Comments (13)
dellaert
commented on August 22, 2024
It seems limited to one test, but I can’t see what’s wrong with it.
from gtsam.
ProfFan
commented on August 22, 2024
Will take a look at this.
from gtsam.
ProfFan
commented on August 22, 2024
from gtsam.
ProfFan
commented on August 22, 2024
I did not get any errors with AddressSanitizer, @jlblancoc could you run this again on develop?
from gtsam.
jlblancoc
commented on August 22, 2024
I'll test it ASAP...
from gtsam.
jlblancoc
commented on August 22, 2024
Valgrind keeps complaining for the current "develop".
It looks like "theta" inside SO3 is uninitialized.
from gtsam.
ProfFan
commented on August 22, 2024
Can you post a log?
from gtsam.
dellaert
commented on August 22, 2024
Looking at the earlier posted log, it seems it seems to involve DexpFunctor and ExpmapFunctor. But, both ExpmapFunctor constructors initialize theta just fine... Also, I checked the order of initialization (see https://en.cppreference.com/w/cpp/language/initializer_list) and as I read it, theta2 is always initialized before theta, as intended. Puzzled...
from gtsam.
ProfFan
commented on August 22, 2024
I tested in Debug, which does not exhibit the error. Could be a problem with the optimization eliminating some "Dead" code.
from gtsam.
jlblancoc
commented on August 22, 2024
Hi,
Yep, I also tested and in a Debug build, valgrind is happy.
I'm sure the problem is not in ExpmapFunctor's constructors, but in some vector/matrix that is somehow left uninitialized (at least one coefficient), anywhere up the callstack:
==9141== Conditional jump or move depends on uninitialised value(s)
==9141== at 0x4FB4DA9: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141== by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
from gtsam.
ProfFan
commented on August 22, 2024
[1/1] cd /home/fan/Projects/CV/SLAM/gtsam_build/gtsam/navigation/tests && /home/fan/Projects/CV/SLAM/gtsam_build/gtsam/navigation/tests/testAHRSFactor
FAILED: gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run
cd /home/fan/Projects/CV/SLAM/gtsam_build/gtsam/navigation/tests && /home/fan/Projects/CV/SLAM/gtsam_build/gtsam/navigation/tests/testAHRSFactor
==143729==WARNING: MemorySanitizer: use-of-uninitialized-value
#0 0x559177864888 in (anonymous namespace)::evaluatePreintegratedMeasurements(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::list<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, std::__cxx11::list<double, std::allocator<double> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:64:3
#1 0x559177862fad in AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:363:7
#2 0x559177bd2f9c in TestRegistry::run(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/CppUnitLite/TestRegistry.cpp:62:15
#3 0x559177bd22ad in TestRegistry::runAllTests(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/CppUnitLite/TestRegistry.cpp:29:22
#4 0x559177872679 in main /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:510:10
#5 0x7f3a2d37e152 in __libc_start_main (/usr/lib/libc.so.6+0x27152)
#6 0x5591777c4acd in _start (/home/fan/Projects/CV/SLAM/gtsam_build/gtsam/navigation/tests/testAHRSFactor+0xe4acd)
Uninitialized value was stored to memory at
#0 0x55917793f5c6 in std::_List_const_iterator<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::operator++() /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/bits/stl_list.h:303:10
#1 0x559177864a2d in (anonymous namespace)::evaluatePreintegratedMeasurements(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::list<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, std::__cxx11::list<double, std::allocator<double> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:64:43
#2 0x559177862fad in AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:363:7
#3 0x559177bd2f9c in TestRegistry::run(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/CppUnitLite/TestRegistry.cpp:62:15
#4 0x559177bd22ad in TestRegistry::runAllTests(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/CppUnitLite/TestRegistry.cpp:29:22
#5 0x559177872679 in main /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:510:10
#6 0x7f3a2d37e152 in __libc_start_main (/usr/lib/libc.so.6+0x27152)
Uninitialized value was created by a heap allocation
#0 0x55917784191b in operator new(unsigned long) (/home/fan/Projects/CV/SLAM/gtsam_build/gtsam/navigation/tests/testAHRSFactor+0x16191b)
#1 0x559177b6be19 in __gnu_cxx::new_allocator<std::_List_node<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::allocate(unsigned long, void const*) /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/ext/new_allocator.h:114:27
#2 0x559177b6b9e5 in std::allocator_traits<std::allocator<std::_List_node<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > >::allocate(std::allocator<std::_List_node<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >&, unsigned long) /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/bits/alloc_traits.h:444:20
#3 0x559177b6a7bd in std::__cxx11::_List_base<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::_M_get_node() /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/bits/stl_list.h:438:16
#4 0x559177b69d54 in std::_List_node<Eigen::Matrix<double, 3, 1, 0, 3, 1> >* std::__cxx11::list<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::_M_create_node<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&&) /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/bits/stl_list.h:630:21
#5 0x559177b69492 in void std::__cxx11::list<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::_M_insert<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(std::_List_iterator<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, Eigen::Matrix<double, 3, 1, 0, 3, 1>&&) /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/bits/stl_list.h:1907:18
#6 0x5591778a76b2 in std::__cxx11::list<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >::push_back(Eigen::Matrix<double, 3, 1, 0, 3, 1>&&) /usr/bin/../lib64/gcc/x86_64-pc-linux-gnu/9.2.0/../../../../include/c++/9.2.0/bits/stl_list.h:1213:15
#7 0x5591778629ef in AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:351:18
#8 0x559177bd2f9c in TestRegistry::run(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/CppUnitLite/TestRegistry.cpp:62:15
#9 0x559177bd22ad in TestRegistry::runAllTests(TestResult&) /home/fan/Projects/CV/SLAM/gtsam/CppUnitLite/TestRegistry.cpp:29:22
#10 0x559177872679 in main /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:510:10
#11 0x7f3a2d37e152 in __libc_start_main (/usr/lib/libc.so.6+0x27152)
SUMMARY: MemorySanitizer: use-of-uninitialized-value /home/fan/Projects/CV/SLAM/gtsam/gtsam/navigation/tests/testAHRSFactor.cpp:64:3 in (anonymous namespace)::evaluatePreintegratedMeasurements(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::list<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, std::__cxx11::list<double, std::allocator<double> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)
Exiting
ninja: build stopped: subcommand failed.
I think this is a common false positive as Eigen does not initialize the object from the default constructor, and std::list uses the copy constructor (correct me if not). I'll do some PoCs to confirm.
from gtsam.
ProfFan
commented on August 22, 2024
I believe this is already fixed, if not please feel free to reopen :) @jlblancoc
from gtsam.
jlblancoc
commented on August 22, 2024
@ProfFan yes, I just tested with the current develop and the error is not there anymore... 👍
from gtsam.
Related Issues (20)
- elaboratePoint2KalmanFilter doesn't compile HOT 1
- VectorValues::vector() doesn't sort by key when GTSAM_WITH_TBB is ON HOT 1
- Line cylinder factor HOT 1
- `len(CameraSetCal3Bundler())` throw RecursionError HOT 5
- Built GTSAM to local directory: error while loading libcephes-gtsam.so.1 (with solution and questions) HOT 5
- Build failure for tests with GCC 13 HOT 4
- How to introduce an inequality hard constraint? HOT 1
- How to marginalize historical factors HOT 1
- terminate called after throwing an instance of 'gtsam::ValuesKeyDoesNotExist' HOT 1
- typo in PreintegrationBase.cpp? HOT 1
- Confuse about jointMarginalCovariance and MarginalCovariance
- Missing derivative of Similarity(3)
- Cannot find the Jacobian of Pose3 HOT 1
- Requested to eliminate a key that is not in the factors HOT 1
- LocalizationExample impossible porting to Python
- Add ExpressionFactor to Python Wrapper. HOT 3
- TriangulationFactor Python HOT 1
- ROS2 Jazzy binaries not using GTSAM_USE_SYSTEM_EIGEN=ON HOT 7
- Directed factors HOT 3
- GeographicLib not found Cmake fix HOT 2
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from gtsam.