特征分配分割故障(Open3D)

Question

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我试图在点云上做一些操作，但当调用VoxelDownSample函数时，我得到了分割故障信号。我发现问题是程序想要分配一些天文数字的数据量，但我不知道它是从哪里来的，因为实际上所有的PointCloud对象大小都是120。

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是我用来从csv文件创建PointCloud的函数，它工作得很好。

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, 0, 3, 1> >::allocate(unsigned long, void const*) ()

#8 0x0000555555562bec in std::allocator_traits<std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::allocate(std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&, unsigned long) ()

#9 0x0000555555562088 in std::_Vector_base<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::_M_allocate(unsigned long) ()

#10 0x00005555555613ac in Eigen::Matrix<double, 3, 1, 0, 3, 1>* std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::_M_allocate_and_copy<__gnu_cxx::__normal_iterator<Eigen::Matrix<double, 3, 1, 0, 3, 1> const*, std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > > >(unsigned long, __gnu_cxx::__normal_iterator<Eigen::Matrix<double, 3, 1, 0, 3, 1> const*, std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > >, __gnu_cxx::__normal_iterator<Eigen::Matrix<double, 3, 1, 0, 3, 1> const*, std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > >) ()

#11 0x00005555555606e2 in std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::operator=(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 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, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::begin() const (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)

==14534== by 0x1147EA: std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::operator=(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 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

我试图改变Eigen中的宏，并改变编译器，但都不起作用。

Answer 1

此部分显示由于内存过多而导致的SIGABRT，而不是SIGSEGV

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

#1 0x00007ffff6eb4921，位于abort.c:79的__GI_abort ()中

Valgrind表示使用的是未初始化的数据，而不是未映射的内存：

==14534==对大小8的读取无效

它似乎指向vector下的数组开头的内部指针

begin ==14534== at 0x114D59: std::vector，std::allocator >>：：

() const (in /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault)

然后它说vector是由voxelDownSample中的make_shared创建的

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

由0x12C358提供的常量: open3d::geometry::PointCloud::VoxelDownSample(double) ==14534== (PointCloud.cpp:306)

我的直觉告诉我

• 如果涉及到weak_ptr，则可能是因为丢失了所有的shared_ptr引用而销毁了该向量。Valgrind看不到这一点，因为它不会被释放，直到weak_ptr引用消失，还有一些其他类型的内存错误，例如
  • 试图在它实际被销毁之前使用vector在shared_ptr被销毁后的原始指针
  • 缓冲区溢出，或者其他随机散布的内存(相当不可能命中shared_ptr对象，但你永远不会know)

• 在任何情况下，如果此对象是在上次运行任何代码之后创建的，并且您的参数在数值上是有效的，那么它看起来就像是库错误。