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voxbloxpy's Issues

sd value collapse when voxel size < 0.05

After little experiments, I found that size = 0.5 is the critical point.
size = 0.5
aaa
size = 0.49
bbb

FYI, when using voxblox_ros with pr2 with voxel size = 0.02, it seems working well. But I'm not sure because, maybe the pointcloud is published well but after interpolation, it will collapse.
Screenshot from 2022-11-01 08-41-31

bug: memory leak on ApproxHashSset

Note

As for leak realted enum, the problem is already reported in
pybind/pybind11#3865

So, probably ApproxHashSset is the only thing we have to fix

reproduce

at v0.0.2 reproduce

export LD_PRELOAD=/lib/x86_64-linux-gnu/libasan.so.5
python3 incremetal_update.py 2> log.txt

output
log.txt

at v0.0.1, the shorted error message is outputted

h-ishida@stone-jsk:~/cpp/voxbloxpy/example$ python3 incremetal_update.py 

h-ishida@stone-jsk:~/cpp/voxbloxpy/example$ python3 incremetal_update.py 

=================================================================
==168826==ERROR: LeakSanitizer: detected memory leaks

Direct leak of 8468608 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b81587 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cc:104
    #1 0x7f91c6176794 in __gnu_cxx::new_allocator<std::atomic<unsigned long> >::allocate(unsigned long, void const*) /usr/include/c++/9/ext/new_allocator.h:114
    #2 0x7f91c616c353 in std::allocator_traits<std::allocator<std::atomic<unsigned long> > >::allocate(std::allocator<std::atomic<unsigned long> >&, unsigned long) /usr/include/c++/9/bits/alloc_traits.h:443
    #3 0x7f91c615d4c9 in std::_Vector_base<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::_M_allocate(unsigned long) /usr/include/c++/9/bits/stl_vector.h:343
    #4 0x7f91c6149938 in std::_Vector_base<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::_M_create_storage(unsigned long) /usr/include/c++/9/bits/stl_vector.h:358
    #5 0x7f91c612c52a in std::_Vector_base<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::_Vector_base(unsigned long, std::allocator<std::atomic<unsigned long> > const&) /usr/include/c++/9/bits/stl_vector.h:302
    #6 0x7f91c61123d0 in std::vector<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::vector(unsigned long, std::allocator<std::atomic<unsigned long> > const&) /usr/include/c++/9/bits/stl_vector.h:508
    #7 0x7f91c60f817c in voxblox::ApproxHashSet<20ul, 10000ul, Eigen::Matrix<long, 3, 1, 0, 3, 1>, voxblox::LongIndexHash>::ApproxHashSet() (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x3a017c)
    #8 0x7f91c60e0e74 in voxblox::FastTsdfIntegrator::FastTsdfIntegrator(voxblox::TsdfIntegratorBase::Config const&, voxblox::Layer<voxblox::TsdfVoxel>*) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x388e74)
    #9 0x7f91c60e4a16 in PyTsdfMap::PyTsdfMap(voxblox::Layer<voxblox::TsdfVoxel> const&) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38ca16)
    #10 0x7f91c60e40f7 in PyTsdfMap::PyTsdfMap(float, int) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38c0f7)
    #11 0x7f91c60e5e95 in PyEsdfMap::PyEsdfMap(voxblox::Layer<voxblox::EsdfVoxel> const&, float, float) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38de95)
    #12 0x7f91c60e5ba2 in PyEsdfMap::PyEsdfMap(float, int, float, float) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38dba2)
    #13 0x7f91c61374d8 in PyEsdfMap* pybind11::detail::initimpl::construct_or_initialize<PyEsdfMap, float, int, float, float, 0>(float&&, int&&, float&&, float&&) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x3df4d8)
    #14 0x7f91c611bfa1 in pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}::operator()(pybind11::detail::value_and_holder&, float, int, float, float) const (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x3c3fa1)
    #15 0x7f91c617a356 in void pybind11::detail::argument_loader<pybind11::detail::value_and_holder&, float, int, float, float>::call_impl<void, pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&, 0ul, 1ul, 2ul, 3ul, 4ul, pybind11::detail::void_type>(pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&, std::integer_sequence<unsigned long, 0ul, 1ul, 2ul, 3ul, 4ul>, pybind11::detail::void_type&&) && (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x422356)
    #16 0x7f91c6171b67 in std::enable_if<std::is_void<void>::value, pybind11::detail::void_type>::type pybind11::detail::argument_loader<pybind11::detail::value_and_holder&, float, int, float, float>::call<void, pybind11::detail::void_type, pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&>(pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&) && (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x419b67)
    #17 0x7f91c6162938 in pybind11::cpp_function::initialize<pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}, void, pybind11::detail::value_and_holder&, float, int, float, float, pybind11::name, pybind11::is_method, pybind11::sibling, pybind11::detail::is_new_style_constructor>(pybind11::class_<PyEsdfMap>&&, void (*)(pybind11::detail::value_and_holder&, float, int, float, float), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&, pybind11::detail::is_new_style_constructor const&)::{lambda(pybind11::detail::function_call&)#3}::operator()(pybind11::detail::function_call) const (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x40a938)
    #18 0x7f91c6162aae in pybind11::cpp_function::initialize<pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}, void, pybind11::detail::value_and_holder&, float, int, float, float, pybind11::name, pybind11::is_method, pybind11::sibling, pybind11::detail::is_new_style_constructor>(pybind11::class_<PyEsdfMap>&&, void (*)(pybind11::detail::value_and_holder&, float, int, float, float), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&, pybind11::detail::is_new_style_constructor const&)::{lambda(pybind11::detail::function_call&)#3}::_FUN(pybind11::detail::function_call) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x40aaae)
    #19 0x7f91c60d7b37 in pybind11::cpp_function::dispatcher(_object*, _object*, _object*) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x37fb37)
    #20 0x5f3988 in PyCFunction_Call (/usr/bin/python3.8+0x5f3988)

Direct leak of 8468608 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b81587 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cc:104
    #1 0x7f91c6176794 in __gnu_cxx::new_allocator<std::atomic<unsigned long> >::allocate(unsigned long, void const*) /usr/include/c++/9/ext/new_allocator.h:114
    #2 0x7f91c616c353 in std::allocator_traits<std::allocator<std::atomic<unsigned long> > >::allocate(std::allocator<std::atomic<unsigned long> >&, unsigned long) /usr/include/c++/9/bits/alloc_traits.h:443
    #3 0x7f91c615d4c9 in std::_Vector_base<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::_M_allocate(unsigned long) /usr/include/c++/9/bits/stl_vector.h:343
    #4 0x7f91c6149938 in std::_Vector_base<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::_M_create_storage(unsigned long) /usr/include/c++/9/bits/stl_vector.h:358
    #5 0x7f91c612c52a in std::_Vector_base<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::_Vector_base(unsigned long, std::allocator<std::atomic<unsigned long> > const&) /usr/include/c++/9/bits/stl_vector.h:302
    #6 0x7f91c61123d0 in std::vector<std::atomic<unsigned long>, std::allocator<std::atomic<unsigned long> > >::vector(unsigned long, std::allocator<std::atomic<unsigned long> > const&) /usr/include/c++/9/bits/stl_vector.h:508
    #7 0x7f91c60f817c in voxblox::ApproxHashSet<20ul, 10000ul, Eigen::Matrix<long, 3, 1, 0, 3, 1>, voxblox::LongIndexHash>::ApproxHashSet() (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x3a017c)
    #8 0x7f91c60e0e62 in voxblox::FastTsdfIntegrator::FastTsdfIntegrator(voxblox::TsdfIntegratorBase::Config const&, voxblox::Layer<voxblox::TsdfVoxel>*) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x388e62)
    #9 0x7f91c60e4a16 in PyTsdfMap::PyTsdfMap(voxblox::Layer<voxblox::TsdfVoxel> const&) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38ca16)
    #10 0x7f91c60e40f7 in PyTsdfMap::PyTsdfMap(float, int) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38c0f7)
    #11 0x7f91c60e5e95 in PyEsdfMap::PyEsdfMap(voxblox::Layer<voxblox::EsdfVoxel> const&, float, float) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38de95)
    #12 0x7f91c60e5ba2 in PyEsdfMap::PyEsdfMap(float, int, float, float) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x38dba2)
    #13 0x7f91c61374d8 in PyEsdfMap* pybind11::detail::initimpl::construct_or_initialize<PyEsdfMap, float, int, float, float, 0>(float&&, int&&, float&&, float&&) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x3df4d8)
    #14 0x7f91c611bfa1 in pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}::operator()(pybind11::detail::value_and_holder&, float, int, float, float) const (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x3c3fa1)
    #15 0x7f91c617a356 in void pybind11::detail::argument_loader<pybind11::detail::value_and_holder&, float, int, float, float>::call_impl<void, pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&, 0ul, 1ul, 2ul, 3ul, 4ul, pybind11::detail::void_type>(pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&, std::integer_sequence<unsigned long, 0ul, 1ul, 2ul, 3ul, 4ul>, pybind11::detail::void_type&&) && (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x422356)
    #16 0x7f91c6171b67 in std::enable_if<std::is_void<void>::value, pybind11::detail::void_type>::type pybind11::detail::argument_loader<pybind11::detail::value_and_holder&, float, int, float, float>::call<void, pybind11::detail::void_type, pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&>(pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}&) && (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x419b67)
    #17 0x7f91c6162938 in pybind11::cpp_function::initialize<pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}, void, pybind11::detail::value_and_holder&, float, int, float, float, pybind11::name, pybind11::is_method, pybind11::sibling, pybind11::detail::is_new_style_constructor>(pybind11::class_<PyEsdfMap>&&, void (*)(pybind11::detail::value_and_holder&, float, int, float, float), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&, pybind11::detail::is_new_style_constructor const&)::{lambda(pybind11::detail::function_call&)#3}::operator()(pybind11::detail::function_call) const (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x40a938)
    #18 0x7f91c6162aae in pybind11::cpp_function::initialize<pybind11::detail::initimpl::constructor<float, int, float, float>::execute<pybind11::class_<PyEsdfMap>, , 0>(pybind11::class_<PyEsdfMap>&)::{lambda(pybind11::detail::value_and_holder&, float, int, float, float)#1}, void, pybind11::detail::value_and_holder&, float, int, float, float, pybind11::name, pybind11::is_method, pybind11::sibling, pybind11::detail::is_new_style_constructor>(pybind11::class_<PyEsdfMap>&&, void (*)(pybind11::detail::value_and_holder&, float, int, float, float), pybind11::name const&, pybind11::is_method const&, pybind11::sibling const&, pybind11::detail::is_new_style_constructor const&)::{lambda(pybind11::detail::function_call&)#3}::_FUN(pybind11::detail::function_call) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x40aaae)
    #19 0x7f91c60d7b37 in pybind11::cpp_function::dispatcher(_object*, _object*, _object*) (/home/h-ishida/cpp/voxbloxpy/python/voxbloxpy/_voxbloxpy.cpython-38-x86_64-linux-gnu.so+0x37fb37)
    #20 0x5f3988 in PyCFunction_Call (/usr/bin/python3.8+0x5f3988)

Direct leak of 1005464 byte(s) in 320 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5ba023 in PyObject_Malloc (/usr/bin/python3.8+0x5ba023)

Direct leak of 80523 byte(s) in 63 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x589ef6  (/usr/bin/python3.8+0x589ef6)

Direct leak of 23960 byte(s) in 17 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x4f08d9  (/usr/bin/python3.8+0x4f08d9)

Direct leak of 19944 byte(s) in 22 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5d42e7 in PyDict_Copy (/usr/bin/python3.8+0x5d42e7)

Direct leak of 7559 byte(s) in 44 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5b9597  (/usr/bin/python3.8+0x5b9597)

Direct leak of 4376 byte(s) in 7 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x53c017 in _PyObject_GC_NewVar (/usr/bin/python3.8+0x53c017)

Direct leak of 4040 byte(s) in 6 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5f8a00 in PyBytes_FromStringAndSize (/usr/bin/python3.8+0x5f8a00)

Direct leak of 3397 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7fc3e in __interceptor_realloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:163
    #1 0x59009c  (/usr/bin/python3.8+0x59009c)

Direct leak of 2808 byte(s) in 3 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5a9cc6 in PyType_GenericAlloc (/usr/bin/python3.8+0x5a9cc6)

Direct leak of 672 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7fc3e in __interceptor_realloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:163
    #1 0x53be71 in _PyObject_GC_Resize (/usr/bin/python3.8+0x53be71)

Direct leak of 412 byte(s) in 38 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x7f92351128f9 in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35b8f9)

Direct leak of 64 byte(s) in 2 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x53dca0 in PyThread_allocate_lock (/usr/bin/python3.8+0x53dca0)

Direct leak of 24 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7fc3e in __interceptor_realloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:163
    #1 0x7f9235112de0 in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35bde0)

Direct leak of 24 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7fc3e in __interceptor_realloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:163
    #1 0x7f9235112df8 in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35bdf8)

Direct leak of 23 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x7f9235112938 in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35b938)

Direct leak of 12 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7fc3e in __interceptor_realloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:163
    #1 0x7f9235112e13 in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35be13)

Direct leak of 12 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x7f923511299e in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35b99e)

Direct leak of 12 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x7f923511298d in PyUFunc_FromFuncAndDataAndSignatureAndIdentity (/home/h-ishida/.local/lib/python3.8/site-packages/numpy/core/_multiarray_umath.cpython-38-x86_64-linux-gnu.so+0x35b98d)

Indirect leak of 86832 byte(s) in 91 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5a9cc6 in PyType_GenericAlloc (/usr/bin/python3.8+0x5a9cc6)

Indirect leak of 25279 byte(s) in 13 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x4f08d9  (/usr/bin/python3.8+0x4f08d9)

Indirect leak of 14649 byte(s) in 11 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x5ba023 in PyObject_Malloc (/usr/bin/python3.8+0x5ba023)

Indirect leak of 14458 byte(s) in 12 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x589ef6  (/usr/bin/python3.8+0x589ef6)

Indirect leak of 1344 byte(s) in 2 object(s) allocated from:
    #0 0x7f9239b7f808 in __interceptor_malloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:144
    #1 0x53c017 in _PyObject_GC_NewVar (/usr/bin/python3.8+0x53c017)

Indirect leak of 840 byte(s) in 1 object(s) allocated from:
    #0 0x7f9239b7fc3e in __interceptor_realloc ../../../../src/libsanitizer/asan/asan_malloc_linux.cc:163
    #1 0x53be71 in _PyObject_GC_Resize (/usr/bin/python3.8+0x53be71)

SUMMARY: AddressSanitizer: 18233944 byte(s) leaked in 662 allocation(s).

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