Comments (3)
marcusabate
commented on August 23, 2024
As an update, it seems to be an issue with RobustPGO somewhere. The problem is only related to the std::unique_ptr<OutlierRemoval> outlier_removal_; class member of RobustSolver. This is initialized based on parameter selection in the RobustSolver constructor. One of the options is NONE, which calls outlier_removal_ = nullptr;. This concerns me a bit but looking through RobustPGO I see that every time outlier_removal_ is used it is first checked so that cases in which nullptr is the selection aren't used.
In VIO I have a class member of type RobustPGO:
std::unique_ptr<RobustPGO::RobustSolver> pgo_;Which is initialized in the constructor like so:
RobustPGO::RobustSolverParams pgo_params;
pgo_params.setPcmSimple3DParams(lcd_params_.pgo_trans_threshold_,
lcd_params_.pgo_rot_threshold_, RobustPGO::Verbosity::VERBOSE);
pgo_ = VIO::make_unique<RobustPGO::RobustSolver>(pgo_params);Inside of testLoopClosureDetector.cpp I simply have the class member:
std::unique_ptr<LoopClosureDetector> lcd_detector_;Which is initialized in the fixture like so:
LoopClosureDetectorParams params;
params.parseYAML(lcd_FLAGS_test_data_path_+"/testLCDParameters.yaml");
lcd_detector_ = VIO::make_unique<LoopClosureDetector>(params, false);Not a lot to go wrong there.
I've added a destructor to GenericSolver.h:
virtual ~GenericSolver() = default;And a destructor to RobustSolver.h:
~RobustSolver() = default;And I've added the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro as a public member of the pcm.h class since it has a bunch of gtsam::Matrix members which are typedefs of Eigen::Matrix.
None of these changes have solved the original problem, which still pops up when I run LoopClosureDetector tests only but not when I run the entire Spark VIO testing suite.
@yunzc I'm pretty stumped here so any thoughts you have on why unique_ptrs in RobustPGO would be misbehaving during tear down at the end of runtime would be appreciated.
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yunzc
commented on August 23, 2024
Fixed by getting rid of c++14 dependency and defining make_unique in RobustPGO
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marcusabate
commented on August 23, 2024
Reopening because the problem is not yet solved it seems. I still get the same segfault in VIO sometimes.
Thread 1 "testSparkVio" received signal SIGSEGV, Segmentation fault.
std::unique_ptr<RobustPGO::OutlierRemoval, std::default_delete<RobustPGO::OutlierRemoval> >::~unique_ptr (
this=0x55556515d200, __in_chrg=<optimized out>) at /usr/include/c++/7/bits/unique_ptr.h:268
268 get_deleter()(__ptr);
(gdb) backtrace
#0 0x00007ffff792c1ad in std::unique_ptr<RobustPGO::OutlierRemoval, std::default_delete<RobustPGO::OutlierRemoval> >::~unique_ptr() (this=0x55556515d200, __in_chrg=<optimized out>) at /usr/include/c++/7/bits/unique_ptr.h:268
#1 0x00007ffff792c1ad in RobustPGO::RobustSolver::~RobustSolver() (this=0x55556515d170, __in_chrg=<optimized out>)
at /home/marcus/code/RobustPGO/RobustPGO/RobustSolver.h:40
#2 0x00007ffff792c1ad in std::default_delete<RobustPGO::RobustSolver>::operator()(RobustPGO::RobustSolver*) const (this=<optimized out>, __ptr=0x55556515d170) at /usr/include/c++/7/bits/unique_ptr.h:78
#3 0x00007ffff792c1ad in std::unique_ptr<RobustPGO::RobustSolver, std::default_delete<RobustPGO::RobustSolver> >::~unique_ptr() (this=0x5555559bd0f0, __in_chrg=<optimized out>) at /usr/include/c++/7/bits/unique_ptr.h:268
#4 0x00007ffff792c1ad in VIO::LoopClosureDetector::~LoopClosureDetector() (this=0x5555559bcee0, __in_chrg=<optimized out>)
at /home/marcus/code/VIO/src/LoopClosureDetector.cpp:107
#5 0x00007ffff792c4f9 in VIO::LoopClosureDetector::~LoopClosureDetector() (this=0x5555559bcee0, __in_chrg=<optimized out>)
at /home/marcus/code/VIO/src/LoopClosureDetector.cpp:109
#6 0x00005555556206e2 in std::default_delete<VIO::LoopClosureDetector>::operator()(VIO::LoopClosureDetector*) const (this=<optimized out>, __ptr=<optimized out>) at /usr/include/c++/7/bits/unique_ptr.h:78
#7 0x00005555556206e2 in std::unique_ptr<VIO::LoopClosureDetector, std::default_delete<VIO::LoopClosureDetector> >::~unique_ptr() (this=0x5555559bc3c0, __in_chrg=<optimized out>) at /usr/include/c++/7/bits/unique_ptr.h:268
#8 0x00005555556206e2 in LCDFixture::~LCDFixture() (this=0x5555559bc390, __in_chrg=<optimized out>)
at /home/marcus/code/VIO/tests/testLoopClosureDetector.cpp:41
Basically this shows that it is the fault of the OutlierRemoval class. Looking at that, I noticed the Base class has no constructor. The derived class Pcm calls this nonexistent constructor. It also does not initialize all data members in its own constructor. I think I'll start with these things if @yunzc you do not see any reason why they should stay that way or where else the segfault could be coming from.
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