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Double free when unused but optimized variable appears appears in cpp solver #380

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michael-fennel-skydio opened this issue Jan 11, 2024 · 0 comments
Closed

Double free when unused but optimized variable appears appears in cpp solver #380

michael-fennel-skydio opened this issue Jan 11, 2024 · 0 comments
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@michael-fennel-skydio
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Describe the bug
A double free happens within the C++ solver, when a factor is given that contains a variable that is marked as optimized but never appears in the actual problem statement.

To Reproduce

  1. Use any optimization problem formulation in python using the Factor class.
  2. Remove an arbitrary symbolic variable from your problem entirely, but leave its definition.
  3. Add this symbolic variable to the optimized_keys in factor.generate()
  4. Use the generate code in the LM solver.
  5. Watch it crash.

Expected behavior
Optimized variable should simply be kept at its initial value,

Environment (please complete the following information):

  • Skydio developer station
@michael-fennel-skydio michael-fennel-skydio added the bug Something isn't working label Jan 11, 2024
asa pushed a commit to asa/symforce that referenced this issue Feb 16, 2024
@aaron-skydio
[SymForce] Fix symbolic zeros in sparse factors
1d89852 
Previously it was possible to construct an optimization problem with
sparse factors with symbolic zeros on the diagonal.  We now explicitly
add entries to the symbolic diagonal so that the sparsity pattern is
correct after damping

Fixes symforce-org#380

Topic: sf-sparse-zeroes
Reviewers: ryan-b,chao,nathan,brad,michael-f,philipp
GitOrigin-RevId: 6d4b44cbf6fcd977515e557c9a95eab6a5ca1b6a
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