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Fix: Segmentation fault in State.h #306

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merged 2 commits into from
Mar 15, 2023
Merged

Fix: Segmentation fault in State.h #306

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361d6c4
added mutex lock to State.h and StateHelper.cpp
pritzvac Feb 15, 2023
c5477af
reverted the new line at the end of file, which was changed by VIM
pritzvac Feb 15, 2023
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4 changes: 4 additions & 0 deletions ov_msckf/src/state/State.h
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ class State {
* @return timestep of clone we will marginalize
*/
double margtimestep() {
std::lock_guard<std::mutex> lock(_mutex_state);
double time = INFINITY;
for (const auto &clone_imu : _clones_IMU) {
if (clone_imu.first < time) {
Expand All @@ -78,6 +79,9 @@ class State {
*/
int max_covariance_size() { return (int)_Cov.rows(); }

/// Mutex for locking access to the state
std::mutex _mutex_state;

/// Current timestamp (should be the last update time!)
double _timestamp = -1;

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2 changes: 2 additions & 0 deletions ov_msckf/src/state/StateHelper.cpp
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Expand Up @@ -618,6 +618,8 @@ void StateHelper::augment_clone(std::shared_ptr<State> state, Eigen::Matrix<doub
void StateHelper::marginalize_old_clone(std::shared_ptr<State> state) {
if ((int)state->_clones_IMU.size() > state->_options.max_clone_size) {
double marginal_time = state->margtimestep();
// Lock the mutex to avoid deleting any elements from _clones_IMU while accessing it from other threads
std::lock_guard<std::mutex> lock(state->_mutex_state);
assert(marginal_time != INFINITY);
StateHelper::marginalize(state, state->_clones_IMU.at(marginal_time));
// Note that the marginalizer should have already deleted the clone
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