Rebuild_Ptr initialization problem

[HeadReaper-hc]

Hi,
Nice work!
I found you didn't initialize the variable of "Rebuild_Ptr" in your code. When I run your demo, everything seems ok, but when
I use your code into my own project with ROS it always leads to problem crash, I solved this problem after I set the initial value of "Rebuild_Ptr" to nullptr. I can't sure is this a bug or I just somehow make my program right. So Can you help me to see if this problem will cause the program to crash?
Best wish.

[Ecstasy-EC]

Hi,
Nice work!
I found you didn't initialize the variable of "Rebuild_Ptr" in your code. When I run your demo, everything seems ok, but when
I use your code into my own project with ROS it always leads to problem crash, I solved this problem after I set the initial value of "Rebuild_Ptr" to nullptr. I can't sure is this a bug or I just somehow make my program right. So Can you help me to see if this problem will cause the program to crash?
Best wish.

Thanks a lot for your advice.
It was my mistakes to miss intializing the "Rebuild_Ptr". It will be initialized in a latest version to be updated later, which fixed some bugs of the current public version.
As I am not sure whether the crash is caused by other reasons, would you please send me some screenshots or the error msgs when your ROS node died?

[HeadReaper-hc]

@Ecstasy-EC

The error code is shown below, although I don't think it's very informative.

Optimizer Object is created!

Estimator Object is created!

Optimizer Object is created!

LoopCloser Object is created!
**Multi thread started** 

Mapper Object is created!

Sensors Grabber is created...

OV²SLAM is ready to process incoming images!
[ov2slam_node-2] process has died [pid 29464, exit code -11, cmd /home/hc/work/ros_ws/devel/lib/ov2slam/ov2slam_node /home/hc/work/ros_ws/src/ov2slam-main/parameters_files/accurate/aqualoc/harbor_mono.yaml __name:=ov2slam_node __log:=/home/hc/.ros/log/e3515b1a-c430-11eb-a35e-4c3488ce980c/ov2slam_node-2.log].
log file: /home/hc/.ros/log/e3515b1a-c430-11eb-a35e-4c3488ce980c/ov2slam_node-2*.log

Actually I only add **_KD_TREE* temp = new KD_TREE_** in my code, so I think the problem is occured in the construction of KD_TREE, then I further found the problem may happen in the following code:

void KD_TREE::multi_thread_rebuild(){
    bool terminated = false;
    KD_TREE_NODE * father_ptr, ** new_node_ptr;
    pthread_mutex_lock(&termination_flag_mutex_lock);
    terminated = termination_flag;
    pthread_mutex_unlock(&termination_flag_mutex_lock);
    // Not sure whether we need a flag to notice this thread to finish and stop
    while (!terminated){
        pthread_mutex_lock(&rebuild_ptr_mutex_lock);
        pthread_mutex_lock(&working_flag_mutex);
        **_if (Rebuild_Ptr != nullptr ){_**                    
            /* Traverse and copy */
            if (Rebuild_Logger.size()>0){
                printf("\n\n\n\n\n\n\n\n\n\n\n ERROR!!! \n\n\n\n\n\n\n\n\n");
            }
    .............................................

But I still don't understand why this not happen in your demo, Perhaps this is an accidental question.

[Ecstasy-EC]

@HeadReaper-hc
Well, I think you are right. That is the problem about initialization.
As fas as I know, different compiling platforms and enviroments may have different initialization policies when handling the non-initialized variables; thus I doubt my demo worked because the "Rebuild_Ptr" has been suitably initialized in accident. I will do a careful double check on the variable initialization before publishing the next version.
Many thanks for your advice!

[HeadReaper-hc]

@Ecstasy-EC

Thanks for your reply.