Apollo9.0；40系感知camera_tracking报错

[lynsws]

We appreciate you go through Apollo documentations and search previous issues before creating an new one. If neither of the sources helped you with your issues, please report the issue using the following form. Please note missing info can delay the response time.

System information

• OS Platform and Distribution : Linux Ubuntu 20.04
• Apollo installed from : source
• Apollo version : 9.0
• GPU驱动： 525.147.05 RTX4080
• Output of apollo.sh config if on master branch:
  [INFO] Apollo Environment Settings:
  [INFO] APOLLO_ROOT_DIR: /apollo
  [INFO] APOLLO_CACHE_DIR: /apollo/.cache
  [INFO] APOLLO_IN_DOCKER: true
  [INFO] APOLLO_VERSION: master-2024-01-09-a1009a6783
  [INFO] DOCKER_IMG: dev-x86_64-18.04-20231128_2222
  [INFO] APOLLO_ENV: STAGE=dev USE_ESD_CAN=false
  [INFO] USE_GPU_HOST: 1
  [INFO] USE_GPU_TARGET: 1
  [INFO] GPU_PLATFORM: NVIDIA
  [INFO] Configure .apollo.bazelrc in non-interactive mode
  [INFO] You have bazel 5.2.0 installed.
  [INFO] Found possible Python library paths:
  /usr/lib/python3/dist-packages
  /usr/local/lib/python3.6/dist-packages
  [INFO] Found CUDA 11.8 in:
  /usr/local/cuda-11.8/targets/x86_64-linux/lib
  /usr/local/cuda-11.8/targets/x86_64-linux/include
  [INFO] Found cuDNN 8 in:
  /usr/lib/x86_64-linux-gnu
  /usr/include
  [INFO] Found TensorRT 8 in:
  /usr/lib/x86_64-linux-gnu
  /usr/include/x86_64-linux-gnu
  [ OK ] Successfully configured .apollo.bazelrc in non-interactive mode.
  [INFO] Usage: /apollo/scripts/apollo_config.sh [Options]
  [INFO] Options:
  [INFO] -i|--interactive Run in interactive mode
  [INFO] -n|--noninteractive Run in non-interactive mode
  [INFO] -h|--help Show this message and exit

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:

1. 根据40系编译Apollo9.0方法编译Apollo，参考
2. 使用amodel下载yolox3D模型
3. cyber_launch start modules/transform/launch/static_transform.launch
4. cyber_launch start modules/perception/launch/perception_camera_multi_stage.launch
5. cyber_recorder play -f data/bag/sensor_rgb.record

Supporting materials (screenshots, command lines, code/script snippets):

• 问题截图
  
  
  libc.so.6!free (未知源:0)
  libapollo_perception_camera_tracking.so!apollo::perception::camera::Target::~Target() (未知源:0)
  libapollo_perception_camera_tracking.so!void std::vector<apollo::perception::camera::Target, Eigen::aligned_allocatorapollo::perception::camera::Target >::_M_realloc_insert<apollo::perception::camera::Target const&>(__gnu_cxx::__normal_iterator<apollo::perception::camera::Target*, std::vector<apollo::perception::camera::Target, Eigen::aligned_allocatorapollo::perception::camera::Target > >, apollo::perception::camera::Target const&) (未知源:0)
  libapollo_perception_camera_tracking.so!apollo::perception::camera::OMTObstacleTracker::CreateNewTarget(std::vector<std::shared_ptrapollo::perception::camera::TrackObject, std::allocator<std::shared_ptrapollo::perception::camera::TrackObject > > const&) (未知源:0)
  libapollo_perception_camera_tracking.so!apollo::perception::camera::OMTObstacleTracker::Associate2D(std::shared_ptrapollo::perception::camera::CameraTrackingFrame) (未知源:0)
  libapollo_perception_camera_tracking.so!apollo::perception::camera::OMTObstacleTracker::Process(std::shared_ptrapollo::perception::camera::CameraTrackingFrame) (未知源:0)
  libcamera_tracking_component_camera_lib.so!apollo::perception::camera::CameraTrackingComponent::InternalProc(std::shared_ptr<apollo::perception::onboard::CameraFrame const> const&, std::shared_ptrapollo::perception::onboard::SensorFrameMessage) (未知源:0)
  libcamera_tracking_component_camera_lib.so!apollo::perception::camera::CameraTrackingComponent::Proc(std::shared_ptrapollo::perception::onboard::CameraFrame const&) (未知源:0)
  libcamera_location_estimation_component_camera_lib.so!apollo::cyber::croutine::RoutineFactory apollo::cyber::croutine::CreateRoutineFactory<apollo::perception::onboard::CameraFrame, apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptrapollo::perception::onboard::CameraFrame const&)fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}&>(apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptrapollo::perception::onboard::CameraFrame const&)fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}&, std::shared_ptr<apollo::cyber::data::DataVisitor<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType> > const&)::{lambda()fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}::operator()() const::{lambda()fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}::operator()() const (未知源:0)
  libcamera_location_estimation_component_camera_lib.so!std::_Function_handler<void (), apollo::cyber::croutine::RoutineFactory apollo::cyber::croutine::CreateRoutineFactory<apollo::perception::onboard::CameraFrame, apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptrapollo::perception::onboard::CameraFrame const&)fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}&>(apollo::cyber::Component<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&)::{lambda(std::shared_ptrapollo::perception::onboard::CameraFrame const&)fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}&, std::shared_ptr<apollo::cyber::data::DataVisitor<apollo::perception::onboard::CameraFrame, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType> > const&)::{lambda()fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}::operator()() const::{lambda()fixed document bold font in docs/quickstart/apollo_1_0_hardware_syste… #1}>::_M_invoke(std::_Any_data const&) (未知源:0)
  libcyber_croutine.so!apollo::cyber::croutine::(anonymous namespace)::CRoutineEntry(void*) (未知源:0)
  [Unknown/Just-In-Time compiled code] (未知源:0)
• 其他问题

1. perception_camera_single_stage报错
2. Ubantu22.04报错
3. 新的CenterPoint模型在40系平台上也不能正常使用，更换Pointpillars正常

[daohu527]

The error is due to eigen aligned, you can try the latest version.

Here is a doc explains eigen aligned error. https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html

[lynsws]

The error is due to eigen aligned, you can try the latest version.

Here is a doc explains eigen aligned error. https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html

感谢回复！我刚刚在1月31日在ubantu18上尝试了最新版本（master），这个问题似乎并没有解决。
同时，我也尝试在
/apollo/modules/perception/camera_tracking/base/target.h
/apollo/modules/perception/camera_tracking/base/track_object.h
/apollo/modules/common/util/eigen_defs.h
添加#include<Eigen/StdVector>，EIGEN_MAKE_ALIGNED_OPERATOR_NEW，Eigen::aligned_allocator等矩阵对齐标志，但都没有解决这个问题。

[lynsws]

@daohu527 您好，我怀疑这是同一个问题。#15267 请问这个问题目前有得到解决吗？