Segmentation fault #20

Sun1307010608 · 2019-12-09T07:41:04Z

hello, when i compiled this project over, i tried to run ./visualizer in bin fold, the error happend:
'''
OpenGL Context Version 4.5 core profile
GLEW initialized.
OpenGL context version: 4.5
OpenGL vendor string : NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1050 Ti/PCIe/SSE2
Extracting surfel maps partially.
Performing frame-to-model matching.
Segmentation fault
'''
any one no why this happended, and how to do to solve this

jbehley · 2019-12-09T07:45:04Z

At least your OpenGL configuration seems fine.

How do you call the program? Just ./visualizer or do you provide some path?

What you can try is to run gdb ./visualizer, which will run the debugger and show you were the problem occurs. If you provide me with the information from the backtrack (type bt in gdb), I will try to diagnose the problem.

Sun1307010608 · 2019-12-09T07:49:51Z

@jbehley thank you for your reply, I just ./visualizer ,and not provide any path, when i run gdb ./visualizer, it shows as follows:
sun@sun-Z370-HD3:/catkin_ws/src/SuMa/bin$ gdb ./visualizer
GNU gdb (Ubuntu 7.11.1-0ubuntu116.5) 7.11.1
Copyright (C) 2016 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-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"...
Reading symbols from ./visualizer...done.
(gdb)

jbehley · 2019-12-09T08:18:15Z

Ah, sorry. You have to type run or r to start the debugger.

See also https://cs.baylor.edu/~donahoo/tools/gdb/tutorial.html

Sun1307010608 · 2019-12-09T08:23:20Z

thanks for your reply, i typed run, it show that :
(gdb) run
Starting program: /home/sun/catkin_ws/src/SuMa/bin/visualizer
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe8795700 (LWP 6520)]
[New Thread 0x7fffddec8700 (LWP 6521)]
[New Thread 0x7fffdd6c7700 (LWP 6522)]
[New Thread 0x7fffdcec6700 (LWP 6523)]
[New Thread 0x7fffcb938700 (LWP 6533)]
OpenGL Context Version 4.5 core profile
GLEW initialized.
OpenGL context version: 4.5
OpenGL vendor string : NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1050 Ti/PCIe/SSE2
Extracting surfel maps partially.
Performing frame-to-model matching.

Thread 1 "visualizer" received signal SIGSEGV, Segmentation fault.
Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::Matrix<float, 4, 4, 0, 4, 4>, Eigen::internal::assign_op > (
func=..., src=..., dst=...)
at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:653
653 dense_assignment_loop::run(kernel);
(gdb)

and the Visual interface emerged, and it turns gray, i can not operate any components

jbehley · 2019-12-09T10:04:56Z

Problems with Eigen usually have something to do with gtsam and the version of Eigen intalled.

You have to recompile gtsam library with the option GTSAM_USE_SYSTEM_EIGEN.

And that the window "turns gray" is normal due to the degbugger that stops the process.

Sun1307010608 · 2019-12-09T10:27:30Z

thanks, do you mean set GTSAM_USE_SYSTEM_EIGEN on when compile gtsam? I did it already, i remeber that when i not set it on, it occurs an error, and only when i set it on, it comiles ok

nachovizzo · 2019-12-09T11:49:40Z

@Sun1307010608

Please make sure you read through this issue borglab/gtsam#75

Install Eigen 3.3.7
Don't use the latest code from gtsam, checkout to this commit borglab/gtsam@c844966

Sun1307010608 · 2019-12-10T06:14:27Z

@nachovizzo thanks for you reply, i have updated my eigen version by 3.3.7, its still occurs segmentation fault. And about gtsam, this program requires that gtsam >= 4.0, it seems that the latest code from gtsam is 4.0, Do you mean i should try the 3.x version gtsam,

jbehley · 2019-12-10T07:25:56Z

currently does the development branch of gtsam contain a bug. therefore, we suggest to clone and build a specific branch, like 4.0.0

Sun1307010608 · 2019-12-10T10:07:24Z

all right, I will change my gtsam version and have a try again.

Sun1307010608 · 2019-12-10T10:08:37Z

@jbehley thank you very much. ^_^

ProfFan · 2019-12-23T21:09:07Z

Hi, Fan from GTSAM here :)

I think we have fixed some of the bugs related to Eigen in develop.

Could you test against the latest develop branch of GTSAM and report the results? Thanks a lot! :)

Sun1307010608 · 2019-12-28T01:00:56Z

Hello, Mr. jbehley, thanks a lot, I take the gtsam version from  'https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip'  as a replace for my old version, and I successfully setup my project like this: (but I feel a little confused that how to save the built map and get the localization trajectory after running my dataset, and can you add a rosbag interface for this project, thank you! ) 孙钦，2942087962@qq.com  

…

------------------ 原始邮件 ------------------ 发件人: "Fan Jiang"<notifications@github.com>; 发送时间: 2019年12月24日(星期二) 凌晨5:09 收件人: "jbehley/SuMa"<SuMa@noreply.github.com>; 抄送: "孙钦"<2942087962@qq.com>;"Mention"<mention@noreply.github.com>; 主题: Re: [jbehley/SuMa] Segmentation fault (#20) Hi, Fan from GTSAM here :) I think we have fixed some of the bugs related to Eigen in develop. Could you test against the latest develop branch of GTSAM and report the results? Thanks a lot! :) — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

ZuoJiaxing · 2019-12-28T18:03:52Z

Yes, I also need a ROS wrapper for this project to run it on our own dataset. Thanks!

Sun1307010608 · 2019-12-29T02:06:58Z

@ZuoJiaxing Thank you, I am looking forward to your new version of this project. _

ProfFan · 2020-01-01T19:11:36Z

Hi, Fan from GTSAM here :)

I think we have fixed some of the bugs related to Eigen in develop.

Could you test against the latest develop branch of GTSAM and report the results? Thanks a lot! :)

Ping @jbehley :)

jbehley · 2020-01-01T21:46:05Z

@ProfFan, thanks for notifying me of the change.

I tried it now and with the current develop version it seems to work now. So I can confirm that your changes did resolve the issue. (Maybe @Sun1307010608 can also confirm now that the original issue is now resolved.)

jbehley · 2020-01-01T21:52:48Z

@Sun1307010608 and @ZuoJiaxing, I can currently not provide full ROS support. However, I know that people used it inside a node.

I currently just convert bagfiles with a simple node into the .bin files. For saving the poses, there is in the menu File > Save Poses... that writes the poses to a txt file in the KITTI format. However, you can also look inside the corresponding method to access the poses directly.

Please understand that I cannot provide full-fledged support for all possible file formats.

Sun1307010608 · 2020-01-02T01:00:06Z

@jbehley thanks, maybe I can write a tool to convert the bagfiles to .bin format files as well. but could you tell me how to save the map to my disk.

ProfFan · 2020-01-02T01:34:43Z

@jbehley Glad to hear that! Please file a bug report if you have any other issues with GTSAM :)

For all, happy new year!

jbehley · 2020-01-03T22:29:42Z

What do you mean with "save the map to my disk", @Sun1307010608?

Do you need the poses? Do you need the surfels? If you want to have an aggregated point cloud given the poses, you can use this gist.

But it really depends on what you want.

Sun1307010608 · 2020-01-04T11:12:00Z

thanks, I mean save the whole point cloud map given the estimated pose by Suma.

jbehley · 2020-01-06T19:16:47Z

@Sun1307010608, as mentioned before, there is no direct way to export the map. (Usually, the poses are enough); here a quote from another issue:

Hi @jediofgever,

there is, unfortunately, no direct way to get the map. Depending on what you need, there are two options:

If you need only the aligned point clouds and maybe a voxelization, you can simply take the poses from SurfelMapping::getOptimizedPoses() and do the processing yourself. Something like: https://gist.github.com/jbehley/bdc7792ce84cff6233bf6adb30b8be4c

If you are interested in the actual surfels, then you have to get the submaps and the current surfels from SurfelMap, where the surfels of the active map are stored in surfels_ and you can use the get method of GlBuffer to retrieve them. The surfels in the submapCache_ are then the surfels that are currently in the inactive parts of the surfel map. The timestamp of the Surfel tells you then the pose T which you have to use to get the global position T * (x,y,z) of the surfel.

The second option needs some coding and unfortunately I cannot provide right now any assistance with that and there are also no plans to include this feature in future.

Hope that helps.

Sun1307010608 · 2020-01-07T15:00:00Z

@jbehley
I got it, thank you!

marszbz · 2020-03-08T06:34:34Z

hi,when i compiled this project over, i tried to run ./visualizer , the error happend:

_OpenGL Context Version 4.6 core profile
GLEW initialized.
OpenGL context version: 4.6
OpenGL vendor string : NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1660 Ti/PCIe/SSE2
Segmentation fault (core dumped)_

then i tried run gdb ./visualizer, it shows as follows:

GNU gdb (Ubuntu 8.1-0ubuntu3) 8.1.0.20180409-git
Copyright (C) 2018 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-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"...
Reading symbols from ./visualizer...done.
(gdb) r
Starting program: /home/zbz/generate_pose/src/SuMa/bin/visualizer
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe902e700 (LWP 4054)]
[New Thread 0x7fffde7e9700 (LWP 4055)]
[New Thread 0x7fffddfe8700 (LWP 4056)]
[New Thread 0x7fffd7fff700 (LWP 4057)]
OpenGL Context Version 4.6 core profile
GLEW initialized.
OpenGL context version: 4.6
OpenGL vendor string : NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1660 Ti/PCIe/SSE2
[New Thread 0x7fffd4e11700 (LWP 4059)]
[New Thread 0x7fffcbfff700 (LWP 4060)]
[New Thread 0x7fffcb7fe700 (LWP 4061)]
[New Thread 0x7fffcaffd700 (LWP 4062)]
[New Thread 0x7fffca7fc700 (LWP 4063)]
[New Thread 0x7fffc9ffb700 (LWP 4064)]
[New Thread 0x7fffc97fa700 (LWP 4065)]
[New Thread 0x7fffc8ff9700 (LWP 4066)]
[New Thread 0x7fffa7fff700 (LWP 4067)]
[New Thread 0x7fffa77fe700 (LWP 4068)]
[New Thread 0x7fffa6ffd700 (LWP 4069)]
[New Thread 0x7fffa67fc700 (LWP 4070)]
Extracting surfel maps partially.
Performing frame-to-model matching.

Thread 1 "visualizer" received signal SIGSEGV, Segmentation fault.
0x00007ffff7b7d357 in _mm256_load_pd (__P=0x555555e1f9b0)
at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:861
861 return *(__m256d *)__P;
"

for test opengl,i tried run test_opengl

GLEW initialized.
OpenGL context version: 4.5
OpenGL vendor string : NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1660 Ti/PCIe/SSE2
[==========] Running 12 tests from 5 test cases.
[----------] Global test environment set-up.
[----------] 2 tests from IcpTest
[ RUN ] IcpTest.testFrame2Model_opengl
/home/zbz/generate_pose/src/SuMa/test/opengl/icp-test.cpp:39: Failure
Expected: 2
To be equal to: scans.size()
Which is: 0
[ FAILED ] IcpTest.testFrame2Model_opengl (0 ms)
[ RUN ] IcpTest.testRounding_rect
[ OK ] IcpTest.testRounding_rect (0 ms)
[----------] 2 tests from IcpTest (0 ms total)

[----------] 1 test from PreprocesingTest
[ RUN ] PreprocesingTest.generateImage

WARNING: NEED TO FIX THIS ISSUE. <<<
[ OK ] PreprocesingTest.generateImage (1 ms)
[----------] 1 test from PreprocesingTest (1 ms total)

[----------] 2 tests from DepthImageGeneratorTest
[ RUN ] DepthImageGeneratorTest.quantization
[ OK ] DepthImageGeneratorTest.quantization (4 ms)
[ RUN ] DepthImageGeneratorTest.testNDC2textureCoords
[ OK ] DepthImageGeneratorTest.testNDC2textureCoords (6 ms)
[----------] 2 tests from DepthImageGeneratorTest (11 ms total)

[----------] 6 tests from NdcTest
[ RUN ] NdcTest.testFramebuffer_mini
[ OK ] NdcTest.testFramebuffer_mini (1 ms)
[ RUN ] NdcTest.testFramebuffer_mini_uneven
/home/zbz/generate_pose/src/SuMa/test/opengl/testNDC.cpp:122: Failure
Expected: int(expected.x)
Which is: 10
To be equal to: int(out.x)
Which is: 0
[ FAILED ] NdcTest.testFramebuffer_mini_uneven (2 ms)
[ RUN ] NdcTest.testFramebuffer_square
[ OK ] NdcTest.testFramebuffer_square (26 ms)
[ RUN ] NdcTest.testFramebuffer_rectangle
[ OK ] NdcTest.testFramebuffer_rectangle (12 ms)
[ RUN ] NdcTest.testFramebuffer_uneven
[ OK ] NdcTest.testFramebuffer_uneven (2 ms)
[ RUN ] NdcTest.testFramebuffer_uneven_large
[ OK ] NdcTest.testFramebuffer_uneven_large (208 ms)
[----------] 6 tests from NdcTest (251 ms total)

[----------] 1 test from JacobianTest
[ RUN ] JacobianTest.testjacobian
/home/zbz/generate_pose/src/SuMa/test/opengl/jacobian-test.cpp:58: Failure
Expected: 2
To be equal to: scans.size()
Which is: 0
[ FAILED ] JacobianTest.testjacobian (0 ms)
[----------] 1 test from JacobianTest (0 ms total)

[----------] Global test environment tear-down
[==========] 12 tests from 5 test cases ran. (263 ms total)
[ PASSED ] 9 tests.
[ FAILED ] 3 tests, listed below:
[ FAILED ] IcpTest.testFrame2Model_opengl
[ FAILED ] NdcTest.testFramebuffer_mini_uneven
[ FAILED ] JacobianTest.testjacobian

anyone know why this happended, and how to solve this

jbehley · 2020-03-25T06:46:04Z

@Sun1307010608 It might be a problem related to different Eigen versions of gtsam and your system's Eigen. Therefore it usually helps to either install gtsam with the option USE_SYSTEM_EIGEN or installing a specific version of Eigen. (See also this issue)

hope that resolves your problems.

xdtzzz · 2021-11-08T14:02:11Z

hi, @jbehley, thanks for your code!!!
I meet the same question, and I use 'gdb ./visualizer' and input 'r' , it shows these:
Thread 1 "visualizer" received signal SIGSEGV, Segmentation fault.
std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (
this=0x200000002) at /usr/include/c++/7/bits/shared_ptr_base.h:151
151 if (__gnu_cxx::__exchange_and_add_dispatch(&_M_use_count, -1) == 1)

could you tell me what problem is it?
Best wishes!!!

xdtzzz · 2021-11-08T14:19:38Z

Starting program: /home/xdt/catkin_ws2/src/SuMa/bin/visualizer
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffeba04700 (LWP 5987)]
[New Thread 0x7fffe0c99700 (LWP 5988)]
[New Thread 0x7fffdbfff700 (LWP 5989)]
[New Thread 0x7fffda785700 (LWP 5990)]
OpenGL Context Version 4.6 core profile
GLEW initialized.
OpenGL context version: 4.6
OpenGL vendor string : NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1650 Ti/PCIe/SSE2
Extracting surfel maps partially.

Thread 1 "visualizer" received signal SIGSEGV, Segmentation fault.
std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (
this=0x200000002) at /usr/include/c++/7/bits/shared_ptr_base.h:151
151 if (__gnu_cxx::__exchange_and_add_dispatch(&_M_use_count, -1) == 1)

xdtzzz · 2021-11-08T14:32:09Z

and when I input 'bt', it shows 'No stack'. @jbehley

jbehley closed this as completed Jan 7, 2020

jbehley mentioned this issue Jul 21, 2020

when i execute,Segfault happend PRBonn/semantic_suma#25

Closed

jbehley mentioned this issue Jul 31, 2020

Visualization raises a segment error #26

Closed

jhjun724 mentioned this issue Nov 11, 2020

Segmentation fault #29

Closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Segmentation fault #20

Segmentation fault #20

Sun1307010608 commented Dec 9, 2019

jbehley commented Dec 9, 2019

Sun1307010608 commented Dec 9, 2019

jbehley commented Dec 9, 2019

Sun1307010608 commented Dec 9, 2019

jbehley commented Dec 9, 2019

Sun1307010608 commented Dec 9, 2019

nachovizzo commented Dec 9, 2019

Sun1307010608 commented Dec 10, 2019

jbehley commented Dec 10, 2019

Sun1307010608 commented Dec 10, 2019

Sun1307010608 commented Dec 10, 2019

ProfFan commented Dec 23, 2019

Sun1307010608 commented Dec 28, 2019 via email

ZuoJiaxing commented Dec 28, 2019

Sun1307010608 commented Dec 29, 2019

ProfFan commented Jan 1, 2020

jbehley commented Jan 1, 2020

jbehley commented Jan 1, 2020

Sun1307010608 commented Jan 2, 2020

ProfFan commented Jan 2, 2020

jbehley commented Jan 3, 2020

Sun1307010608 commented Jan 4, 2020

jbehley commented Jan 6, 2020

Sun1307010608 commented Jan 7, 2020

marszbz commented Mar 8, 2020

jbehley commented Mar 25, 2020

xdtzzz commented Nov 8, 2021

xdtzzz commented Nov 8, 2021

xdtzzz commented Nov 8, 2021

Segmentation fault #20

Segmentation fault #20

Comments

Sun1307010608 commented Dec 9, 2019

jbehley commented Dec 9, 2019

Sun1307010608 commented Dec 9, 2019

jbehley commented Dec 9, 2019

Sun1307010608 commented Dec 9, 2019

jbehley commented Dec 9, 2019

Sun1307010608 commented Dec 9, 2019

nachovizzo commented Dec 9, 2019

Sun1307010608 commented Dec 10, 2019

jbehley commented Dec 10, 2019

Sun1307010608 commented Dec 10, 2019

Sun1307010608 commented Dec 10, 2019

ProfFan commented Dec 23, 2019

Sun1307010608 commented Dec 28, 2019 via email

ZuoJiaxing commented Dec 28, 2019

Sun1307010608 commented Dec 29, 2019

ProfFan commented Jan 1, 2020

jbehley commented Jan 1, 2020

jbehley commented Jan 1, 2020

Sun1307010608 commented Jan 2, 2020

ProfFan commented Jan 2, 2020

jbehley commented Jan 3, 2020

Sun1307010608 commented Jan 4, 2020

jbehley commented Jan 6, 2020

Sun1307010608 commented Jan 7, 2020

marszbz commented Mar 8, 2020

jbehley commented Mar 25, 2020

xdtzzz commented Nov 8, 2021

xdtzzz commented Nov 8, 2021

xdtzzz commented Nov 8, 2021