cyber rt 和 openscenegraph/ opencv viz3d无法共存使用？

[yangmingustb]

在使用apollo 7.0的cyber rt时，基于openscenegraph或者opencv viz3d开发三维程序，程序运行一帧总会挂掉：

ubuntu20.04的终端报错信息：

I0818 15:07:38.841259 45448 cyber_opencv3d.cc:109] [test talker] spin
Pass 'Combine redundant instructions' is not initialized.
Verify if there is a pass dependency cycle.
Required Passes:
Segmentation fault (core dumped)

GDB报错信息：

Pass 'Combine redundant instructions' is not initialized.
Verify if there is a pass dependency cycle.
Required Passes:

Thread 4 "viz3d_comp:sh0" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x155530af9700 (LWP 42309)]
0x0000155531e64378 in llvm::PMTopLevelManager::schedulePass(llvm::Pass*) () from /lib/x86_64-linux-gnu/libLLVM-12.so.1

这里，是否是cyber rt和三维程序存在某种冲突，而导致无法使用三维程序？

[yangmingustb]

确定了问题，和cyber rt 没有关系。libtorch需要更新到最新，所有的3D程序都正常了，旧版本的libtorch-cpu才会引起描述的问题。