特征分配分割错误Open3D

编程问答 2022-06-02

问题描述

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我正在尝试对Pointcloud进行一些操作，但是在调用VoxelDownSample函数时，我收到了细分错误信号。我看到问题在于程序要分配一些天文数据，但由于PointCloud对象的实际大小为120，我不知道它来自哪里。

代码：

open3d::geometry::PointCloud open3d_source_original; 
open3d::geometry::PointCloud open3d_source_down; 
createPointCloud(open3d_source_original);
open3d_source_down = *open3d_source_original.VoxelDownSample(0.01);

createPointCloud是我的功能，可以从csv文件创建PointCloud，并且工作正常。

gdb输出：


#0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51

#1 0x00007ffff6eb4921 in __GI_abort () at abort.c:79

#2 0x00007ffff7ad6957 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

#3 0x00007ffff7adcae6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

#4 0x00007ffff7adcb21 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

#5 0x00007ffff7adcd54 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

#6 0x00007ffff7b05012 in std::__throw_bad_alloc() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

#7 0x0000555555563476 in __gnu_cxx::new_allocator<Eigen::Matrix<double,3,1,1> >::allocate(unsigned long,void const*) ()

#8 0x0000555555562bec in std::allocator_traits<std::allocator<Eigen::Matrix<double,1> > >::allocate(std::allocator<Eigen::Matrix<double,1> >&,unsigned long) ()

#9 0x0000555555562088 in std::_Vector_base<Eigen::Matrix<double,1>,std::allocator<Eigen::Matrix<double,1> > >::_M_allocate(unsigned long) ()

#10 0x00005555555613ac in Eigen::Matrix<double,1>* std::vector<Eigen::Matrix<double,1> > >::_M_allocate_and_copy<__gnu_cxx::__normal_iterator<Eigen::Matrix<double,1> const*,std::vector<Eigen::Matrix<double,1> > > > >(unsigned long,__gnu_cxx::__normal_iterator<Eigen::Matrix<double,1> > > >,1> > > >) ()

#11 0x00005555555606e2 in std::vector<Eigen::Matrix<double,1> > >::operator=(std::vector<Eigen::Matrix<double,1> > > const&) ()
#12 0x000055555555fcfa in open3d::geometry::PointCloud::operator=(open3d::geometry::PointCloud const&) ()

#13 0x000055555555f400 in main ()

Valgrind输出：


==14534== Invalid read of size 8

==14534== at 0x114D59: std::vector<Eigen::Matrix<double,1> > >::begin() const (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)

==14534== by 0x1147EA: std::vector<Eigen::Matrix<double,1> > > const&) (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)

==14534== by 0x113CF9: open3d::geometry::PointCloud::operator=(open3d::geometry::PointCloud const&) (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)
==14534== by 0x1133FF: main (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)

==14534== Address 0x61da940 is 0 bytes after a block of size 112 alloc'd

==14534== at 0x4C3217F: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)

==14534== by 0x12C358: allocate (new_allocator.h:111)

==14534== by 0x12C358: allocate (alloc_traits.h:436)

==14534== by 0x12C358: __allocate_guarded<std::allocator<std::_Sp_counted_ptr_inplace<open3d::geometry::PointCloud,std::allocatoropen3d::geometry::PointCloud,(__gnu_cxx::_Lock_policy)2> > > (allocated_ptr.h:104)

==14534== by 0x12C358: __shared_count<open3d::geometry::PointCloud,std::allocatoropen3d::geometry::PointCloud > (shared_ptr_base.h:635)

==14534== by 0x12C358: __shared_ptr<std::allocatoropen3d::geometry::PointCloud > (shared_ptr_base.h:1295)

==14534== by 0x12C358: shared_ptr<std::allocatoropen3d::geometry::PointCloud > (shared_ptr.h:344)

==14534== by 0x12C358: allocate_shared<open3d::geometry::PointCloud,std::allocatoropen3d::geometry::PointCloud > (shared_ptr.h:691)

==14534== by 0x12C358: make_sharedopen3d::geometry::PointCloud (shared_ptr.h:707)

==14534== by 0x12C358: open3d::geometry::PointCloud::VoxelDownSample(double) const (PointCloud.cpp:306)

==14534== by 0x1133DB: main (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)

==14534==

==14534==

==14534== HEAP SUMMARY:

==14534== in use at exit: 8 bytes in 1 blocks

==14534== total heap usage: 19 allocs,18 frees,107,576 bytes allocated

==14534==

==14534== LEAK SUMMARY:

==14534== definitely lost: 0 bytes in 0 blocks

==14534== indirectly lost: 0 bytes in 0 blocks

==14534== possibly lost: 0 bytes in 0 blocks

==14534== still reachable: 8 bytes in 1 blocks

==14534== suppressed: 0 bytes in 0 blocks

==14534== Rerun with --leak-check=full to see details of leaked memory

==14534==

==14534== For counts of detected and suppressed errors,rerun with: -v

==14534== Use --track-origins=yes to see where uninitialised values come from

==14534== ERROR SUMMARY: 6 errors from 6 contexts (suppressed: 0 from 0)

Operating system: Ubuntu 18.04
Open3D build from source
Compiler version: gcc 7.5

我试图从Eigen更改宏并更改编译器，但无济于事。

解决方法

此部分显示SIGABRT是由于内存过多，而不是SIGSEGV：

＃0 __GI_raise（sig = sig @ entry = 6），位于../sysdeps/unix/sysv/linux/raise.c:51
__GI_abort（）中＃1 0x00007ffff6eb4921在中止。c：79

Valgrind指示使用了未初始化的数据，而不是未映射的内存：

== 14534 ==无效的8号读取

它似乎指向内部指针，该内部指针位于vector下方的数组的开头：

== 14534 == at 0x114D59：std :: vector ，std :: allocator >> :: begin（）const（在/ home / rufus / CLionProjects / isolatedSegFault / build / isolatedSegFault中）

然后它说vector是由make_shared内voxelDownSample创建的：

== 14534 ==通过0x12C358：make_sharedopen3d :: geometry :: PointCloud（shared_ptr.h：707）
== 14534 ==通过0x12C358：open3d :: geometry :: PointCloud :: VoxelDownSample（double）const（PointCloud.cpp：306）

我的直觉说

  • 如果涉及到weak_ptr，那么向量可能会丢失所有shared_ptr引用而被破坏。 Valgrind无法看到此内容，因为在weak_ptr引用也消失之前，它不会被释放。
  • 否则，还有其他类型的内存错误，例如
    • 尝试在vector实际构建之前使用
    • 在shared_ptr被销毁后使用原始指针
    • 缓冲区溢出或其他随机释放的内存（命中shared_ptr对象的可能性较小，但您永远不会知道）
  • 无论如何，如果此对象是在您的任何代码最后一次运行之后创建的，并且您的参数在数字上有效，则它看起来像是一个库错误。
bad-alloceigenlinuxlinuxopen3dsegmentation-fault