[Error] I got some trouble when I loaded PCD file in pcl1.9.1

[kyoasu]

When I use pcl::io::loadPCDFile to load my data, I have encountered the following problem. Debug reports an error when the ide stays on this page

When I use gdb to trace the problem, show this

and this is the code for how I load the data

[mvieth]

• Which operating system do you use?
• How did you install PCL?
• Which compiler do you use?
• How do you compile your own project? If you use CMake, please post your CMakeLists.txt

[kyoasu]

• Ubuntu20.04
• I installed pcl by compiling the source code
• gcc-9.5
• Yep, I compiled my own project, here is my CMakeLists.txt
  cmake_minimum_required(VERSION 3.5)
  project(XLZAMultiPerception)
  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
  set(CMAKE_CXX_STANDARD 14)
  ADD_COMPILE_OPTIONS(-std=c++14 )
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBOOST_MATH_DISABLE_FLOAT128")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DEIGEN_DONT_VECTORIZE")

############################ set output path #################################
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin/)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin/)

############################# include directories #################################
INCLUDE_DIRECTORIES(
/usr/local/cuda/include
/opt/XLZALibs/flann1.8-noGPU/include
/home/xxx/InstallPackage/eigen3.3.9/include/eigen3
/opt/XLZALibs/pcl-1.9.1-noGPU/include/pcl-1.9
/home/xxx/InstallPackage/vtk9.1.0WithQt/include/vtk-9.1
/home/xxx/InstallPackage/Opencv-4.5.1/include
/home/xxx/InstallPackage/protobuf3.10.0/include
/home/xxx/InstallPackage/boost1.70.0/include
/home/xxx/InstallPackage/yaml-cpp0.7.0/include
)

include_directories(${PROTOBUF_INCLUDE_DIRS} BEFORE)

INCLUDE_DIRECTORIES(.)
INCLUDE_DIRECTORIES(./src)

######################### generate .so library ########################################

file(GLOB_RECURSE OpenCV_LIBRARIES /home/xxx/InstallPackage/Opencv-4.5.1/lib/x86_64-linux-gnu/.so)
file(GLOB_RECURSE PCL_LIBRARIES /opt/XLZALibs/pcl-1.9.1-noGPU/lib/.so)
file(GLOB_RECURSE VTK_LIBRARIES /home/xxx/InstallPackage/vtk9.1.0WithQt/lib/.so)
file(GLOB_RECURSE BOOST_LIBRARIES /home/xxx/InstallPackage/boost1.70.0/lib/.so)
file(GLOB_RECURSE PROTOBUF_LIBRARIES /home/xxx/InstallPackage/protobuf3.10.0/lib/.so)
file(GLOB_RECURSE YAML_LIBRARIES /home/xxx/InstallPackage/yaml-cpp0.7.0/lib/.so)

INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})

############################ Specify src code directory #################################
file(GLOB_RECURSE SRC_PRJ_APP ${PROJECT_SOURCE_DIR}/src/app/.cpp)
file(GLOB_RECURSE SRC_PRJ_BASE ${PROJECT_SOURCE_DIR}/src/base/.cpp src/base/.hpp)
file(GLOB_RECURSE SRC_PRJ_COMMON ${PROJECT_SOURCE_DIR}/src/common/.cpp)
file(GLOB_RECURSE SRC_PRJ_CONFIG ${PROJECT_SOURCE_DIR}/src/configuration/*.cpp)

file(GLOB_RECURSE SRC_PRJ_VIS ${PROJECT_SOURCE_DIR}/src/visualization/*.cpp)

file(GLOB_RECURSE SRC_PRJ_RADAR_PERCEPTION ${PROJECT_SOURCE_DIR}/src/radar_perception/.cpp
${PROJECT_SOURCE_DIR}/src/radar_perception/common/.cpp
${PROJECT_SOURCE_DIR}/src/radar_perception/preprocess/cpu/.cpp
${PROJECT_SOURCE_DIR}/src/radar_perception/cluster/cpu/.cpp
${PROJECT_SOURCE_DIR}/src/radar_perception/process/cpu/.cpp
${PROJECT_SOURCE_DIR}/src/radar_perception/process/common/.cpp)

file(GLOB_RECURSE SRC_PRJ_TRACK ${PROJECT_SOURCE_DIR}/src/track/cpu/.cpp
${PROJECT_SOURCE_DIR}/src/track/common/.cpp)

file(GLOB_RECURSE SRC_PRJ_UTILS ${PROJECT_SOURCE_DIR}/src/utils/*.cpp)

file(GLOB_RECURSE SRC_PRJ_PUBLISH ${PROJECT_SOURCE_DIR}/src/publish_data/*.pb.cc)

file(GLOB_RECURSE SRC_PRJ_FILES ${SRC_PRJ_APP} ${SRC_PRJ_BASE} ${SRC_PRJ_COMMON} ${SRC_PRJ_PUBLISH} ${SRC_PRJ_VIS}
${SRC_PRJ_CONFIG} ${SRC_PRJ_RADAR_PERCEPTION} ${SRC_PRJ_TRACK} ${SRC_PRJ_UTILS}
)

set(DEPEND_LIBRARIES ${PROTOBUF_LIBRARIES} ${OpenCV_LIBRARIES} ${VTK_LIBRARIES} ${PCL_LIBRARIES} ${BOOST_LIBRARIES}
${YAML_LIBRARIES})

add_library(XLZAMultiPerception SHARED ${SRC_PRJ_FILES})
link_libraries(${DEPEND_LIBRARIES})
########################### generate executable file #####################################

file(GLOB_RECURSE SRC_PRJ_MAIN main/main.cpp)
add_executable(XLZAMultiPerception_main ${SRC_PRJ_MAIN})
target_link_libraries(XLZAMultiPerception_main XLZAMultiPerception ${DEPEND_LIBRARIES})
#target_link_libraries(XLZAMultiPerception_main XLZAMultiPerception ${PROTOBUF_LIBRARIES} ${PCL_LIBRARIES})
message(STATUS "CMake configure finished.")

[kyoasu]

And when I use pcl::PointCloudpcl::PointXYZRGB::Ptr in functions, it reports "double free or corruption(out)" on return. The ide stays on this page

[mvieth]

The -DEIGEN_DONT_VECTORIZE option is likely the problem. If you want to use it in your project, you also have to compile PCL with it

[kyoasu]

The -DEIGEN_DONT_VECTORIZE option is likely the problem. If you want to use it in your project, you also have to compile PCL with it

It's work! But I'm sorry that I have another problem. When I use pcl::PointCloudpcl::PointXYZRGB::Ptr in functions, it reports "double free or corruption(out)" on return.
#0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1 0x00007ffff27aa859 in __GI_abort () at abort.c:79
#2 0x00007ffff281526e in __libc_message (action=action@entry=do_abort, fmt=fmt@entry=0x7ffff293f298 "%s\n")
at ../sysdeps/posix/libc_fatal.c:155
#3 0x00007ffff281d2fc in malloc_printerr (str=str@entry=0x7ffff2941670 "double free or corruption (out)")
at malloc.c:5347
#4 0x00007ffff281efa0 in _int_free (av=0x7ffff2974b80 <main_arena>, p=0x7fffe9556010, have_lock=)
at malloc.c:4314
#5 0x0000555555580a66 in Eigen::internal::aligned_free (ptr=0x7fffe9556020)
at /home/xxx/InstallPackage/eigen3.3.9/include/eigen3/Eigen/src/Core/util/Memory.h:177
#6 0x000055555558a208 in Eigen::aligned_allocatorpcl::PointXYZRGB::deallocate (this=0x555556da2718,
p=0x7fffe9556020) at /home/xxx/InstallPackage/eigen3.3.9/include/eigen3/Eigen/src/Core/util/Memory.h:763
#7 0x0000555555589128 in std::allocator_traits<Eigen::aligned_allocatorpcl::PointXYZRGB >::deallocate (
__a=..., __p=0x7fffe9556020, __n=524288) at /usr/include/c++/9/bits/alloc_traits.h:332
#8 0x0000555555588244 in std::_Vector_base<pcl::PointXYZRGB, Eigen::aligned_allocatorpcl::PointXYZRGB >::_M_deallocate (this=0x555556da2718, __p=0x7fffe9556020, __n=524288) at /usr/include/c++/9/bits/stl_vector.h:351
#9 0x0000555555586698 in std::_Vector_base<pcl::PointXYZRGB, Eigen::aligned_allocatorpcl::PointXYZRGB >::~_Vector_base (this=0x555556da2718, __in_chrg=) at /usr/include/c++/9/bits/stl_vector.h:332
#10 0x00005555555866ed in std::vector<pcl::PointXYZRGB, Eigen::aligned_allocatorpcl::PointXYZRGB >::~vector (
this=0x555556da2718, __in_chrg=) at /usr/include/c++/9/bits/stl_vector.h:680
#11 0x000055555558a2c2 in pcl::PointCloudpcl::PointXYZRGB::~PointCloud (this=0x555556da26e0,
__in_chrg=) at /opt/XLZALibs/pcl-1.9.1-noGPU/include/pcl-1.9/pcl/point_cloud.h:240
#12 0x000055555558a2f2 in pcl::PointCloudpcl::PointXYZRGB::~PointCloud (this=0x555556da26e0,
__in_chrg=) at /opt/XLZALibs/pcl-1.9.1-noGPU/include/pcl-1.9/pcl/point_cloud.h:240
#13 0x0000555555589259 in boost::checked_delete<pcl::PointCloudpcl::PointXYZRGB > (x=0x555556da26e0)
at /home/xxx/InstallPackage/boost1.70.0/include/boost/core/checked_delete.hpp:36
#14 0x000055555558ff10 in boost::detail::sp_counted_impl_p<pcl::PointCloudpcl::PointXYZRGB >::dispose (
this=0x5555555f1590)
at /home/xxx/InstallPackage/boost1.70.0/include/boost/smart_ptr/detail/sp_counted_impl.hpp:93
#15 0x0000555555580f0b in boost::detail::sp_counted_base::release (this=0x5555555f1590)
at /home/xxx/InstallPackage/boost1.70.0/include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:112
#16 0x0000555555580fa3 in boost::detail::shared_count::~shared_count (this=0x7fffffffda18,
__in_chrg=)
at /home/xxx/InstallPackage/boost1.70.0/include/boost/smart_ptr/detail/shared_count.hpp:427
#17 0x0000555555582ba6 in boost::shared_ptr<pcl::PointCloudpcl::PointXYZRGB >::~shared_ptr

[kyoasu]

I have solved this problem