abort.c:90
#3  0xb68089ec in __libc_message (do_abort=2, 
    fmt=0xb68872b0 "*** Error in `%s': %s: 0x%s ***\n")
    at ../sysdeps/unix/sysv/linux/libc_fatal.c:199
#4  0xb680f752 in malloc_printerr (action=3, 
    str=0xb68873e4 "double free or corruption (!prev)", ptr=<optimized out>)
    at malloc.c:4902
#5  0xb6810192 in _int_free (av=<optimized out>, p=0x6d2c8, have_lock=0)
    at malloc.c:3758
#6  0xb6e2db58 in svo::Map::emptyTrash() ()
   from /root/catkin_ws/devel/lib/libsvo.so
#7  0xb6e2556a in svo::FrameHandlerBase::startFrameProcessingCommon(double) ()
   from /root/catkin_ws/devel/lib/libsvo.so
#8  0xbeffe978 in ?? ()
Cannot access memory at address 0x0
#9  0xbeffe978 in ?? ()
Cannot access memory at address 0x0
Backtrace stopped: previous frame identical to this frame (corrupt stack?)

I would appreciate any help you could offer.

KorbiS commented 10 years ago

Great, I wanted to post the same issue yesterday :) I was running ROS Hydro (arm binary from namniart.com) on Odroid XU/Ubuntu 13.04.

The work around of issue #27 (groovy@Ubuntu12.11 from http://oph.mdrjr.net/murrman/linaro_ubuntu_12.11_robotics_v1_x2.img.xz) worked for me. Anyway it would be nice to run SVO on Hydro/Ubuntu13.04...

ghost commented 10 years ago

Running with launch-prefix="valgrind --leak-check=yes" gives:

==9579== Invalid free() / delete / delete[] / realloc()
==9579==    at 0x482E5B0: free (vg_replace_malloc.c:446)
==9579==    by 0x49DAB57: svo::Map::emptyTrash() (in /root/catkin_ws/devel/lib/libsvo.so)
==9579==  Address 0x90452b0 is 16 bytes inside a block of size 192 alloc'd
==9579==    at 0x482FB34: malloc (vg_replace_malloc.c:270)
==9579==    by 0x49E9065: svo::initialization::KltHomographyInit::addSecondFrame(boost::shared_ptr<svo::Frame>) (in /root/catkin_ws/devel/lib/libsvo.so)
==9579==
cfo commented 10 years ago

Can you please send me the debug output of svo? Therefore, go to $ROS_ROOT/config/rosconsole.config and add the line:

 log4j.logger.ros.svo=DEBUG

then source your catkin/devel/setup.sh again and run svo.

did you set the CMAKE_BUILD_TYPE in the CMakeLists.txt to RelWithDebInfo to get the gdb output?

did you try to download the test dataset: https://github.com/uzh-rpg/rpg_svo/tree/master/svo/test and run test_pipeline?

ghost commented 10 years ago

Debug output of SVO:

[ INFO] [946701357.669408477]: SVO initialized
[ INFO] [946701357.672394061]: Found parameter: svo/cam_topic, value: /camera/image
[ INFO] [946701359.665975186]: RESET
[DEBUG] [946701359.666408061]: New Frame
[ INFO] [946701359.681473936]: Init: Selected first frame.
[DEBUG] [946701359.681945561]: Frame: 0  fps-avg = inf   nObs = 0
[DEBUG] [946701359.686013186]: New Frame
[ INFO] [946701359.833628020]: Init: KLT tracked 231 features
[ INFO] [946701359.833957645]: Init: KLT 0.113109px average disparity.
[DEBUG] [946701359.834173395]: Frame: 1  fps-avg = 64.3915   nObs = 0
[DEBUG] [946701359.835688062]: New Frame
[ INFO] [946701359.983680895]: Init: KLT tracked 231 features
[ INFO] [946701359.984076603]: Init: KLT 0.217593px average disparity.
[DEBUG] [946701359.984448395]: Frame: 2  fps-avg = 12.2288   nObs = 0
[DEBUG] [946701359.986512895]: New Frame
[ INFO] [946701360.291495812]: Init: KLT tracked 116 features
[ INFO] [946701360.291850520]: Init: KLT 40.7412px average disparity.
[DEBUG] [946701360.292196187]: Frame: 3  fps-avg = 9.60523   nObs = 0
[DEBUG] [946701360.294050145]: New Frame
[ INFO] [946701360.498952187]: Init: KLT tracked 114 features
[ INFO] [946701360.499251020]: Init: KLT 39.528px average disparity.
[DEBUG] [946701360.499619520]: Frame: 4  fps-avg = 6.47373   nObs = 0
[DEBUG] [946701360.501587229]: New Frame
[ INFO] [946701360.701671187]: Init: KLT tracked 112 features
[ INFO] [946701360.702066187]: Init: KLT 28.3842px average disparity.
[DEBUG] [946701360.702364729]: Frame: 5  fps-avg = 6.07167   nObs = 0
[DEBUG] [946701360.704986604]: New Frame
[ INFO] [946701360.896251395]: Init: KLT tracked 112 features
[ INFO] [946701360.896519770]: Init: KLT 16.7155px average disparity.
[DEBUG] [946701360.896727645]: Frame: 6  fps-avg = 5.85852   nObs = 0
[DEBUG] [946701360.898383604]: New Frame
[ INFO] [946701361.097063479]: Init: KLT tracked 112 features
[ INFO] [946701361.097382729]: Init: KLT 37.5105px average disparity.
[DEBUG] [946701361.097593645]: Frame: 7  fps-avg = 5.75764   nObs = 0
[DEBUG] [946701361.099189937]: New Frame
[ INFO] [946701361.297064021]: Init: KLT tracked 112 features
[ INFO] [946701361.297354854]: Init: KLT 28.9816px average disparity.
[DEBUG] [946701361.297558687]: Frame: 8  fps-avg = 5.65411   nObs = 0
[DEBUG] [946701361.299379229]: New Frame
[ INFO] [946701361.494351187]: Init: KLT tracked 112 features
[ INFO] [946701361.494644646]: Init: KLT 17.8759px average disparity.
[DEBUG] [946701361.494849562]: Frame: 9  fps-avg = 5.57911   nObs = 0
[DEBUG] [946701361.496599604]: New Frame
[ INFO] [946701361.760219437]: Init: KLT tracked 112 features
[ INFO] [946701361.760617437]: Init: KLT 38.3577px average disparity.
[DEBUG] [946701361.760915229]: Frame: 10     fps-avg = 5.54719   nObs = 0
[DEBUG] [946701361.762942229]: New Frame
[ INFO] [946701362.000746896]: Init: KLT tracked 112 features
[ INFO] [946701362.001197979]: Init: KLT 37.9769px average disparity.
[DEBUG] [946701362.001503771]: Frame: 11     fps-avg = 4.87446   nObs = 0
[DEBUG] [946701362.004737063]: New Frame
[ INFO] [946701362.211371271]: Init: KLT tracked 112 features
[ INFO] [946701362.211666729]: Init: KLT 39.0419px average disparity.
[DEBUG] [946701362.211872188]: Frame: 12     fps-avg = 4.66851   nObs = 0
[DEBUG] [946701362.213418021]: New Frame
[ INFO] [946701362.401885604]: Init: KLT tracked 111 features
[ INFO] [946701362.402332021]: Init: KLT 17.6715px average disparity.
[DEBUG] [946701362.402631521]: Frame: 13     fps-avg = 4.54979   nObs = 0
[DEBUG] [946701362.404879479]: New Frame
[ INFO] [946701362.597291313]: Init: KLT tracked 111 features
[ INFO] [946701362.597593021]: Init: KLT 27.6045px average disparity.
[DEBUG] [946701362.597820438]: Frame: 14     fps-avg = 4.80396   nObs = 0
[DEBUG] [946701362.599455313]: New Frame
[ INFO] [946701362.796869813]: Init: KLT tracked 110 features
[ INFO] [946701362.797169396]: Init: KLT 34.5555px average disparity.
[DEBUG] [946701362.797411313]: Frame: 15     fps-avg = 4.83374   nObs = 0
[DEBUG] [946701362.799085855]: New Frame
[ INFO] [946701362.985386438]: Init: KLT tracked 110 features
[ INFO] [946701362.985824896]: Init: KLT 23.8883px average disparity.
[DEBUG] [946701362.986121313]: Frame: 16     fps-avg = 4.84033   nObs = 0
[DEBUG] [946701362.988549146]: New Frame
[ INFO] [946701363.179316813]: Init: KLT tracked 110 features
[ INFO] [946701363.179621355]: Init: KLT 30.9477px average disparity.
[DEBUG] [946701363.179828313]: Frame: 17     fps-avg = 4.85125   nObs = 0
[DEBUG] [946701363.181506855]: New Frame
[ INFO] [946701363.374747355]: Init: KLT tracked 109 features
[ INFO] [946701363.375067813]: Init: KLT 38.0061px average disparity.
[DEBUG] [946701363.375340438]: Frame: 18     fps-avg = 4.87006   nObs = 0
[DEBUG] [946701363.377087605]: New Frame
[ INFO] [946701363.564238647]: Init: KLT tracked 109 features
[ INFO] [946701363.564544147]: Init: KLT 32.9925px average disparity.
[DEBUG] [946701363.564738188]: Frame: 19     fps-avg = 4.8807    nObs = 0
[DEBUG] [946701363.566571688]: New Frame
[ INFO] [946701363.757759563]: Init: KLT tracked 109 features
[ INFO] [946701363.758144272]: Init: KLT 35.8534px average disparity.
[DEBUG] [946701363.758364897]: Frame: 20     fps-avg = 4.8854    nObs = 0
[DEBUG] [946701363.759943272]: New Frame
[ INFO] [946701363.954387355]: Init: KLT tracked 108 features
[ INFO] [946701363.954770814]: Init: KLT 48.0475px average disparity.
[DEBUG] [946701363.955034355]: Frame: 21     fps-avg = 5.06521   nObs = 0
[DEBUG] [946701363.957107939]: New Frame
[ INFO] [946701364.142664730]: Init: KLT tracked 108 features
[ INFO] [946701364.142979939]: Init: KLT 44.2164px average disparity.
[DEBUG] [946701364.143204980]: Frame: 22     fps-avg = 5.17926   nObs = 0
[DEBUG] [946701364.144899230]: New Frame
[ INFO] [946701364.336519605]: Init: KLT tracked 106 features
[ INFO] [946701364.337011314]: Init: KLT 46.9338px average disparity.
[DEBUG] [946701364.337339105]: Frame: 23     fps-avg = 5.22987   nObs = 0
[DEBUG] [946701364.339438230]: New Frame
[ INFO] [946701364.527795522]: Init: KLT tracked 104 features
[ INFO] [946701364.528095564]: Init: KLT 53.2539px average disparity.
[ INFO] [946701364.588262689]: Init: Homography RANSAC 43 inliers.
[ INFO] [946701364.588824439]: Init: Selected second frame, triangulated initial map.
[DEBUG] [946701364.589111522]: Frame: 24     fps-avg = 5.22114   nObs = 0
[DEBUG] [946701364.590865730]: New Frame
[DEBUG] [946701364.595202147]: Img Align:    Tracked = 42
[DEBUG] [946701364.596559689]: Reprojection:     nPoints = 31        nMatches = 29
[ WARN] [946701364.596871230]: Not enough matched features.
[DEBUG] [946701364.597098689]: Frame: 25     fps-avg = 5.0708    nObs = 42
[DEBUG] [946701364.598513230]: New Frame
[ WARN] [946701364.600830522]: Relocalizing frame
[DEBUG] [946701364.605441355]: Img Align:    Tracked = 42
[DEBUG] [946701364.606969022]: Reprojection:     nPoints = 32        nMatches = 29
[DEBUG] [946701364.607367939]: Frame: 26     fps-avg = 5.61705   nObs = 35
[DEBUG] [946701364.609222689]: New Frame
[DEBUG] [946701364.614469647]: Img Align:    Tracked = 42
[DEBUG] [946701364.615668855]: Reprojection:     nPoints = 31        nMatches = 30
[DEBUG] [946701364.615951314]: Frame: 27     fps-avg = 6.24153   nObs = 35
[DEBUG] [946701364.617489397]: New Frame
[DEBUG] [946701364.623163897]: Img Align:    Tracked = 42
[DEBUG] [946701364.624659189]: Reprojection:     nPoints = 31        nMatches = 30
[DEBUG] [946701364.625165022]: Frame: 28     fps-avg = 7.054     nObs = 35
[DEBUG] [946701364.627053897]: New Frame
[DEBUG] [946701364.633824189]: Img Align:    Tracked = 42
[DEBUG] [946701364.635475480]: Reprojection:     nPoints = 31        nMatches = 31
[DEBUG] [946701364.635920439]: Frame: 29     fps-avg = 8.11972   nObs = 35
[DEBUG] [946701364.638344647]: New Frame
[DEBUG] [946701364.645284355]: Img Align:    Tracked = 42
[DEBUG] [946701364.646602480]: Reprojection:     nPoints = 31        nMatches = 31
[DEBUG] [946701364.646921397]: Frame: 30     fps-avg = 9.49866   nObs = 35
[DEBUG] [946701364.648121356]: New Frame
[DEBUG] [946701364.654224856]: Img Align:    Tracked = 42
[DEBUG] [946701364.655821314]: Reprojection:     nPoints = 31        nMatches = 30
[DEBUG] [946701364.656243481]: Frame: 31     fps-avg = 11.4994   nObs = 35
[DEBUG] [946701364.657740022]: New Frame
[DEBUG] [946701364.663543606]: Img Align:    Tracked = 42
[DEBUG] [946701364.664780897]: Reprojection:     nPoints = 32        nMatches = 28
[DEBUG] [946701364.665061856]: Frame: 32     fps-avg = 14.6478   nObs = 35
[DEBUG] [946701364.666202856]: New Frame
[DEBUG] [946701364.673307564]: Img Align:    Tracked = 42
[DEBUG] [946701364.674812481]: Reprojection:     nPoints = 32        nMatches = 29
[DEBUG] [946701364.675120897]: Frame: 33     fps-avg = 19.8436   nObs = 35
[DEBUG] [946701364.677128856]: New Frame
[DEBUG] [946701364.683759064]: Img Align:    Tracked = 42
[DEBUG] [946701364.685865106]: Reprojection:     nPoints = 33        nMatches = 27
[DEBUG] [946701364.686613856]: Frame: 34     fps-avg = 31.2137   nObs = 35
[DEBUG] [946701364.691297022]: New Frame
[DEBUG] [946701364.697301314]: Img Align:    Tracked = 42
[DEBUG] [946701364.698634106]: Reprojection:     nPoints = 33        nMatches = 28
[DEBUG] [946701364.698925564]: Frame: 35     fps-avg = 124.276   nObs = 35
[DEBUG] [946701364.705821731]: New Frame
[DEBUG] [946701364.711793606]: Img Align:    Tracked = 42
[DEBUG] [946701364.713187231]: Reprojection:     nPoints = 32        nMatches = 27
[DEBUG] [946701364.713502439]: Frame: 36     fps-avg = 121.996   nObs = 35
[DEBUG] [946701364.723670397]: New Frame
[DEBUG] [946701364.730602856]: Img Align:    Tracked = 41
[DEBUG] [946701364.731892814]: Reprojection:     nPoints = 31        nMatches = 24
[DEBUG] [946701364.732192147]: Frame: 37     fps-avg = 123.913   nObs = 35
[DEBUG] [946701364.741746731]: New Frame
[DEBUG] [946701364.748440189]: Img Align:    Tracked = 41
[DEBUG] [946701364.749938397]: Reprojection:     nPoints = 33        nMatches = 26
[DEBUG] [946701364.750373731]: Frame: 38     fps-avg = 121.218   nObs = 35
[DEBUG] [946701364.756945522]: New Frame
[DEBUG] [946701364.763511481]: Img Align:    Tracked = 41
[DEBUG] [946701364.764805897]: Reprojection:     nPoints = 32        nMatches = 25
[DEBUG] [946701364.765106939]: Frame: 39     fps-avg = 119.953   nObs = 35
[DEBUG] [946701364.773685314]: New Frame
[DEBUG] [946701364.780506731]: Img Align:    Tracked = 41
[DEBUG] [946701364.781785772]: Reprojection:     nPoints = 31        nMatches = 27
[DEBUG] [946701364.782114522]: Frame: 40     fps-avg = 121.011   nObs = 35
[DEBUG] [946701364.791393481]: New Frame
[DEBUG] [946701364.798689356]: Img Align:    Tracked = 41
[DEBUG] [946701364.800059022]: Reprojection:     nPoints = 30        nMatches = 28
[DEBUG] [946701364.800571689]: Frame: 41     fps-avg = 121.164   nObs = 35
[DEBUG] [946701364.807363939]: New Frame
[DEBUG] [946701364.814467564]: Img Align:    Tracked = 41
[DEBUG] [946701364.815657356]: Reprojection:     nPoints = 29        nMatches = 27
[DEBUG] [946701364.815966272]: Frame: 42     fps-avg = 119.685   nObs = 35
[DEBUG] [946701364.822872231]: New Frame
[DEBUG] [946701364.829520897]: Img Align:    Tracked = 41
[DEBUG] [946701364.830763397]: Reprojection:     nPoints = 29        nMatches = 27
[DEBUG] [946701364.831054022]: Frame: 43     fps-avg = 117.862   nObs = 35
[DEBUG] [946701364.839508897]: New Frame
[DEBUG] [946701364.846948731]: Img Align:    Tracked = 41
[DEBUG] [946701364.848406106]: Reprojection:     nPoints = 29        nMatches = 27
[DEBUG] [946701364.849061939]: Frame: 44     fps-avg = 119.025   nObs = 35
[DEBUG] [946701364.857012439]: New Frame
[DEBUG] [946701364.863694231]: Img Align:    Tracked = 41
[DEBUG] [946701364.864906064]: Reprojection:     nPoints = 29        nMatches = 27
[DEBUG] [946701364.865216022]: Frame: 45     fps-avg = 119.459   nObs = 35
[DEBUG] [946701364.872739522]: New Frame
*** Error in `/root/catkin_ws/devel/lib/svo_ros/vo': free(): invalid next size (normal): 0x00084dd0 ***
[svo-3] process has died [pid 23831, exit code -6, cmd /root/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/root/.ros/log/efafcef2-c004-11d3-9c64-baddbdf00546/svo-3.log].
log file: /root/.ros/log/efafcef2-c004-11d3-9c64-baddbdf00546/svo-3*.log
ghost commented 10 years ago

Running test_pipeline on the test dataset:

[ INFO] [946701690.852621178]: SVO initialized
reading image /root/Datasets/sin2_tex2_h1_v8_d/img/frame_000002_0.png
[ INFO] [946701690.909888178]: RESET
[DEBUG] [946701690.910070678]: New Frame
[ INFO] [946701690.939114303]: Init: Selected first frame.
[DEBUG] [946701690.939323428]: Frame: 0  fps-avg = inf   nObs = 0
Frame-Id: 0     #Features: 0    Proc. Time: 29.272ms 
[DEBUG] [946701690.990367303]: New Frame
[ INFO] [946701691.237126053]: Init: KLT tracked 398 features
[ INFO] [946701691.237347053]: Init: KLT 25.3703px average disparity.
[DEBUG] [946701691.237454928]: Frame: 1  fps-avg = 34.1623   nObs = 0
Frame-Id: 1     #Features: 0    Proc. Time: 247.064ms 
[DEBUG] [946701691.287849011]: New Frame
[ INFO] [946701691.854448595]: Init: KLT tracked 383 features
[ INFO] [946701691.854631428]: Init: KLT 50.4137px average disparity.
[ INFO] [946701691.863201803]: Init: Homography RANSAC 242 inliers.
[ INFO] [946701691.863799012]: Init: Selected second frame, triangulated initial map.
[DEBUG] [946701691.863952720]: Frame: 2  fps-avg = 7.23757   nObs = 0
Frame-Id: 2     #Features: 224  Proc. Time: 576.075ms 
[DEBUG] [946701691.914841970]: New Frame
[DEBUG] [946701691.925237012]: Img Align:    Tracked = 217
[DEBUG] [946701691.928100678]: Reprojection:     nPoints = 122       nMatches = 121
[DEBUG] [946701691.928822887]: PoseOptimizer:    ErrInit = 0.243179px    thresh = 0.359904
[DEBUG] [946701691.928973553]: PoseOptimizer:    ErrFin. = 0.20219px     nObsFin. = 121
[DEBUG] [946701691.929285220]: Frame: 3  fps-avg = 3.51943   nObs = 224
Frame-Id: 3     #Features: 121  Proc. Time: 14.442ms 
[DEBUG] [946701691.980021345]: New Frame
[DEBUG] [946701691.985971345]: Img Align:    Tracked = 116
[DEBUG] [946701691.988724095]: Reprojection:     nPoints = 121       nMatches = 121
[DEBUG] [946701691.989330637]: PoseOptimizer:    ErrInit = 0.332815px    thresh = 0.492567
[DEBUG] [946701691.989456470]: PoseOptimizer:    ErrFin. = 0.307621px    nObsFin. = 121
[DEBUG] [946701691.989718553]: New keyframe selected.
[DEBUG] [946701691.989930303]: Frame: 4  fps-avg = 4.61439   nObs = 172
Frame-Id: 4     #Features: 121  Proc. Time: 9.889ms 
[DEBUG] [946701692.041056803]: New Frame
[DEBUG] [946701692.046401470]: Img Align:    Tracked = 115
[DEBUG] [946701692.049253262]: Reprojection:     nPoints = 123       nMatches = 121
[DEBUG] [946701692.049810303]: PoseOptimizer:    ErrInit = 0.413583px    thresh = 0.612103
[DEBUG] [946701692.049948095]: PoseOptimizer:    ErrFin. = 0.412491px    nObsFin. = 121
[DEBUG] [946701692.050242845]: Frame: 5  fps-avg = 5.70293   nObs = 155
Frame-Id: 5     #Features: 121  Proc. Time: 9.164ms 
[DEBUG] [946701692.101028678]: New Frame
[DEBUG] [946701692.107057595]: Img Align:    Tracked = 116
[DEBUG] [946701692.109910178]: Reprojection:     nPoints = 121       nMatches = 121
[DEBUG] [946701692.110709137]: PoseOptimizer:    ErrInit = 0.5679px  thresh = 0.840492
[DEBUG] [946701692.110845262]: PoseOptimizer:    ErrFin. = 0.526401px    nObsFin. = 120
[DEBUG] [946701692.111107303]: New keyframe selected.
[DEBUG] [946701692.111312845]: Frame: 6  fps-avg = 6.77273   nObs = 146
Frame-Id: 6     #Features: 121  Proc. Time: 10.256ms 
[DEBUG] [946701692.162476262]: New Frame
[DEBUG] [946701692.167162803]: Img Align:    Tracked = 115
[DEBUG] [946701692.170145845]: Reprojection:     nPoints = 123       nMatches = 121
[DEBUG] [946701692.170707220]: PoseOptimizer:    ErrInit = 0.658167px    thresh = 0.974087
[DEBUG] [946701692.170839553]: PoseOptimizer:    ErrFin. = 0.63715px     nObsFin. = 115
[DEBUG] [946701692.171127012]: Frame: 7  fps-avg = 7.81109   nObs = 141
Frame-Id: 7     #Features: 121  Proc. Time: 8.63ms 
[DEBUG] [946701692.221821053]: New Frame
[DEBUG] [946701692.227856553]: Img Align:    Tracked = 109
[DEBUG] [946701692.230971303]: Reprojection:     nPoints = 124       nMatches = 121
[DEBUG] [946701692.232082845]: PoseOptimizer:    ErrInit = 0.694509px    thresh = 1.02787
[DEBUG] [946701692.232217762]: PoseOptimizer:    ErrFin. = 0.679792px    nObsFin. = 114
[DEBUG] [946701692.232450637]: New keyframe selected.
[DEBUG] [946701692.232710512]: Frame: 8  fps-avg = 8.84181   nObs = 138
Frame-Id: 8     #Features: 121  Proc. Time: 10.878ms 
[DEBUG] [946701692.283857053]: New Frame
[DEBUG] [946701692.290360887]: Img Align:    Tracked = 107
[DEBUG] [946701692.293493512]: Reprojection:     nPoints = 123       nMatches = 121
[DEBUG] [946701692.294042595]: PoseOptimizer:    ErrInit = 0.791808px    thresh = 1.17188
[DEBUG] [946701692.294174637]: PoseOptimizer:    ErrFin. = 0.88093px     nObsFin. = 112
[DEBUG] [946701692.294450845]: Frame: 9  fps-avg = 9.82887   nObs = 135
Frame-Id: 9     #Features: 121  Proc. Time: 10.573ms 
[DEBUG] [946701692.345138887]: New Frame
[DEBUG] [946701692.350570553]: Img Align:    Tracked = 104
[DEBUG] [946701692.353826887]: Reprojection:     nPoints = 125       nMatches = 121
[DEBUG] [946701692.354931887]: PoseOptimizer:    ErrInit = 0.812489px    thresh = 1.20248
[DEBUG] [946701692.355064470]: PoseOptimizer:    ErrFin. = 0.802821px    nObsFin. = 112
[DEBUG] [946701692.355309762]: New keyframe selected.
[DEBUG] [946701692.355613012]: Frame: 10     fps-avg = 10.7963   nObs = 133
Frame-Id: 10    #Features: 121  Proc. Time: 10.468ms 
[DEBUG] [946701692.406636220]: New Frame
[DEBUG] [946701692.412552595]: Img Align:    Tracked = 105
[DEBUG] [946701692.416008220]: Reprojection:     nPoints = 133       nMatches = 121
[DEBUG] [946701692.416574470]: PoseOptimizer:    ErrInit = 0.958968px    thresh = 1.41927
[DEBUG] [946701692.416711678]: PoseOptimizer:    ErrFin. = 0.922338px    nObsFin. = 114
[DEBUG] [946701692.416982428]: Frame: 11     fps-avg = 11.02     nObs = 132
Frame-Id: 11    #Features: 121  Proc. Time: 10.328ms 
[DEBUG] [946701692.467954428]: New Frame
[DEBUG] [946701692.473947553]: Img Align:    Tracked = 104
[DEBUG] [946701692.477426345]: Reprojection:     nPoints = 134       nMatches = 121
[DEBUG] [946701692.478011178]: PoseOptimizer:    ErrInit = 0.76769px     thresh = 1.13618
[DEBUG] [946701692.478147803]: PoseOptimizer:    ErrFin. = 0.775792px    nObsFin. = 115
[DEBUG] [946701692.478391512]: New keyframe selected.
[DEBUG] [946701692.478712095]: Frame: 12     fps-avg = 14.9097   nObs = 131
Frame-Id: 12    #Features: 121  Proc. Time: 10.742ms 
[DEBUG] [946701692.529797720]: New Frame
[DEBUG] [946701692.535976137]: Img Align:    Tracked = 104
[DEBUG] [946701692.539425387]: Reprojection:     nPoints = 129       nMatches = 121
[DEBUG] [946701692.539984220]: PoseOptimizer:    ErrInit = 0.7857px  thresh = 1.16284
[DEBUG] [946701692.540114887]: PoseOptimizer:    ErrFin. = 0.688823px    nObsFin. = 112
[DEBUG] [946701692.540401470]: Frame: 13     fps-avg = 94.9037   nObs = 121
Frame-Id: 13    #Features: 121  Proc. Time: 10.584ms 
[DEBUG] [946701692.591178054]: New Frame
[DEBUG] [946701692.595975595]: Img Align:    Tracked = 105
[DEBUG] [946701692.599599262]: Reprojection:     nPoints = 132       nMatches = 121
[DEBUG] [946701692.600159262]: PoseOptimizer:    ErrInit = 0.779553px    thresh = 1.15374
[DEBUG] [946701692.600294054]: PoseOptimizer:    ErrFin. = 0.64056px     nObsFin. = 112
[DEBUG] [946701692.600548970]: New keyframe selected.
[DEBUG] [946701692.600887304]: Frame: 14     fps-avg = 98.5105   nObs = 121
Frame-Id: 14    #Features: 121  Proc. Time: 9.691ms 
[DEBUG] [946701692.652007429]: New Frame
[DEBUG] [946701692.657888845]: Img Align:    Tracked = 101
[DEBUG] [946701692.661445929]: Reprojection:     nPoints = 127       nMatches = 121
[DEBUG] [946701692.662001970]: PoseOptimizer:    ErrInit = 0.704929px    thresh = 1.04329
[DEBUG] [946701692.662128720]: PoseOptimizer:    ErrFin. = 0.724794px    nObsFin. = 108
[DEBUG] [946701692.662398220]: Frame: 15     fps-avg = 98.703    nObs = 121
Frame-Id: 15    #Features: 121  Proc. Time: 10.373ms 
[DEBUG] [946701692.713252595]: New Frame
[DEBUG] [946701692.718219387]: Img Align:    Tracked = 96
[DEBUG] [946701692.721797804]: Reprojection:     nPoints = 125       nMatches = 121
[DEBUG] [946701692.722934929]: PoseOptimizer:    ErrInit = 0.652905px    thresh = 0.9663
[DEBUG] [946701692.723074429]: PoseOptimizer:    ErrFin. = 0.537063px    nObsFin. = 109
[DEBUG] [946701692.723322679]: New keyframe selected.
[DEBUG] [946701692.723704554]: Frame: 16     fps-avg = 97.5391   nObs = 121
Frame-Id: 16    #Features: 121  Proc. Time: 10.441ms 
[DEBUG] [946701692.774826054]: New Frame
[DEBUG] [946701692.780179429]: Img Align:    Tracked = 100
[DEBUG] [946701692.783839220]: Reprojection:     nPoints = 138       nMatches = 121
[DEBUG] [946701692.784641512]: PoseOptimizer:    ErrInit = 0.487702px    thresh = 0.721799
[DEBUG] [946701692.784778345]: PoseOptimizer:    ErrFin. = 0.421836px    nObsFin. = 114
[DEBUG] [946701692.785047679]: Frame: 17     fps-avg = 97.3634   nObs = 121
Frame-Id: 17    #Features: 121  Proc. Time: 10.201ms 
[DEBUG] [946701692.836013345]: New Frame
[DEBUG] [946701692.841157762]: Img Align:    Tracked = 102
*** Error in `/root/catkin_ws/devel/lib/svo/test_pipeline': free(): invalid pointer: 0xb21030e0 ***
Aborted
ghost commented 10 years ago

@KorbiS Thanks, if this does not get resolved I will try Groovy with Ubuntu 12.11. @cfo I did not set the CMAKE_BUILD_TYPE to RelWithDebInfo to get the gdb output. I will do that now and post the results shortly.

ghost commented 10 years ago

gdb output after rebuilding with CMAKE_BUILD_TYPE set to RevWithDebInfo:

#0  __libc_do_syscall () at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
#1  0xb68055fe in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#2  0xb6807e1a in __GI_abort () at abort.c:90
#3  0xb682b9ec in __libc_message (do_abort=2, fmt=0xb68aa2b0 "*** Error in `%s': %s: 0x%s ***\n")
    at ../sysdeps/unix/sysv/linux/libc_fatal.c:199
#4  0xb6832752 in malloc_printerr (action=3, str=0xb68aa46c "free(): invalid next size (normal)", 
    ptr=<optimized out>) at malloc.c:4902
#5  0xb6833192 in _int_free (av=<optimized out>, p=0xb8b48, have_lock=0) at malloc.c:3758
#6  0xb6e4a3d8 in aligned_free (ptr=0xb8b50) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:227
#7  conditional_aligned_free<true> (ptr=0xb8b50)
    at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:299
#8  operator delete (ptr=0xb8b50) at /root/catkin_ws/src/rpg_svo/svo/include/svo/point.h:38
#9  operator() (pt=@0xb8c80: 0xb8b50, __closure=<optimized out>)
    at /root/catkin_ws/src/rpg_svo/svo/src/map.cpp:193
#10 for_each<std::_List_iterator<svo::Point*>, svo::Map::emptyTrash()::<lambda(svo::Point*&)> > (
    __last=..., __first=..., __f=...) at /usr/include/c++/4.7/bits/stl_algo.h:4442
#11 svo::Map::emptyTrash (this=this@entry=0x89afc)
    at /root/catkin_ws/src/rpg_svo/svo/src/map.cpp:195
#12 0xb6e4574e in svo::FrameHandlerBase::startFrameProcessingCommon (this=this@entry=0x89af0, 
    timestamp=946702340.15010703) at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_base.cpp:104
#13 0xb6e421e2 in svo::FrameHandlerMono::addImage (this=0x89af0, img=..., 
    timestamp=946702340.15010703) at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:60
#14 0x00014e6a in svo::VoNode::imgCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#15 0x00015b62 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, svo::VoNode, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<svo::VoNode*>, boost::arg<1> > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#16 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const () from /opt/ros/hydro/lib/libimage_transport.so
#17 0xb1f8b24a in image_transport::RawSubscriber::internalCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#18 0xb1f9629a in boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>::operator()(image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) const ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#19 0xb1f95994 in void boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > >::operator()<boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&> >(boost::_bi::type<void>, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>&, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>&, int) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#20 0xb1f94e76 in void boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >::operator()<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#21 0xb1f94450 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#22 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const () from /opt/ros/hydro/lib/libimage_transport.so
#23 0xb6f610ae in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) ()
   from /opt/ros/hydro/lib/libimage_transport.so
#24 0xb6f6e490 in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) const ()
   from /opt/ros/hydro/lib/libimage_transport.so
#25 0xb1f987e2 in ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#26 0xb6bdceb6 in ros::SubscriptionQueue::call() () from /opt/ros/hydro/lib/libroscpp.so
#27 0xb6b8d066 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()
   from /opt/ros/hydro/lib/libroscpp.so
#28 0xb6b8cc4c in ros::CallbackQueue::callAvailable(ros::WallDuration) ()
   from /opt/ros/hydro/lib/libroscpp.so
#29 0xb6bc4036 in ros::spinOnce() () from /opt/ros/hydro/lib/libroscpp.so
#30 0x000149fc in main ()
cfo commented 10 years ago

thanks for the tracefiles. as a dirty fix, you can comment line 104 in frame_handler_base.cpp: https://github.com/uzh-rpg/rpg_svo/blob/master/svo/src/frame_handler_base.cpp#L104 and see if you get another error?

ghost commented 10 years ago

After rebuilding with line 104 of frame_handler_base.cpp commented out, SVO still crashes with the following gdb output:

#0  __libc_do_syscall ()
    at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
#1  0xb68055fe in __GI_raise (sig=sig@entry=6)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#2  0xb6807e1a in __GI_abort () at abort.c:90
#3  0xb682b9ec in __libc_message (do_abort=2, 
    fmt=0xb68aa2b0 "*** Error in `%s': %s: 0x%s ***\n")
    at ../sysdeps/unix/sysv/linux/libc_fatal.c:199
#4  0xb6832752 in malloc_printerr (action=3, 
    str=0xb68aa4b4 "free(): invalid pointer", ptr=<optimized out>)
    at malloc.c:4902
#5  0xb6833192 in _int_free (av=<optimized out>, p=0xb0302658, have_lock=0)
    at malloc.c:3758
#6  0xb6e49e54 in aligned_free (ptr=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:227
#7  conditional_aligned_free<true> (ptr=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:299
#8  operator delete (ptr=<optimized out>)
    at /root/catkin_ws/src/rpg_svo/svo/include/svo/feature.h:27
#9  svo::MapPointCandidates::deleteCandidate (this=0x8983c, c=...)
    at /root/catkin_ws/src/rpg_svo/svo/src/map.cpp:279
#10 0xb6e5256c in svo::Reprojector::reprojectMap (this=this@entry=0x898d0, 
    frame=..., overlap_kfs=...)
    at /root/catkin_ws/src/rpg_svo/svo/src/reprojector.cpp:119
#11 0xb6e42926 in svo::FrameHandlerMono::processFrame (this=0x89820)
    at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:146
#12 0xb6e422f8 in svo::FrameHandlerMono::addImage (this=0x89820, img=..., 
    timestamp=946685586.83669782)
    at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:75
#13 0x00014e6a in svo::VoNode::imgCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#14 0x00015b62 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, svo::VoNode, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<svo::VoNode*>, boost::arg<1> > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#15 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const ()
   from /opt/ros/hydro/lib/libimage_transport.so
#16 0xb1f8b24a in image_transport::RawSubscriber::internalCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) () from /opt/ros/hydro/lib//libimage_transport_plugins.so
#17 0xb1f9629a in boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>::operator()(image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) const ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#18 0xb1f95994 in void boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > >::operator()<boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&> >(boost::_bi::type<void>, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>&, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>&, int) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#19 0xb1f94e76 in void boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >::operator()<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#20 0xb1f94450 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#21 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const ()
   from /opt/ros/hydro/lib/libimage_transport.so
#22 0xb6f610ae in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) ()
   from /opt/ros/hydro/lib/libimage_transport.so
#23 0xb6f6e490 in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) const ()
   from /opt/ros/hydro/lib/libimage_transport.so
#24 0xb1f987e2 in ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()
   from /opt/ros/hydro/lib//libimage_transport_plugins.so
#25 0xb6bdceb6 in ros::SubscriptionQueue::call() ()
   from /opt/ros/hydro/lib/libroscpp.so
#26 0xb6b8d066 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()
   from /opt/ros/hydro/lib/libroscpp.so
#27 0xb6b8cc4c in ros::CallbackQueue::callAvailable(ros::WallDuration) ()
   from /opt/ros/hydro/lib/libroscpp.so
#28 0xb6bc4036 in ros::spinOnce() () from /opt/ros/hydro/lib/libroscpp.so
#29 0x000149fc in main ()

It also crashed with rosrun svo test_pipeline.

I can confirm that SVO runs without any problems on Linaro Ubuntu 12.11 with ROS Groovy.