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sequential SfM tests fail on Ubuntu 18.04 #1715

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raphaelsulzer opened this issue Apr 20, 2020 · 10 comments
Closed

sequential SfM tests fail on Ubuntu 18.04 #1715

raphaelsulzer opened this issue Apr 20, 2020 · 10 comments
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@pmoulon
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bug help_wanted
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Future (Desired b...

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@raphaelsulzer
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raphaelsulzer commented Apr 20, 2020 •
edited
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Hi, and thanks for the great software.

I have successfully build and run openMVG on Ubuntu 18.04.
But if I try to run a sequential SfM pipeline it always fails to generate the SfM.bin file.
The global SfM pipeline runs fine.

So I went back and saw that the ctest fails on 3 tests (see the full output below).

Does anyone have any ideas how to solve the problem?

cmake:
`-- Detected CPU: skylake
-- Checking for C++11 compiler
-- Checking for C++11 compiler - available
-- Found OpenMP_C: -fopenmp
-- Found OpenMP_CXX: -fopenmp
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations]
-- Flann 1.8.4 found (include: /home/adminlocal/PhD/cpp/openMVG/src/third_party/flann/src/cpp/flann)
-- CoinUtils 2.10.13 found (include: /home/adminlocal/PhD/cpp/openMVG/src/dependencies/osi_clp/CoinUtils/src)
-- Clp 1.16.10 found (include: /home/adminlocal/PhD/cpp/openMVG/src/dependencies/osi_clp/Clp/src)
-- You are attempting to build without Osi. Please use cmake variable -DOSI_INCLUDE_DIR_HINTS:STRING="PATH" or OSI_INCLUDE_DIR_HINTS env. variable to a valid Osi path. Or install last Osi version.
-- Lemon 1.3 found (include: /home/adminlocal/PhD/cpp/openMVG/src/third_party/lemon/lemon)
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
-- Could NOT find COIN (missing: COIN_INCLUDE_DIR COIN_CBC_LIBRARY COIN_CBC_SOLVER_LIBRARY COIN_CGL_LIBRARY COIN_CLP_LIBRARY COIN_COIN_UTILS_LIBRARY COIN_OSI_LIBRARY COIN_OSI_CBC_LIBRARY COIN_OSI_CLP_LIBRARY)
-- Found OpenMP_C: -fopenmp
-- Found OpenMP_CXX: -fopenmp
CMake Warning at openMVG_Samples/describe_and_match_GUI/CMakeLists.txt:4 (find_package):
By not providing "FindQt5Widgets.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"Qt5Widgets", but CMake did not find one.

Could not find a package configuration file provided by "Qt5Widgets" with
any of the following names:

Qt5WidgetsConfig.cmake
qt5widgets-config.cmake

Add the installation prefix of "Qt5Widgets" to CMAKE_PREFIX_PATH or set
"Qt5Widgets_DIR" to a directory containing one of the above files. If
"Qt5Widgets" provides a separate development package or SDK, be sure it has
been installed.

CMake Warning at software/VO/AlternativeVO/CMakeLists.txt:7 (find_package):
By not providing "FindQt5Widgets.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"Qt5Widgets", but CMake did not find one.

Could not find a package configuration file provided by "Qt5Widgets" with
any of the following names:

Qt5WidgetsConfig.cmake
qt5widgets-config.cmake

Add the installation prefix of "Qt5Widgets" to CMAKE_PREFIX_PATH or set
"Qt5Widgets_DIR" to a directory containing one of the above files. If
"Qt5Widgets" provides a separate development package or SDK, be sure it has
been installed.

CMake Warning at software/CMakeLists.txt:14 (find_package):
By not providing "FindQt5.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Qt5", but
CMake did not find one.

Could not find a package configuration file provided by "Qt5" with any of
the following names:

Qt5Config.cmake
qt5-config.cmake

Add the installation prefix of "Qt5" to CMAKE_PREFIX_PATH or set "Qt5_DIR"
to a directory containing one of the above files. If "Qt5" provides a
separate development package or SDK, be sure it has been installed.

** Qt5 not found, GUI modules will not be build
-- Could NOT find Sphinx (missing: SPHINX_EXECUTABLE)
Sphinx need to be installed to generate the sphinx documentation
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
Doxygen need to be installed to generate the doxygen documentation

** OpenMVG version: 1.5.0
** Build Shared libs: OFF
** Build OpenMVG tests: ON
** Build OpenMVG softwares: ON
** Build OpenMVG GUI softwares: ON
** Build OpenMVG documentation: ON
** Build OpenMVG samples applications: ON
** Build OpenMVG openGL examples: OFF
** Enable code coverage generation: OFF
** Enable OpenMP parallelization: ON
** Build OpenCV+OpenMVG samples programs: OFF
** Use OpenCV SIFT features: OFF

-- CEREAL: (internal)
-- EIGEN: (external)
-- CERES: 2.0.0 (external)
-- FLANN: 1.8.4 (internal)
-- LIBTIFF: 4.0.9 (external)
-- LIBPNG: 1.6.34 (external)
-- LIBJPEG (external)
-- CLP: 1.16.10 (internal)
-- COINUTILS: 2.10.13 (internal)
-- OSI: (internal)
-- LEMON: 1.3 (internal)

-- Configuring done
-- Generating done
-- Build files have been written to: /home/`

ctest:
`Test project /home/adminlocal/PhD/cpp/openMVG_Build
Start 1: openMVG_test_Camera_Pinhole
1/84 Test #1: openMVG_test_Camera_Pinhole .............................. Passed 0.19 sec
Start 2: openMVG_test_Camera_Pinhole_Radial
2/84 Test #2: openMVG_test_Camera_Pinhole_Radial ....................... Passed 1.51 sec
Start 3: openMVG_test_Camera_Pinhole_Brown
3/84 Test #3: openMVG_test_Camera_Pinhole_Brown ........................ Passed 0.42 sec
Start 4: openMVG_test_Camera_Pinhole_Fisheye
4/84 Test #4: openMVG_test_Camera_Pinhole_Fisheye ...................... Passed 0.58 sec
Start 5: openMVG_test_Camera_Spherical
5/84 Test #5: openMVG_test_Camera_Spherical ............................ Passed 0.39 sec
Start 6: openMVG_test_Camera_Subset_Parametrization
6/84 Test #6: openMVG_test_Camera_Subset_Parametrization ............... Passed 0.00 sec
Start 7: openMVG_test_Camera_IO
7/84 Test #7: openMVG_test_Camera_IO ................................... Passed 0.01 sec
Start 8: openMVG_test_kmeans
8/84 Test #8: openMVG_test_kmeans ...................................... Passed 0.07 sec
Start 9: openMVG_test_exif_IO
9/84 Test #9: openMVG_test_exif_IO ..................................... Passed 0.00 sec
Start 10: openMVG_test_ParseDatabase
10/84 Test #10: openMVG_test_ParseDatabase ............................... Passed 0.06 sec
Start 11: openMVG_test_features
11/84 Test #11: openMVG_test_features .................................... Passed 0.01 sec
Start 12: openMVG_test_image_describer
12/84 Test #12: openMVG_test_image_describer ............................. Passed 0.01 sec
Start 13: openMVG_test_akaze
13/84 Test #13: openMVG_test_akaze ....................................... Passed 0.34 sec
Start 14: openMVG_test_mser
14/84 Test #14: openMVG_test_mser ........................................ Passed 0.14 sec
Start 15: openMVG_test_sift
15/84 Test #15: openMVG_test_sift ........................................ Passed 0.17 sec
Start 16: openMVG_test_tbmr
16/84 Test #16: openMVG_test_tbmr ........................................ Passed 0.06 sec
Start 17: openMVG_graph_test_connectedComponent
17/84 Test #17: openMVG_graph_test_connectedComponent .................... Passed 0.01 sec
Start 18: openMVG_graph_test_triplet_finder
18/84 Test #18: openMVG_graph_test_triplet_finder ........................ Passed 0.00 sec
Start 19: openMVG_test_color_gradient
19/84 Test #19: openMVG_test_color_gradient .............................. Passed 0.01 sec
Start 20: openMVG_test_image
20/84 Test #20: openMVG_test_image ....................................... Passed 0.00 sec
Start 21: openMVG_test_image_drawing
21/84 Test #21: openMVG_test_image_drawing ............................... Passed 0.01 sec
Start 22: openMVG_test_image_integral
22/84 Test #22: openMVG_test_image_integral .............................. Passed 0.00 sec
Start 23: openMVG_test_image_io
23/84 Test #23: openMVG_test_image_io .................................... Passed 0.02 sec
Start 24: openMVG_test_image_filtering
24/84 Test #24: openMVG_test_image_filtering ............................. Passed 0.03 sec
Start 25: openMVG_test_image_resampling
25/84 Test #25: openMVG_test_image_resampling ............................ Passed 2.99 sec
Start 26: openMVG_test_linearProgramming
26/84 Test #26: openMVG_test_linearProgramming ........................... Passed 0.00 sec
Start 27: openMVG_lInftyCV_test_triangulation
27/84 Test #27: openMVG_lInftyCV_test_triangulation ...................... Passed 0.05 sec
Start 28: openMVG_lInftyCV_test_resection
28/84 Test #28: openMVG_lInftyCV_test_resection .......................... Passed 0.02 sec
Start 29: openMVG_lInftyCV_test_resection_robust
29/84 Test #29: openMVG_lInftyCV_test_resection_robust ................... Passed 1.57 sec
Start 30: openMVG_lInftyCV_test_global_translations_fromTriplets
30/84 Test #30: openMVG_lInftyCV_test_global_translations_fromTriplets ... Passed 0.01 sec
Start 31: openMVG_lInftyCV_test_global_translations_fromTij
31/84 Test #31: openMVG_lInftyCV_test_global_translations_fromTij ........ Passed 0.01 sec
Start 32: openMVG_lInftyCV_test_tijsAndXis
32/84 Test #32: openMVG_lInftyCV_test_tijsAndXis ......................... Passed 0.05 sec
Start 33: openMVG_lInftyCV_test_tijsAndXis_outlier
33/84 Test #33: openMVG_lInftyCV_test_tijsAndXis_outlier ................. Passed 0.06 sec
Start 34: openMVG_geodesy_test_geodesy
34/84 Test #34: openMVG_geodesy_test_geodesy ............................. Passed 0.00 sec
Start 35: openMVG_test_convex_hull
35/84 Test #35: openMVG_test_convex_hull ................................. Passed 0.00 sec
Start 36: openMVG_test_rigid_transformation3D_srt
36/84 Test #36: openMVG_test_rigid_transformation3D_srt .................. Passed 0.00 sec
Start 37: openMVG_test_plane_estimation_kernel
37/84 Test #37: openMVG_test_plane_estimation_kernel ..................... Passed 0.00 sec
Start 38: openMVG_test_half_space_intersection
38/84 Test #38: openMVG_test_half_space_intersection ..................... Passed 0.01 sec
Start 39: openMVG_test_frustum_intersection
39/84 Test #39: openMVG_test_frustum_intersection ........................ Passed 0.02 sec
Start 40: openMVG_test_frustum_box_intersection
40/84 Test #40: openMVG_test_frustum_box_intersection .................... Passed 0.03 sec
Start 41: openMVG_test_matching
41/84 Test #41: openMVG_test_matching .................................... Passed 0.00 sec
Start 42: openMVG_test_matching_filters
42/84 Test #42: openMVG_test_matching_filters ............................ Passed 0.00 sec
Start 43: openMVG_test_indMatch
43/84 Test #43: openMVG_test_indMatch .................................... Passed 0.01 sec
Start 44: openMVG_test_metric
44/84 Test #44: openMVG_test_metric ...................................... Passed 0.00 sec
Start 45: openMVG_test_Pair_Builder
45/84 Test #45: openMVG_test_Pair_Builder ................................ Passed 0.01 sec
Start 46: openMVG_test_triangulation
46/84 Test #46: openMVG_test_triangulation ............................... Passed 0.00 sec
Start 47: openMVG_test_triangulation_nview
47/84 Test #47: openMVG_test_triangulation_nview ......................... Passed 0.00 sec
Start 48: openMVG_test_solver_affine
48/84 Test #48: openMVG_test_solver_affine ............................... Passed 0.00 sec
Start 49: openMVG_test_solver_essential_eight_point
49/84 Test #49: openMVG_test_solver_essential_eight_point ................ Passed 0.00 sec
Start 50: openMVG_test_solver_essential_five_point
50/84 Test #50: openMVG_test_solver_essential_five_point ................. Passed 0.00 sec
Start 51: openMVG_test_solver_essential_three_point
51/84 Test #51: openMVG_test_solver_essential_three_point ................ Passed 0.01 sec
Start 52: openMVG_test_solver_fundamental_kernel
52/84 Test #52: openMVG_test_solver_fundamental_kernel ................... Passed 0.00 sec
Start 53: openMVG_test_solver_homography_kernel
53/84 Test #53: openMVG_test_solver_homography_kernel .................... Passed 0.00 sec
Start 54: openMVG_test_solver_resection_kernel
54/84 Test #54: openMVG_test_solver_resection_kernel ..................... Passed 0.00 sec
Start 55: openMVG_test_solver_translation_knownRotation_kernel
55/84 Test #55: openMVG_test_solver_translation_knownRotation_kernel ..... Passed 0.00 sec
Start 56: openMVG_test_rotation_averaging
56/84 Test #56: openMVG_test_rotation_averaging .......................... Passed 0.01 sec
Start 57: openMVG_test_translation_averaging
57/84 Test #57: openMVG_test_translation_averaging ....................... Passed 0.02 sec
Start 58: openMVG_test_extract_columns
58/84 Test #58: openMVG_test_extract_columns ............................. Passed 0.00 sec
Start 59: openMVG_test_numeric
59/84 Test #59: openMVG_test_numeric ..................................... Passed 0.00 sec
Start 60: openMVG_test_poly
60/84 Test #60: openMVG_test_poly ........................................ Passed 0.00 sec
Start 61: openMVG_test_lm
61/84 Test #61: openMVG_test_lm .......................................... Passed 0.00 sec
Start 62: openMVG_test_l1_solver
62/84 Test #62: openMVG_test_l1_solver ................................... Passed 0.06 sec
Start 63: openMVG_test_rand_sampling
63/84 Test #63: openMVG_test_rand_sampling ............................... Passed 0.00 sec
Start 64: openMVG_test_robust_estimator_lineKernel
64/84 Test #64: openMVG_test_robust_estimator_lineKernel ................. Passed 0.00 sec
Start 65: openMVG_test_robust_estimator_MaxConsensus
65/84 Test #65: openMVG_test_robust_estimator_MaxConsensus ............... Passed 0.01 sec
Start 66: openMVG_test_robust_estimator_Ransac
66/84 Test #66: openMVG_test_robust_estimator_Ransac ..................... Passed 0.00 sec
Start 67: openMVG_test_robust_estimator_ACRansac
67/84 Test #67: openMVG_test_robust_estimator_ACRansac ................... Passed 0.06 sec
Start 68: openMVG_test_gms_filter
68/84 Test #68: openMVG_test_gms_filter .................................. Passed 0.01 sec
Start 69: openMVG_test_tracks
69/84 Test #69: openMVG_test_tracks ...................................... Passed 0.00 sec
Start 70: openMVG_test_union_find
70/84 Test #70: openMVG_test_union_find .................................. Passed 0.00 sec
Start 71: openMVG_test_global_quantile_gain_offset_alignment
71/84 Test #71: openMVG_test_global_quantile_gain_offset_alignment ....... Passed 0.01 sec
Start 72: openMVG_test_progress
72/84 Test #72: openMVG_test_progress .................................... Passed 0.04 sec
Start 73: openMVG_test_sfm_data_io
73/84 Test #73: openMVG_test_sfm_data_io ................................. Passed 0.03 sec
Start 74: openMVG_test_sfm_data_BA
74/84 Test #74: openMVG_test_sfm_data_BA .................................***Exception: Child aborted 0.01 sec

Launching Test : 63BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_PosePriors_Test

double free or corruption (out)

  Start 75: openMVG_test_sfm_data_utils

75/84 Test #75: openMVG_test_sfm_data_utils .............................. Passed 0.00 sec
Start 76: openMVG_test_sfm_data_filters
76/84 Test #76: openMVG_test_sfm_data_filters ............................ Passed 0.00 sec
Start 77: openMVG_test_sfm_data_graph_utils
77/84 Test #77: openMVG_test_sfm_data_graph_utils ........................ Passed 0.01 sec
Start 78: openMVG_test_sfm_data_triangulation
78/84 Test #78: openMVG_test_sfm_data_triangulation ...................... Passed 0.01 sec
Start 79: openMVG_test_global_SfM
79/84 Test #79: openMVG_test_global_SfM .................................. Passed 0.79 sec
Start 80: openMVG_test_sequential_SfM
80/84 Test #80: openMVG_test_sequential_SfM ..............................***Exception: Child aborted 0.05 sec

Launching Test : 46SEQUENTIAL_SFM_Partially_Known_Intrinsics_Test

Track building

Track filtering

Track export to internal struct

Track stats

-- Tracks Stats --
Tracks number: 32
Images Id:
0, 1, 2, 3, 4, 5,

TrackLength, Occurrence
6 32

A-Contrario initial pair residual: 3.89741

Bundle Adjustment statistics (approximated RMSE):
#views: 2
#poses: 2
#intrinsics: 1
#tracks: 32
#residuals: 128
Initial RMSE: 0.230887
Final RMSE: 0.183702
Time (s): 0.00181913

=========================
MSE Residual InitialPair Inlier:

SequentialSfMReconstructionEngine::ComputeResidualsMSE.
-- #Tracks: 32
-- Residual min: 0.00314529
-- Residual median: 0.124726
-- Residual max: 0.897683
-- Residual mean: 0.187953

-- Robust Resection of view: 3
nfa=-32.0713 inliers=22/32 precisionNormalized=0.000414172 precision=20.3512 (iter=0 ,sample=26,5,29,27,7,31,)
nfa=-50.9889 inliers=26/32 precisionNormalized=0.000207223 precision=14.3952 (iter=2 ,sample=13,31,4,22,3,26,)
nfa=-68.7851 inliers=30/32 precisionNormalized=0.000167749 precision=12.9518 (iter=3 ,sample=8,4,3,24,31,26,)
nfa=-72.5926 inliers=30/32 precisionNormalized=0.00011638 precision=10.788 (iter=5 ,sample=26,8,11,3,23,22,)
nfa=-92.1282 inliers=31/32 precisionNormalized=2.91382e-05 precision=5.39798 (iter=6 ,sample=30,9,17,15,27,6,)
nfa=-103.343 inliers=32/32 precisionNormalized=1.7443e-05 precision=4.17648 (iter=10 ,sample=26,21,9,30,4,28,)
nfa=-106.476 inliers=32/32 precisionNormalized=1.31878e-05 precision=3.6315 (iter=11 ,sample=9,13,4,6,12,21,)
nfa=-109.961 inliers=31/32 precisionNormalized=5.54237e-06 precision=2.35422 (iter=12 ,sample=19,27,11,20,18,14,)
nfa=-115.116 inliers=32/32 precisionNormalized=6.07212e-06 precision=2.46417 (iter=22 ,sample=18,19,27,24,16,23,)
nfa=-115.309 inliers=31/32 precisionNormalized=3.34033e-06 precision=1.82766 (iter=241 ,sample=13,23,16,1,20,8,)
nfa=-119.057 inliers=32/32 precisionNormalized=4.24774e-06 precision=2.061 (iter=304 ,sample=14,23,19,17,28,30,)

-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 32
-- #Points validated by robust Resection: 32
-- Threshold: 2.061

double free or corruption (out)

  Start 81: openMVG_test_sequential_SfM2

81/84 Test #81: openMVG_test_sequential_SfM2 .............................***Exception: Child aborted 0.02 sec

Launching Test : 45SEQUENTIAL_SFM2_STELLAR_Known_Intrinsics_Test

  • Relative pose computation -
    0% 10 20 30 40 50 60 70 80 90 100%
    |----|----|----|----|----|----|----|----|----|----|

Relative motion computation took: 4(ms)
The chosen stellar pod has 4 pairs.
Stellar pod details:
#central pose id: 0
#pairs: 4
#2-uplets: 6
Stellar reconstruction with center node: 0
#relative scales: 6
#pairs : 4
Pair: 0,1; scaling: 1
Pair: 0,2; scaling: 0.574102
Pair: 4,0; scaling: 0.575275
Pair: 5,0; scaling: 0.998851
#point depth filter: 0 measurements removed
Initialization status : Success

Track stats

-- Tracks Stats --
Tracks number: 32
Images Id:
0, 1, 2, 3, 4, 5,

TrackLength, Occurrence
6 32

-- Starting Structure from Motion (statistics) with:
-- #Camera calibrated: 5 from 6 input images.
-- #Tracks, #3D points: 32

ViewId: 3; #number of 2D-3D matches: 32; 96.9697 % of the view track coverage.
nfa=-30.6075 inliers=29/32 precisionNormalized=0.0092697 precision=96.2793 (iter=0 ,sample=26,5,29,)
nfa=-73.7945 inliers=30/32 precisionNormalized=0.000288135 precision=16.9745 (iter=0 ,sample=26,5,29,)
nfa=-141.946 inliers=32/32 precisionNormalized=2.44843e-06 precision=1.56474 (iter=1 ,sample=6,13,1,)
nfa=-146.759 inliers=32/32 precisionNormalized=1.63294e-06 precision=1.27787 (iter=6 ,sample=0,18,9,)
nfa=-148.424 inliers=32/32 precisionNormalized=1.41599e-06 precision=1.18995 (iter=357 ,sample=13,8,23,)

-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 32
-- #Points validated by robust Resection: 32
-- Threshold: 1.18995

-- Robust Resection of camera index: <3> image:
-- Threshold: 1.18995
-- Resection status: OK
-- Nb points used for Resection: 32
-- Nb points validated by robust estimation: 32
-- % points validated: 100

double free or corruption (out)

  Start 82: openMVG_test_stellar_SfM

82/84 Test #82: openMVG_test_stellar_SfM ................................. Passed 0.02 sec
Start 83: openMVG_test_split
83/84 Test #83: openMVG_test_split ....................................... Passed 0.00 sec
Start 84: openMVG_test_dynamic_bitset
84/84 Test #84: openMVG_test_dynamic_bitset .............................. Passed 0.00 sec

96% tests passed, 3 tests failed out of 84

Total Test time (real) = 10.28 sec

The following tests FAILED:
74 - openMVG_test_sfm_data_BA (Child aborted)
80 - openMVG_test_sequential_SfM (Child aborted)
81 - openMVG_test_sequential_SfM2 (Child aborted)
Errors while running CTest
`
@raphaelsulzer raphaelsulzer changed the title SfM tests fail on Ubuntu 18.04 sequential SfM tests fail on Ubuntu 18.04 Apr 20, 2020
@pmoulon
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pmoulon commented Apr 20, 2020

Thank you for your feedback.
I think we have a bug with ceres2.0 (on initial pair compilation).

  • Would you be willing to compile in debug and run valgrind on openMVG_test_sfm_data_BA?

The temporary workaround, you can force to use the internal Ceres:

  • you can comment this line and re-run make from a fresh clean cache

@pmoulon pmoulon self-assigned this Apr 20, 2020
@pmoulon pmoulon added the bug label Apr 20, 2020
@raphaelsulzer
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raphaelsulzer commented Apr 20, 2020 •
edited
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Would you be willing to compile in debug and run valgrind on openMVG_test_sfm_data_BA?

Yes, here you go:

==9918== Memcheck, a memory error detector
==9918== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==9918== Using Valgrind-3.13.0 and LibVEX; rerun with -h for copyright info
==9918== Command: ./openMVG_test_sfm_data_BA
==9918==

Launching Test : 63BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_PosePriors_Test

==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB491C: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAB538C: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAABBBF: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== Address 0x9aa1ee0 is 16 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB4881: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAB538C: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAABBBF: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB57F1: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAABBBF: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9aa2060 is 16 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB48E6: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAB538C: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAABBBF: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB5813: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAABBBF: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9aa1d60 is 16 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB50A9: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAABBBF: ceres::internal::SchurEliminator<2, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB491C: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAB5F90: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== Address 0x9aa96c0 is 32 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB4881: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAB5F90: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB62E1: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9aa99c0 is 32 bytes inside a block of size 80 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0xAB5FD5: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB62EE: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9aa9840 is 32 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB48E6: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAB5F90: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB62FB: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9aa9540 is 32 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB5AB6: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAA878F: ceres::internal::SchurEliminator<2, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==

Bundle Adjustment statistics (approximated RMSE):
#views: 12
#poses: 12
#intrinsics: 1
#tracks: 6
#residuals: 144
Initial RMSE: 28.2231
Final RMSE: 8.06786e-12
Time (s): 12.6679

==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB491C: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE7FFC: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE5FBF: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== Address 0x9cc5e40 is 32 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB4881: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE7FFC: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE5FBF: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAE8461: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE5FBF: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9cc5fc0 is 32 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB48E6: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE7FFC: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE5FBF: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAE8483: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE5FBF: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9cc5cc0 is 32 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAE7D19: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)::{lambda(int, int)#2}::operator()(int, int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9776F8: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int, int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE5FBF: ceres::internal::SchurEliminator<-1, -1, -1>::Eliminate(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F79A7: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAB491C: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE9667: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== Address 0x9ccf100 is 16 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB4881: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE9667: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAE99D7: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9ccf400 is 16 bytes inside a block of size 80 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0xAE96AC: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAE99E4: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9ccf280 is 16 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAB48E6: ceres::EigenTypes<-1, -1>::Matrix ceres::internal::InvertPSDMatrix<-1>(bool, ceres::EigenTypes<-1, -1>::Matrix const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE9667: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==
==9918== Invalid free() / delete / delete[] / realloc()
==9918== at 0x4C30D3B: free (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0xAE99F1: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9C4989: ceres::internal::LevenbergMarquardtStrategy::ComputeStep(ceres::internal::TrustRegionStrategy::PerSolveOptions const&, ceres::internal::SparseMatrix*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x99DE44: ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep() (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9A2793: ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9716E5: ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x972298: ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x7D8243: openMVG::sfm::Bundle_Adjustment_Ceres::Adjust(openMVG::sfm::SfM_Data&, openMVG::sfm::Optimize_Options const&) (sfm_data_BA_ceres.cpp:475)
==9918== Address 0x9ccef80 is 16 bytes inside a block of size 320 alloc'd
==9918== at 0x4C2FB0F: malloc (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==9918== by 0x77E6D9: Eigen::internal::handmade_aligned_malloc(unsigned long) (Memory.h:88)
==9918== by 0x77E75D: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:164)
==9918== by 0x7857D8: void* Eigen::internal::conditional_aligned_malloc(unsigned long) (Memory.h:214)
==9918== by 0x79E15F: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:374)
==9918== by 0x8C4261: Eigen::DenseStorage<double, -1, -1, -1, 1>::resize(long, long, long) (DenseStorage.h:408)
==9918== by 0x8B5EEA: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::resize(long, long) (PlainObjectBase.h:293)
==9918== by 0xAE873A: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*)::{lambda(int)#1}::operator()(int) const (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x977A22: ceres::internal::ParallelFor(ceres::internal::ContextImpl*, int, int, int, std::function<void (int)> const&) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0xAE219F: ceres::internal::SchurEliminator<-1, -1, -1>::BackSubstitute(ceres::internal::BlockSparseMatrixData const&, double const*, double const*, double const*, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9F8104: ceres::internal::SchurComplementSolver::SolveImpl(ceres::internal::BlockSparseMatrix*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918== by 0x9D9E94: ceres::internal::TypedLinearSolverceres::internal::BlockSparseMatrix::Solve(ceres::internal::LinearOperator*, double const*, ceres::internal::LinearSolver::PerSolveOptions const&, double*) (in /home/adminlocal/PhD/cpp/openMVG_debug/Linux-x86_64-DEBUG/openMVG_test_sfm_data_BA)
==9918==

Bundle Adjustment statistics (approximated RMSE):
#views: 12
#poses: 12
#intrinsics: 1
#tracks: 6
#residuals: 180
Initial RMSE: 7.2173e-12
Final RMSE: 7.21533e-12
Time (s): 0.964376

Usable motion priors: 1
Pose prior statistics (user units):

  • Starting median fitting error: 2.87746e-13

  • Final fitting error:
    min: 1.35842e-13
    mean: 3.29116e-13
    median: 2.81907e-13
    max: 7.44617e-13

    TEST -> [OK]

Launching Test : 56BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_GCP_Test

Bundle Adjustment statistics (approximated RMSE):
#views: 3
#poses: 3
#intrinsics: 1
#tracks: 6
#residuals: 60
Initial RMSE: 706.574
Final RMSE: 0.0354715
Time (s): 0.572088

 TEST -> [OK]

Launching Test : 70BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_Intrinsic_Fisheye_Test

Bundle Adjustment statistics (approximated RMSE):
#views: 3
#poses: 3
#intrinsics: 1
#tracks: 6
#residuals: 36
Initial RMSE: 27.5021
Final RMSE: 1.63544e-09
Time (s): 2.39039

 TEST -> [OK]

Launching Test : 71BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_Intrinsic_Brown_T2_Test

Bundle Adjustment statistics (approximated RMSE):
#views: 3
#poses: 3
#intrinsics: 1
#tracks: 6
#residuals: 36
Initial RMSE: 29.182
Final RMSE: 1.40653e-10
Time (s): 1.81528

 TEST -> [OK]

Launching Test : 62BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_Radial_K3_Test

Bundle Adjustment statistics (approximated RMSE):
#views: 3
#poses: 3
#intrinsics: 1
#tracks: 6
#residuals: 36
Initial RMSE: 29.1081
Final RMSE: 0.00167546
Time (s): 3.49816

 TEST -> [OK]

Launching Test : 62BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_Radial_K1_Test

Bundle Adjustment statistics (approximated RMSE):
#views: 3
#poses: 3
#intrinsics: 1
#tracks: 6
#residuals: 36
Initial RMSE: 30.2897
Final RMSE: 0.0240954
Time (s): 12.9189

 TEST -> [OK]

Launching Test : 52BUNDLE_ADJUSTMENT_EffectiveMinimization_Pinhole_Test

Bundle Adjustment statistics (approximated RMSE):
#views: 3
#poses: 3
#intrinsics: 1
#tracks: 6
#residuals: 36
Initial RMSE: 28.461
Final RMSE: 0.0222514
Time (s): 6.60559

 TEST -> [OK]

[TEST SESSION RESULTS]

There were no test failures
==9918==
==9918== HEAP SUMMARY:
==9918== in use at exit: 966,608 bytes in 3,537 blocks
==9918== total heap usage: 27,201 allocs, 27,024 frees, 5,926,625 bytes allocated
==9918==
==9918== LEAK SUMMARY:
==9918== definitely lost: 960,000 bytes in 3,360 blocks
==9918== indirectly lost: 0 bytes in 0 blocks
==9918== possibly lost: 0 bytes in 0 blocks
==9918== still reachable: 6,608 bytes in 177 blocks
==9918== suppressed: 0 bytes in 0 blocks
==9918== Rerun with --leak-check=full to see details of leaked memory
==9918==
==9918== For counts of detected and suppressed errors, rerun with: -v
==9918== ERROR SUMMARY: 3360 errors from 14 contexts (suppressed: 0 from 0)

@pmoulon
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pmoulon commented Apr 20, 2020

Thank you, as you see the bug appears in Ceres, so I wonder if they updated their API and we are not using it right now...
#1715 (comment)

Would you like to help us to track it down?

  • I wonder if the bug is about sharing a single RobustNorm shared between multiple residuals.

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pmoulon commented Apr 25, 2020

@raphaelsulzer any desire to help us track and fix the bug?

@raphaelsulzer
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yes, I'll have a look at it soon and get back to you!

@raphaelsulzer
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Hi,
I tried to tackle this issue today. Unfortunately I really do not have any knowledge about ceres.
Below is a screenshot of where debugging stops in openMVG_test_sfm_data_BA in line 475 of file sfm_data_BA_ceres.cpp.

Screenshot from 2020-05-01 17-35-32

@pmoulon
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pmoulon commented May 7, 2020

Hello @raphaelsulzer,

I tried on MacOS on I don't have any failure.

My config:

-- CEREAL: (internal)
-- EIGEN:  (external)
-- CERES: 2.0.0 (external)
-- FLANN: 1.8.4 (internal)
-- LIBTIFF: 4.1.0 (external)
-- LIBPNG: 1.6.37 (external)
-- LIBJPEG (external)
-- CLP: 1.16.10 (internal)
-- COINUTILS: 2.10.13 (internal)
-- OSI:  (internal)
-- LEMON: 1.3 (internal)

Your config:

-- CEREAL: (internal)
-- EIGEN: (external)
-- CERES: 2.0.0 (external)
-- FLANN: 1.8.4 (internal)
-- LIBTIFF: 4.0.9 (external)
-- LIBPNG: 1.6.34 (external)
-- LIBJPEG (external)
-- CLP: 1.16.10 (internal)
-- COINUTILS: 2.10.13 (internal)
-- OSI: (internal)
-- LEMON: 1.3 (internal)

Mostly similar config, same version of ceres.

Could you try, for a test to set this pointer to nullptr?
https://github.com/openMVG/openMVG/blob/develop/src/openMVG/sfm/sfm_data_BA_ceres.cpp#L328

pmoulon added a commit that referenced this issue May 7, 2020
@pmoulon
[sfm] Update for ceres2.0 API and shared loss_function #1715
e58830f
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pmoulon commented May 7, 2020

@raphaelsulzer I made a putative fix on this branch, tell me if it works: develop_ceres2.0

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pmoulon commented May 8, 2020

I was able to repro in a docker container.
I would advice you to use ceres 1.14 (internal or external) while we are debugging this.
I don't get it. There is no issue on MacOs (clang).

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pmoulon commented May 8, 2020

I would think about a threading issue or Eigen related error...

@pmoulon pmoulon closed this as completed Feb 3, 2022
pmoulon added a commit that referenced this issue Feb 4, 2023
@pmoulon
[sfm] Update for ceres2.0 API and shared loss_function #1715 (#2162)
e5e0349
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