Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Segmentation fault when running testKimeraVIO #76

Closed
ruffsl opened this issue May 13, 2020 · 2 comments
Closed

Segmentation fault when running testKimeraVIO #76

ruffsl opened this issue May 13, 2020 · 2 comments

Comments

@ruffsl
Copy link
Contributor

ruffsl commented May 13, 2020

Description:

Attempting to run testKimeraVIO will result in a segmentation fault.
This can be reproduced using the provided branch and Dockerfile

git clone https://github.com/ruffsl/Kimera-VIO.git -b focal
cd Kimera-VIO

export DOCKER_BUILDKIT=1
docker build \
  --tag spark/kimera_vio:focal \
  --progress=plain \
  --file focal.Dockerfile  .

Note the .repos files use for the workspace underlays:

https://github.com/ruffsl/Kimera-VIO/tree/focal/install

Command:

docker run -it --rm  spark/kimera_vio:focal bash
ln -s ../src/MIT-SPARK/Kimera-VIO/tests/ build/tests
cd build/kimera_vio/
./testKimeraVIO --gtest_output="xml:testresults.xml"

Console output:

[==========] Running 187 tests from 40 test suites.
[----------] Global test environment set-up.
[----------] 16 tests from VioPipelineFixture
[ RUN      ] VioPipelineFixture.OnlineSequentialStart
Segmentation fault (core dumped)

Additional files:

Same effect, but build with debug instead:

[==========] Running 187 tests from 40 test suites.
[----------] Global test environment set-up.
[----------] 16 tests from VioPipelineFixture
[ RUN      ] VioPipelineFixture.OnlineSequentialStart
I0513 14:57:43.480235    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.480299    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.495240    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.496774    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.496795    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.496800    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.496816    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.496822    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.496830    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.496897    47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.496984    47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.497002    47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.497009    47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.497014    47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.497020    47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.497026    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.497315    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.497490    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.498016    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.498059    47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.498080    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.499624    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.499727    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.499740    47 Pipeline.h:184] Spinning Kimera-VIO.
I0513 14:57:43.499799    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.499809    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.499814    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.499821    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.499828    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.499840    47 MesherModule.cpp:65] Shutting down queues for: Mesher
I0513 14:57:43.499846    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.499886    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.499923    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.500255    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.500270    47 DataProviderInterface.cpp:31] Data provider destructor called.
[       OK ] VioPipelineFixture.OnlineSequentialStart (25 ms)
[ RUN      ] VioPipelineFixture.OnlineSequentialShutdown
I0513 14:57:43.501441    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.501454    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.502830    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.502936    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.502952    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.502957    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.502961    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.502964    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.502970    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.502982    47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.502991    47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.503001    47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.503010    47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.503016    47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.503026    47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.503032    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.503094    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.503129    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.503425    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.503439    47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.503446    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.504812    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.504917    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.505040    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.505049    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.505054    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.505067    47 MesherModule.cpp:65] Shutting down queues for: Mesher
I0513 14:57:43.505074    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.505080    47 Pipeline.h:184] Spinning Kimera-VIO.
I0513 14:57:43.505089    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.505095    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.505100    47 Pipeline.cpp:283] Manual shutdown was requested.
I0513 14:57:43.505131    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.505167    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.505477    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.505491    47 DataProviderInterface.cpp:31] Data provider destructor called.
[       OK ] VioPipelineFixture.OnlineSequentialShutdown (5 ms)
[ RUN      ] VioPipelineFixture.OnlineSequentialSpinOnce
I0513 14:57:43.506578    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.506589    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.507920    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.508038    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.508054    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.508059    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.508064    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.508069    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.508074    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.508085    47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.508093    47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.508105    47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.508112    47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.508121    47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.508131    47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.508141    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.508183    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.508221    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.508517    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.508532    47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.508538    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.509769    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.509874    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.509889    47 EurocDataProvider.cpp:97] Parsing Euroc dataset...
Segmentation fault (core dumped)

Please give also the following information:
@ruffsl
Copy link
Contributor Author

ruffsl commented May 14, 2020

Stack trace via gdb:

I0513 16:42:32.140525  1740 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 16:42:32.140625  1740 testPipeline.cpp:67] Connecting pipeline.
I0513 16:42:32.140637  1740 EurocDataProvider.cpp:97] Parsing Euroc dataset...

Thread 1 "testKimeraVIO" received signal SIGSEGV, Segmentation fault.
0x00007fdb34ae272d in cv::FileNode::ptr() () from /lib/x86_64-linux-gnu/libopencv_core.so.4.2
(gdb) where
#0  0x00007fdb34ae272d in cv::FileNode::ptr() () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#1  0x00007fdb34ae281d in cv::FileNode::type() const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#2  0x00007fdb34ae288d in cv::FileNode::isMap() const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#3  0x00007fdb34aebd15 in cv::FileNode::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#4  0x00007fdb34aebf39 in cv::FileStorage::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#5  0x00007fdb34aebfe7 in cv::FileStorage::operator[](char const*) const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#6  0x00007fdb35ff5e2c in VIO::EurocDataProvider::parseGtData(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (this=0x56106f08abf0, input_dataset_path="../tests/data/MicroEurocDataset", gtSensorName="state_groundtruth_estimate0")
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:293
#7  0x00007fdb35ff78a9 in VIO::EurocDataProvider::parseDataset() (this=0x56106f08abf0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:429
#8  0x00007fdb35ff4f24 in VIO::EurocDataProvider::parse() (this=0x56106f08abf0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:180
#9  0x00007fdb35ff40cc in VIO::EurocDataProvider::spin() (this=0x56106f08abf0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:98
#10 0x000056106dcac401 in VIO::VioPipelineFixture_OnlineSequentialSpinOnce_Test::TestBody() (this=0x56106f07f6b0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testPipeline.cpp:157
#11 0x000056106df11501 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*)
    (object=0x56106f07f6b0, method=&virtual testing::Test::TestBody(), location=0x56106dfe7773 "the test body") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#12 0x000056106df0aa37 in testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*)
    (object=0x56106f07f6b0, method=&virtual testing::Test::TestBody(), location=0x56106dfe7773 "the test body") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#13 0x000056106dee6734 in testing::Test::Run() (this=0x56106f07f6b0) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2508
#14 0x000056106dee711f in testing::TestInfo::Run() (this=0x56106f064070) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2684
#15 0x000056106dee785a in testing::TestSuite::Run() (this=0x56106f00ee50) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2816
#16 0x000056106def3916 in testing::internal::UnitTestImpl::RunAllTests() (this=0x56106f059340) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:5338
#17 0x000056106df1288c in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*)
    (object=0x56106f059340, method=(bool (testing::internal::UnitTestImpl::*)(testing::internal::UnitTestImpl * const)) 0x56106def350e <testing::internal::UnitTestImpl::RunAllTests()>, location=0x56106dfe81b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#18 0x000056106df0bb0d in testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (object=0x56106f059340, method=(bool (testing::internal::UnitTestImpl::*)(testing::internal::UnitTestImpl * const)) 0x56106def350e <testing::internal::UnitTestImpl::RunAllTests()>, location=0x56106dfe81b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#19 0x000056106def2156 in testing::UnitTest::Run() (this=0x56106e108fa0 <testing::UnitTest::GetInstance()::instance>) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:4925
#20 0x000056106dcab9bb in RUN_ALL_TESTS() () at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/include/gtest/gtest.h:2473
#21 0x000056106dcab70f in main(int, char**) (argc=1, argv=0x7ffec80aaf38) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testKimeraVIO.cpp:16
(gdb) list
1	#include <gflags/gflags.h>
2	#include <glog/logging.h>
3	#include <gtest/gtest.h>
4	
5	DEFINE_string(test_data_path, "../tests/data", "Path to data for unit tests.");
6	
7	int main(int argc, char **argv) {
8	  // Initialize Google's testing library.
9	  ::testing::InitGoogleTest(&argc, argv);
10	  // Initialize Google's flags library.
(gdb) frame 6
#6  0x00007f28be42ae2c in VIO::EurocDataProvider::parseGtData (this=0x5617c32a1af0, input_dataset_path="../tests/data/MicroEurocDataset", gtSensorName="state_groundtruth_estimate0")
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:293
293	  CHECK_EQ(static_cast<int>(fs["T_BS"]["rows"]), 4u);
(gdb) list
288	    return false;
289	  }
290	
291	  // Rows and cols are redundant info, since the pose 4x4, but we parse just
292	  // to check we are all on the same page.
293	  CHECK_EQ(static_cast<int>(fs["T_BS"]["rows"]), 4u);
294	  CHECK_EQ(static_cast<int>(fs["T_BS"]["cols"]), 4u);
295	  std::vector<double> vector_pose;
296	  fs["T_BS"]["data"] >> vector_pose;
297	  gt_data_.body_Pose_cam_ = UtilsOpenCV::poseVectorToGtsamPose3(vector_pose);

@ruffsl
Copy link
Contributor Author

ruffsl commented May 14, 2020 •
edited
Loading

Ok, seems something may have changed with cv::FileStorage deserializing to vectors, so I fixed EurocDataProvider::parseGtData to use YamlParser like elseware in ImuParams::parseYAML.

ruffsl@f20d50a

Looks like we get a bit further, but still fails when checking we do not have repeated lmk ids:

...
[       OK ] VioPipelineFixture.OnlineSequentialSpinOnce (623 ms)
[ RUN      ] VioPipelineFixture.OnlineSequentialSpin
I0514 01:36:46.101933    41 testPipeline.cpp:121] Destroying pipeline.
I0514 01:36:46.101943    41 testPipeline.cpp:40] Building pipeline.
I0514 01:36:46.103184    41 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0514 01:36:46.103291    41 testPipeline.cpp:67] Connecting pipeline.
I0514 01:36:46.103302    41 testPipeline.cpp:121] Destroying pipeline.
I0514 01:36:46.103312    41 Pipeline.cpp:278] Pipeline destructor called.
I0514 01:36:46.103317    41 Pipeline.cpp:493] Shutting down VIO pipeline.
I0514 01:36:46.103320    41 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0514 01:36:46.103324    41 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0514 01:36:46.103332    41 MesherModule.cpp:65] Shutting down queues for: Mesher
W0514 01:36:46.103340    41 Pipeline.cpp:884] No backend thread, not joining.
W0514 01:36:46.103348    41 Pipeline.cpp:884] No frontend thread, not joining.
W0514 01:36:46.103354    41 Pipeline.cpp:884] No mesher thread, not joining.
W0514 01:36:46.103359    41 Pipeline.cpp:884] No lcd thread, not joining.
W0514 01:36:46.103365    41 Pipeline.cpp:884] No visualizer thread, not joining.
I0514 01:36:46.103370    41 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0514 01:36:46.103399    41 VioBackEnd.h:87] Backend destructor called.
I0514 01:36:46.103426    41 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0514 01:36:46.103451    41 EurocDataProvider.cpp:95] ETHDatasetParser destructor called.
I0514 01:36:46.103458    41 DataProviderInterface.cpp:31] Data provider destructor called.
I0514 01:36:46.103463    41 testPipeline.cpp:40] Building pipeline.
I0514 01:36:46.104708    41 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0514 01:36:46.104789    41 testPipeline.cpp:67] Connecting pipeline.
I0514 01:36:46.104799    41 EurocDataProvider.cpp:104] Parsing Euroc dataset...
I0514 01:36:46.703676    41 Pipeline.h:184] Spinning Kimera-VIO.
I0514 01:36:46.708084    41 Pipeline.h:184] Spinning Kimera-VIO.
I0514 01:36:46.713817    41 Pipeline.cpp:788] Frontend running in sequential mode (parallel_run set to 0).
I0514 01:36:46.713850    41 Pipeline.cpp:580] ------------------- Initialize Pipeline with frame k = 11--------------------
I0514 01:36:46.802433    41 Pipeline.h:184] Spinning Kimera-VIO.
W0514 01:36:46.817224    41 PipelineModule.h:398] Module: VioBackEnd - Input queue: backend_input_queue didn't return an output.
I0514 01:36:46.821652    41 Pipeline.h:184] Spinning Kimera-VIO.
W0514 01:36:46.835650    41 PipelineModule.h:398] Module: VioBackEnd - Input queue: backend_input_queue didn't return an output.
I0514 01:36:46.840306    41 Pipeline.h:184] Spinning Kimera-VIO.
W0514 01:36:46.850548    41 PipelineModule.h:398] Module: VioBackEnd - Input queue: backend_input_queue didn't return an output.
I0514 01:36:46.855231    41 Pipeline.h:184] Spinning Kimera-VIO.
F0514 01:36:46.967811    41 VioBackEnd.cpp:692] Check failed: std::find(landmarks_kf->begin(), landmarks_kf->end(), lmk_id_in_kf_i) == landmarks_kf->end() 
*** Check failure stack trace: ***
    @     0x7f2b34f921c3  google::LogMessage::Fail()
    @     0x7f2b34f9725b  google::LogMessage::SendToLog()
    @     0x7f2b34f91ebf  google::LogMessage::Flush()
    @     0x7f2b34f926ef  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f2b367d414d  VIO::VioBackEnd::addStereoMeasurementsToFeatureTracks()
    @     0x7f2b36936ed2  VIO::RegularVioBackEnd::addVisualInertialStateAndOptimize()
    @     0x7f2b367d109b  VIO::VioBackEnd::addVisualInertialStateAndOptimize()
    @     0x7f2b367cf933  VIO::VioBackEnd::spinOnce()
    @     0x7f2b367ca0af  VIO::VioBackEndModule::spinOnce()
    @     0x7f2b367cbe12  VIO::PipelineModule<>::spin()
    @     0x7f2b36a2a104  VIO::Pipeline::spinSequential()
    @     0x7f2b36a29dc8  VIO::Pipeline::spinOnce()
    @     0x7f2b36a4eb95  std::__invoke_impl<>()
    @     0x7f2b36a4bd8a  std::__invoke<>()
    @     0x7f2b36a48b44  _ZNSt5_BindIFMN3VIO8PipelineEFvSt10unique_ptrINS0_19StereoImuSyncPacketESt14default_deleteIS3_EEEPS1_St12_PlaceholderILi1EEEE6__callIvJOS6_EJLm0ELm1EEEET_OSt5tupleIJDpT0_EESt12_Index_tupleIJXspT1_EEE
    @     0x7f2b36a444d6  std::_Bind<>::operator()<>()
    @     0x7f2b36a3f776  std::_Function_handler<>::_M_invoke()
    @     0x7f2b366fe2d9  std::function<>::operator()()
    @     0x7f2b366fa05f  VIO::DataProviderModule::getInputPacket()
    @     0x7f2b3670717f  VIO::PipelineModule<>::spin()
    @     0x55ba9ad7bcaa  VIO::Pipeline::spin()
    @     0x55ba9ad72841  VIO::VioPipelineFixture_OnlineSequentialSpin_Test::TestBody()
    @     0x55ba9afd7501  testing::internal::HandleSehExceptionsInMethodIfSupported<>()
    @     0x55ba9afd0a37  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @     0x55ba9afac734  testing::Test::Run()
    @     0x55ba9afad11f  testing::TestInfo::Run()
    @     0x55ba9afad85a  testing::TestSuite::Run()
    @     0x55ba9afb9916  testing::internal::UnitTestImpl::RunAllTests()
    @     0x55ba9afd888c  testing::internal::HandleSehExceptionsInMethodIfSupported<>()
    @     0x55ba9afd1b0d  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @     0x55ba9afb8156  testing::UnitTest::Run()
    @     0x55ba9ad719bb  RUN_ALL_TESTS()

Thread 1 "testKimeraVIO" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50	../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) where
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1  0x00007f2b3446c859 in __GI_abort () at abort.c:79
#2  0x00007f2b34f8f90e in ?? () from /lib/x86_64-linux-gnu/libglog.so.0
#3  0x00007f2b34f921c3 in google::LogMessage::Fail() () from /lib/x86_64-linux-gnu/libglog.so.0
#4  0x00007f2b34f9725b in google::LogMessage::SendToLog() () from /lib/x86_64-linux-gnu/libglog.so.0
#5  0x00007f2b34f91ebf in google::LogMessage::Flush() () from /lib/x86_64-linux-gnu/libglog.so.0
#6  0x00007f2b34f926ef in google::LogMessageFatal::~LogMessageFatal() () from /lib/x86_64-linux-gnu/libglog.so.0
#7  0x00007f2b367d414d in VIO::VioBackEnd::addStereoMeasurementsToFeatureTracks (this=0x55ba9ca2af80, frame_num=@0x55ba9ca2b4c4: 1, stereo_meas_kf=std::vector of length 525, capacity 525 = {...}, 
    landmarks_kf=0x7ffedeca8e40) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:692
#8  0x00007f2b36936ed2 in VIO::RegularVioBackEnd::addVisualInertialStateAndOptimize (this=0x55ba9ca2af80, timestamp_kf_nsec=@0x55ba9c024648: 1403715274012143104, status_smart_stereo_measurements_kf={...}, 
    pim=..., stereo_ransac_body_pose=...) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:197
#9  0x00007f2b367d109b in VIO::VioBackEnd::addVisualInertialStateAndOptimize (this=0x55ba9ca2af80, input=...) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:353
#10 0x00007f2b367cf933 in VIO::VioBackEnd::spinOnce (this=0x55ba9ca2af80, input=...) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:141
#11 0x00007f2b367ca0af in VIO::VioBackEndModule::spinOnce (this=0x55ba9ca339e0, input=std::unique_ptr<struct VIO::BackendInput> = {...})
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEndModule.cpp:32
#12 0x00007f2b367cbe12 in VIO::PipelineModule<VIO::BackendInput, VIO::BackendOutput>::spin (this=0x55ba9ca339e0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/include/kimera-vio/pipeline/PipelineModule.h:204
#13 0x00007f2b36a2a104 in VIO::Pipeline::spinSequential (this=0x55ba9c02dd00) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/pipeline/Pipeline.cpp:357
#14 0x00007f2b36a29dc8 in VIO::Pipeline::spinOnce (this=0x55ba9c02dd00, stereo_imu_sync_packet=std::unique_ptr<class VIO::StereoImuSyncPacket> = {...})
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/pipeline/Pipeline.cpp:329
#15 0x00007f2b36a4eb95 in std::__invoke_impl<void, void (VIO::Pipeline::*&)(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >), VIO::Pipeline*&, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> > > (__f=
    @0x55ba9c024fc0: (void (VIO::Pipeline::*)(class VIO::Pipeline * const, class std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)) 0x7f2b36a298fa <VIO::Pipeline::spinOnce(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>, __t=@0x55ba9c024fd0: 0x55ba9c02dd00) at /usr/include/c++/9/bits/invoke.h:73
#16 0x00007f2b36a4bd8a in std::__invoke<void (VIO::Pipeline::*&)(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >), VIO::Pipeline*&, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> > > (__fn=
    @0x55ba9c024fc0: (void (VIO::Pipeline::*)(class VIO::Pipeline * const, class std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)) 0x7f2b36a298fa <VIO::Pipeline::spinOnce(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>) at /usr/include/c++/9/bits/invoke.h:95
#17 0x00007f2b36a48b44 in std::_Bind<void (VIO::Pipeline::*(VIO::Pipeline*, std::_Placeholder<1>))(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>::__call<void, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&, 0ul, 1ul>(std::tuple<std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&>&&, std::_Index_tuple<0ul, 1ul>) (this=0x55ba9c024fc0, __args=...) at /usr/include/c++/9/functional:400
#18 0x00007f2b36a444d6 in std::_Bind<void (VIO::Pipeline::*(VIO::Pipeline*, std::_Placeholder<1>))(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>::operator()<std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >, void>(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&) (this=0x55ba9c024fc0)
    at /usr/include/c++/9/functional:484
#19 0x00007f2b36a3f776 in std::_Function_handler<void (std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >), std::_Bind<void (VIO::Pipeline::*(VIO::Pipeline*, std::_Placeholder<1>))(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)> >::_M_invoke(std::_Any_data const&, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&) (__functor=..., __args#0=...) at /usr/include/c++/9/bits/std_function.h:300
#20 0x00007f2b366fe2d9 in std::function<void (std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>::operator()(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >) const (this=0x55ba9c026c70, __args#0=std::unique_ptr<class VIO::StereoImuSyncPacket> = {...}) at /usr/include/c++/9/bits/std_function.h:688
#21 0x00007f2b366fa05f in VIO::DataProviderModule::getInputPacket (this=0x55ba9c0268e0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/DataProviderModule.cpp:155
#22 0x00007f2b3670717f in VIO::PipelineModule<VIO::StereoImuSyncPacket, VIO::StereoImuSyncPacket>::spin (this=0x55ba9c0268e0)
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/include/kimera-vio/pipeline/PipelineModule.h:198
#23 0x000055ba9ad7bcaa in VIO::Pipeline::spin (this=0x55ba9c02dd00) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/include/kimera-vio/pipeline/Pipeline.h:185
#24 0x000055ba9ad72841 in VIO::VioPipelineFixture_OnlineSequentialSpin_Test::TestBody (this=0x55ba9c01e630) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testPipeline.cpp:169
#25 0x000055ba9afd7501 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void> (object=0x55ba9c01e630, method=&virtual testing::Test::TestBody(), 
    location=0x55ba9b0ad773 "the test body") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#26 0x000055ba9afd0a37 in testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=0x55ba9c01e630, method=&virtual testing::Test::TestBody(), location=0x55ba9b0ad773 "the test body")
    at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#27 0x000055ba9afac734 in testing::Test::Run (this=0x55ba9c01e630) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2508
#28 0x000055ba9afad11f in testing::TestInfo::Run (this=0x55ba9c0031b0) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2684
#29 0x000055ba9afad85a in testing::TestSuite::Run (this=0x55ba9bfade40) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2816
#30 0x000055ba9afb9916 in testing::internal::UnitTestImpl::RunAllTests (this=0x55ba9bff8330) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:5338
#31 0x000055ba9afd888c in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x55ba9bff8330, 
    method=(bool (testing::internal::UnitTestImpl::*)(class testing::internal::UnitTestImpl * const)) 0x55ba9afb950e <testing::internal::UnitTestImpl::RunAllTests()>, 
    location=0x55ba9b0ae1b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#32 0x000055ba9afd1b0d in testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x55ba9bff8330, 
    method=(bool (testing::internal::UnitTestImpl::*)(class testing::internal::UnitTestImpl * const)) 0x55ba9afb950e <testing::internal::UnitTestImpl::RunAllTests()>, 
    location=0x55ba9b0ae1b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#33 0x000055ba9afb8156 in testing::UnitTest::Run (this=0x55ba9b1cefa0 <testing::UnitTest::GetInstance()::instance>) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:4925
#34 0x000055ba9ad719bb in RUN_ALL_TESTS () at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/include/gtest/gtest.h:2473
#35 0x000055ba9ad7170f in main (argc=1, argv=0x7ffedecaa9b8) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testKimeraVIO.cpp:16
(gdb) frame 7
#7  0x00007f2b367d414d in VIO::VioBackEnd::addStereoMeasurementsToFeatureTracks (this=0x55ba9ca2af80, frame_num=@0x55ba9ca2b4c4: 1, stereo_meas_kf=std::vector of length 525, capacity 525 = {...}, 
    landmarks_kf=0x7ffedeca8e40) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:692
692	    DCHECK(std::find(landmarks_kf->begin(),
(gdb) list
687	
688	    // Thinner structure that only keeps landmarkIds.
689	    // These landmark ids are only the ones visible in current keyframe,
690	    // with a valid track...
691	    // CHECK that we do not have repeated lmk ids!
692	    DCHECK(std::find(landmarks_kf->begin(),
693	                     landmarks_kf->end(),
694	                     lmk_id_in_kf_i) == landmarks_kf->end());
695	    (*landmarks_kf)[i] = lmk_id_in_kf_i;

Kimera-VIO/src/backend/VioBackEnd.cpp

Lines 688 to 695 in 5f30001

// Thinner structure that only keeps landmarkIds.
// These landmark ids are only the ones visible in current keyframe,
// with a valid track...
// CHECK that we do not have repeated lmk ids!
DCHECK(std::find(landmarks_kf->begin(),
landmarks_kf->end(),
lmk_id_in_kf_i) == landmarks_kf->end());
(*landmarks_kf)[i] = lmk_id_in_kf_i;

@ruffsl ruffsl mentioned this issue May 14, 2020
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@ruffsl @marcusabate