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Another segmentation fault in mapping thread #5

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ccrystal2018 opened this issue Jun 7, 2021 · 4 comments
Closed

Another segmentation fault in mapping thread #5

ccrystal2018 opened this issue Jun 7, 2021 · 4 comments

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@ccrystal2018
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Hello,
Thanks for providing the source code of DefSLAM library! I am a freshman at the SLAM and I'm getting a segmentation fault while running the DefSLAM executable.
I don't know how to solve this problem, so I come here for help.

As described in #2, the sequence runs for several frames and then crashes due to the segmentation fault. The error also occurs at NormalEstimator::ObtainK1K2(), but I get another I got another error message.
I try to find the location of the error, specifically at line 153 at NormalEstimator.cc (Solve (options, &problem, &summary)).

I compiled the DefSLAM library on Ubuntu 16.04. I refer to #2 to list the following information. If you need anything else, please let me know.

Here is the gdb output:
Thread 14 "DefSLAM" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7f0d27a19700 (LWP 4340)]
0x00007f0d82333af0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op const&) () from /home/crystal/compareWorkbench/DefSLAM-master/lib/libDeformableSLAM.so

All information in gdb is here:
GNU gdb (GDB; JetBrains IDE bundle; build 128) 8.3
Copyright (C) 2019 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "x86_64-pc-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
http://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
http://www.gnu.org/software/gdb/documentation/.

For help, type "help".
Type "apropos word" to search for commands related to "word".
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
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Thread 14 "DefSLAM" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7f0d27a19700 (LWP 4340)]
0x00007f0d82333af0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op const&) () from /home/crystal/compareWorkbench/DefSLAM-master/lib/libDeformableSLAM.so

Here is the debugger output:
Screenshot from 2021-06-07 21-10-57

Here is the console output:
/home/crystal/compareWorkbench/DefSLAM-master/Apps/DefSLAM /home/crystal/compareWorkbench/DefSLAM-master/Vocabulary/ORBvoc.txt /home/crystal/Dataset/sequence_heart/hamlyn.yaml /home/crystal/Dataset/f5phantom/f5_dynamic_deint_L.avi
4

DefSLAM 2019-2020 José Lamarca, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it

Input sensor was set to:
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

  • fx: 579.057
  • fy: 579.057
  • cx: 139.815
  • cy: 159.224
  • k1: 0
  • k2: 0
  • p1: 0
  • p2: 0
  • fps: 20
  • color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

  • Number of Features: 2000
  • Scale Levels: 1
  • Scale Factor: 1.2
  • Initial Fast Threshold: 10
  • Minimum Fast Threshold: 5

Defomation tracking Parameters:

  • Reg. Inextensibility: 16000
  • Reg. Laplacian: 300
  • Reg. Temporal: 0.02
  • Reg. LocalZone: 1
    New map created with 577 points
    POINTS matched:440
    NORMAL ESTIMATOR IN - NORMALS REESTIMATED : 0 - 0
    NORMAL ESTIMATOR OUTPoints potential : 0 160
    Number Of normals 0 0x803840
    Not enough normals
    Reprojection error: 4.92431
    Points considered: 440
    00001 440 0 575
    POINTS matched:378
    Reprojection error: 4.3275
    Points considered: 404
    00002 406 0 575
    Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.POINTS matched:368
    Reprojection error: 3.63231
    Points considered: 419
    00003 420 0 575
    POINTS matched:377
    Reprojection error: 4.37176
    Points considered: 411
    00004 413 0 575
    POINTS matched:355
    Reprojection error: 4.01546
    Points considered: 396
    00005 398 0 575
    POINTS matched:347
    Reprojection error: 4.15708
    Points considered: 386
    00006 386 0 575
    POINTS matched:300
    Reprojection error: 5.60106
    Points considered: 330
    00007 332 0 575
    POINTS matched:276
    Reprojection error: 4.48035
    Points considered: 336
    00008 337 0 575
    POINTS matched:291
    Reprojection error: 5.16353
    Points considered: 344
    00009 346 0 575
    POINTS matched:283
    Reprojection error: 5.89413
    Points considered: 323
    00010 323 0 575
    POINTS matched:285
    Finding by Schwarp
    -0.265467 0.355908 -0.288624-0.265467 0.355908 -0.288624New points : 2
    Calculating final Schwarp
    -0.265467 0.355908 -0.288624Points to reestimate : 263 321
    Signal: SIGSEGV (Segmentation fault)

Thanks and look forward to your response.
@JoseLamarca
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Hi! Have you tried to pull the last version of the code? I had a similar error that was related to the Ceres library, I had changed the Eigen library and not reinstalling Ceres. You can take a look if it is that. I am not completely sure.

Best,

@ccrystal2018
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Hi, Jose

Thanks for your quick response!

I try to pull the last version and change several versions of the Eigen library. It seems that the problem is caused by the Eigen library.
When I use eigen-3.2.92, #5 appears.I replace the comman “find_ package(Eigen3 REQUIRED)“ with “include_ directories("/home/crystal/develop/eigen-3.3.9") “ in CMakeLists.txt to change different versions.
Then there is a new error, which is similar to the last one. I also try with Eigen-3.1.0, but it doesn't compile correctly. Could you tell me the version of Eigen you are using?

Thanks for your help.

Here is the information when I use Eigen-3.3.9:
Screenshot from 2021-06-08 16-15-20

@JoseLamarca
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My CMake is finding Eigen 3.3.90.

@ccrystal2018
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Thank you for your help. I have re-installed the environment and downloaded the code. The problem has been solved.

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@JoseLamarca @ccrystal2018