Comments (11)
cfo
commented on June 29, 2024
Hi,
is it maybe the same issue as this one: #27 ?
can you try to run gdb, valgrind?
best
from rpg_svo.
commented on June 29, 2024
I added launch-prefix="gdb -ex run --args" to the launch file as you instructed in #27. SVO crashes with:
*** Error in `/root/catkin_ws/devel/lib/svo_ros/vo': double free or corruption (!prev): 0x0006d2d0 ***
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Program received signal SIGABRT, Aborted.
__libc_do_syscall ()
at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
44 ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S: No such file or directory.```
After typing bt I get:
#0 __libc_do_syscall ()
at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
#1 0xb67e25fe in __GI_raise (sig=sig@entry=6)
at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#2 0xb67e4e1a in __GI_abort () at abort.c:90
#3 0xb68089ec in __libc_message (do_abort=2,
fmt=0xb68872b0 "*** Error in `%s': %s: 0x%s ***\n")
at ../sysdeps/unix/sysv/linux/libc_fatal.c:199
#4 0xb680f752 in malloc_printerr (action=3,
str=0xb68873e4 "double free or corruption (!prev)", ptr=<optimized out>)
at malloc.c:4902
#5 0xb6810192 in _int_free (av=<optimized out>, p=0x6d2c8, have_lock=0)
at malloc.c:3758
#6 0xb6e2db58 in svo::Map::emptyTrash() ()
from /root/catkin_ws/devel/lib/libsvo.so
#7 0xb6e2556a in svo::FrameHandlerBase::startFrameProcessingCommon(double) ()
from /root/catkin_ws/devel/lib/libsvo.so
#8 0xbeffe978 in ?? ()
Cannot access memory at address 0x0
#9 0xbeffe978 in ?? ()
Cannot access memory at address 0x0
Backtrace stopped: previous frame identical to this frame (corrupt stack?)
I would appreciate any help you could offer.
from rpg_svo.
KorbiS
commented on June 29, 2024
Great, I wanted to post the same issue yesterday :) I was running ROS Hydro (arm binary from namniart.com) on Odroid XU/Ubuntu 13.04.
The work around of issue #27 ([email protected] from http://oph.mdrjr.net/murrman/linaro_ubuntu_12.11_robotics_v1_x2.img.xz) worked for me. Anyway it would be nice to run SVO on Hydro/Ubuntu13.04...
from rpg_svo.
commented on June 29, 2024
Running with launch-prefix="valgrind --leak-check=yes" gives:
==9579== Invalid free() / delete / delete[] / realloc()
==9579== at 0x482E5B0: free (vg_replace_malloc.c:446)
==9579== by 0x49DAB57: svo::Map::emptyTrash() (in /root/catkin_ws/devel/lib/libsvo.so)
==9579== Address 0x90452b0 is 16 bytes inside a block of size 192 alloc'd
==9579== at 0x482FB34: malloc (vg_replace_malloc.c:270)
==9579== by 0x49E9065: svo::initialization::KltHomographyInit::addSecondFrame(boost::shared_ptr<svo::Frame>) (in /root/catkin_ws/devel/lib/libsvo.so)
==9579==
from rpg_svo.
cfo
commented on June 29, 2024
Can you please send me the debug output of svo? Therefore, go to $ROS_ROOT/config/rosconsole.config and add the line:
log4j.logger.ros.svo=DEBUG
then source your catkin/devel/setup.sh again and run svo.
did you set the CMAKE_BUILD_TYPE in the CMakeLists.txt to RelWithDebInfo to get the gdb output?
did you try to download the test dataset: https://github.com/uzh-rpg/rpg_svo/tree/master/svo/test and run test_pipeline?
from rpg_svo.
commented on June 29, 2024
Debug output of SVO:
[ INFO] [946701357.669408477]: SVO initialized
[ INFO] [946701357.672394061]: Found parameter: svo/cam_topic, value: /camera/image
[ INFO] [946701359.665975186]: RESET
[DEBUG] [946701359.666408061]: New Frame
[ INFO] [946701359.681473936]: Init: Selected first frame.
[DEBUG] [946701359.681945561]: Frame: 0 fps-avg = inf nObs = 0
[DEBUG] [946701359.686013186]: New Frame
[ INFO] [946701359.833628020]: Init: KLT tracked 231 features
[ INFO] [946701359.833957645]: Init: KLT 0.113109px average disparity.
[DEBUG] [946701359.834173395]: Frame: 1 fps-avg = 64.3915 nObs = 0
[DEBUG] [946701359.835688062]: New Frame
[ INFO] [946701359.983680895]: Init: KLT tracked 231 features
[ INFO] [946701359.984076603]: Init: KLT 0.217593px average disparity.
[DEBUG] [946701359.984448395]: Frame: 2 fps-avg = 12.2288 nObs = 0
[DEBUG] [946701359.986512895]: New Frame
[ INFO] [946701360.291495812]: Init: KLT tracked 116 features
[ INFO] [946701360.291850520]: Init: KLT 40.7412px average disparity.
[DEBUG] [946701360.292196187]: Frame: 3 fps-avg = 9.60523 nObs = 0
[DEBUG] [946701360.294050145]: New Frame
[ INFO] [946701360.498952187]: Init: KLT tracked 114 features
[ INFO] [946701360.499251020]: Init: KLT 39.528px average disparity.
[DEBUG] [946701360.499619520]: Frame: 4 fps-avg = 6.47373 nObs = 0
[DEBUG] [946701360.501587229]: New Frame
[ INFO] [946701360.701671187]: Init: KLT tracked 112 features
[ INFO] [946701360.702066187]: Init: KLT 28.3842px average disparity.
[DEBUG] [946701360.702364729]: Frame: 5 fps-avg = 6.07167 nObs = 0
[DEBUG] [946701360.704986604]: New Frame
[ INFO] [946701360.896251395]: Init: KLT tracked 112 features
[ INFO] [946701360.896519770]: Init: KLT 16.7155px average disparity.
[DEBUG] [946701360.896727645]: Frame: 6 fps-avg = 5.85852 nObs = 0
[DEBUG] [946701360.898383604]: New Frame
[ INFO] [946701361.097063479]: Init: KLT tracked 112 features
[ INFO] [946701361.097382729]: Init: KLT 37.5105px average disparity.
[DEBUG] [946701361.097593645]: Frame: 7 fps-avg = 5.75764 nObs = 0
[DEBUG] [946701361.099189937]: New Frame
[ INFO] [946701361.297064021]: Init: KLT tracked 112 features
[ INFO] [946701361.297354854]: Init: KLT 28.9816px average disparity.
[DEBUG] [946701361.297558687]: Frame: 8 fps-avg = 5.65411 nObs = 0
[DEBUG] [946701361.299379229]: New Frame
[ INFO] [946701361.494351187]: Init: KLT tracked 112 features
[ INFO] [946701361.494644646]: Init: KLT 17.8759px average disparity.
[DEBUG] [946701361.494849562]: Frame: 9 fps-avg = 5.57911 nObs = 0
[DEBUG] [946701361.496599604]: New Frame
[ INFO] [946701361.760219437]: Init: KLT tracked 112 features
[ INFO] [946701361.760617437]: Init: KLT 38.3577px average disparity.
[DEBUG] [946701361.760915229]: Frame: 10 fps-avg = 5.54719 nObs = 0
[DEBUG] [946701361.762942229]: New Frame
[ INFO] [946701362.000746896]: Init: KLT tracked 112 features
[ INFO] [946701362.001197979]: Init: KLT 37.9769px average disparity.
[DEBUG] [946701362.001503771]: Frame: 11 fps-avg = 4.87446 nObs = 0
[DEBUG] [946701362.004737063]: New Frame
[ INFO] [946701362.211371271]: Init: KLT tracked 112 features
[ INFO] [946701362.211666729]: Init: KLT 39.0419px average disparity.
[DEBUG] [946701362.211872188]: Frame: 12 fps-avg = 4.66851 nObs = 0
[DEBUG] [946701362.213418021]: New Frame
[ INFO] [946701362.401885604]: Init: KLT tracked 111 features
[ INFO] [946701362.402332021]: Init: KLT 17.6715px average disparity.
[DEBUG] [946701362.402631521]: Frame: 13 fps-avg = 4.54979 nObs = 0
[DEBUG] [946701362.404879479]: New Frame
[ INFO] [946701362.597291313]: Init: KLT tracked 111 features
[ INFO] [946701362.597593021]: Init: KLT 27.6045px average disparity.
[DEBUG] [946701362.597820438]: Frame: 14 fps-avg = 4.80396 nObs = 0
[DEBUG] [946701362.599455313]: New Frame
[ INFO] [946701362.796869813]: Init: KLT tracked 110 features
[ INFO] [946701362.797169396]: Init: KLT 34.5555px average disparity.
[DEBUG] [946701362.797411313]: Frame: 15 fps-avg = 4.83374 nObs = 0
[DEBUG] [946701362.799085855]: New Frame
[ INFO] [946701362.985386438]: Init: KLT tracked 110 features
[ INFO] [946701362.985824896]: Init: KLT 23.8883px average disparity.
[DEBUG] [946701362.986121313]: Frame: 16 fps-avg = 4.84033 nObs = 0
[DEBUG] [946701362.988549146]: New Frame
[ INFO] [946701363.179316813]: Init: KLT tracked 110 features
[ INFO] [946701363.179621355]: Init: KLT 30.9477px average disparity.
[DEBUG] [946701363.179828313]: Frame: 17 fps-avg = 4.85125 nObs = 0
[DEBUG] [946701363.181506855]: New Frame
[ INFO] [946701363.374747355]: Init: KLT tracked 109 features
[ INFO] [946701363.375067813]: Init: KLT 38.0061px average disparity.
[DEBUG] [946701363.375340438]: Frame: 18 fps-avg = 4.87006 nObs = 0
[DEBUG] [946701363.377087605]: New Frame
[ INFO] [946701363.564238647]: Init: KLT tracked 109 features
[ INFO] [946701363.564544147]: Init: KLT 32.9925px average disparity.
[DEBUG] [946701363.564738188]: Frame: 19 fps-avg = 4.8807 nObs = 0
[DEBUG] [946701363.566571688]: New Frame
[ INFO] [946701363.757759563]: Init: KLT tracked 109 features
[ INFO] [946701363.758144272]: Init: KLT 35.8534px average disparity.
[DEBUG] [946701363.758364897]: Frame: 20 fps-avg = 4.8854 nObs = 0
[DEBUG] [946701363.759943272]: New Frame
[ INFO] [946701363.954387355]: Init: KLT tracked 108 features
[ INFO] [946701363.954770814]: Init: KLT 48.0475px average disparity.
[DEBUG] [946701363.955034355]: Frame: 21 fps-avg = 5.06521 nObs = 0
[DEBUG] [946701363.957107939]: New Frame
[ INFO] [946701364.142664730]: Init: KLT tracked 108 features
[ INFO] [946701364.142979939]: Init: KLT 44.2164px average disparity.
[DEBUG] [946701364.143204980]: Frame: 22 fps-avg = 5.17926 nObs = 0
[DEBUG] [946701364.144899230]: New Frame
[ INFO] [946701364.336519605]: Init: KLT tracked 106 features
[ INFO] [946701364.337011314]: Init: KLT 46.9338px average disparity.
[DEBUG] [946701364.337339105]: Frame: 23 fps-avg = 5.22987 nObs = 0
[DEBUG] [946701364.339438230]: New Frame
[ INFO] [946701364.527795522]: Init: KLT tracked 104 features
[ INFO] [946701364.528095564]: Init: KLT 53.2539px average disparity.
[ INFO] [946701364.588262689]: Init: Homography RANSAC 43 inliers.
[ INFO] [946701364.588824439]: Init: Selected second frame, triangulated initial map.
[DEBUG] [946701364.589111522]: Frame: 24 fps-avg = 5.22114 nObs = 0
[DEBUG] [946701364.590865730]: New Frame
[DEBUG] [946701364.595202147]: Img Align: Tracked = 42
[DEBUG] [946701364.596559689]: Reprojection: nPoints = 31 nMatches = 29
[ WARN] [946701364.596871230]: Not enough matched features.
[DEBUG] [946701364.597098689]: Frame: 25 fps-avg = 5.0708 nObs = 42
[DEBUG] [946701364.598513230]: New Frame
[ WARN] [946701364.600830522]: Relocalizing frame
[DEBUG] [946701364.605441355]: Img Align: Tracked = 42
[DEBUG] [946701364.606969022]: Reprojection: nPoints = 32 nMatches = 29
[DEBUG] [946701364.607367939]: Frame: 26 fps-avg = 5.61705 nObs = 35
[DEBUG] [946701364.609222689]: New Frame
[DEBUG] [946701364.614469647]: Img Align: Tracked = 42
[DEBUG] [946701364.615668855]: Reprojection: nPoints = 31 nMatches = 30
[DEBUG] [946701364.615951314]: Frame: 27 fps-avg = 6.24153 nObs = 35
[DEBUG] [946701364.617489397]: New Frame
[DEBUG] [946701364.623163897]: Img Align: Tracked = 42
[DEBUG] [946701364.624659189]: Reprojection: nPoints = 31 nMatches = 30
[DEBUG] [946701364.625165022]: Frame: 28 fps-avg = 7.054 nObs = 35
[DEBUG] [946701364.627053897]: New Frame
[DEBUG] [946701364.633824189]: Img Align: Tracked = 42
[DEBUG] [946701364.635475480]: Reprojection: nPoints = 31 nMatches = 31
[DEBUG] [946701364.635920439]: Frame: 29 fps-avg = 8.11972 nObs = 35
[DEBUG] [946701364.638344647]: New Frame
[DEBUG] [946701364.645284355]: Img Align: Tracked = 42
[DEBUG] [946701364.646602480]: Reprojection: nPoints = 31 nMatches = 31
[DEBUG] [946701364.646921397]: Frame: 30 fps-avg = 9.49866 nObs = 35
[DEBUG] [946701364.648121356]: New Frame
[DEBUG] [946701364.654224856]: Img Align: Tracked = 42
[DEBUG] [946701364.655821314]: Reprojection: nPoints = 31 nMatches = 30
[DEBUG] [946701364.656243481]: Frame: 31 fps-avg = 11.4994 nObs = 35
[DEBUG] [946701364.657740022]: New Frame
[DEBUG] [946701364.663543606]: Img Align: Tracked = 42
[DEBUG] [946701364.664780897]: Reprojection: nPoints = 32 nMatches = 28
[DEBUG] [946701364.665061856]: Frame: 32 fps-avg = 14.6478 nObs = 35
[DEBUG] [946701364.666202856]: New Frame
[DEBUG] [946701364.673307564]: Img Align: Tracked = 42
[DEBUG] [946701364.674812481]: Reprojection: nPoints = 32 nMatches = 29
[DEBUG] [946701364.675120897]: Frame: 33 fps-avg = 19.8436 nObs = 35
[DEBUG] [946701364.677128856]: New Frame
[DEBUG] [946701364.683759064]: Img Align: Tracked = 42
[DEBUG] [946701364.685865106]: Reprojection: nPoints = 33 nMatches = 27
[DEBUG] [946701364.686613856]: Frame: 34 fps-avg = 31.2137 nObs = 35
[DEBUG] [946701364.691297022]: New Frame
[DEBUG] [946701364.697301314]: Img Align: Tracked = 42
[DEBUG] [946701364.698634106]: Reprojection: nPoints = 33 nMatches = 28
[DEBUG] [946701364.698925564]: Frame: 35 fps-avg = 124.276 nObs = 35
[DEBUG] [946701364.705821731]: New Frame
[DEBUG] [946701364.711793606]: Img Align: Tracked = 42
[DEBUG] [946701364.713187231]: Reprojection: nPoints = 32 nMatches = 27
[DEBUG] [946701364.713502439]: Frame: 36 fps-avg = 121.996 nObs = 35
[DEBUG] [946701364.723670397]: New Frame
[DEBUG] [946701364.730602856]: Img Align: Tracked = 41
[DEBUG] [946701364.731892814]: Reprojection: nPoints = 31 nMatches = 24
[DEBUG] [946701364.732192147]: Frame: 37 fps-avg = 123.913 nObs = 35
[DEBUG] [946701364.741746731]: New Frame
[DEBUG] [946701364.748440189]: Img Align: Tracked = 41
[DEBUG] [946701364.749938397]: Reprojection: nPoints = 33 nMatches = 26
[DEBUG] [946701364.750373731]: Frame: 38 fps-avg = 121.218 nObs = 35
[DEBUG] [946701364.756945522]: New Frame
[DEBUG] [946701364.763511481]: Img Align: Tracked = 41
[DEBUG] [946701364.764805897]: Reprojection: nPoints = 32 nMatches = 25
[DEBUG] [946701364.765106939]: Frame: 39 fps-avg = 119.953 nObs = 35
[DEBUG] [946701364.773685314]: New Frame
[DEBUG] [946701364.780506731]: Img Align: Tracked = 41
[DEBUG] [946701364.781785772]: Reprojection: nPoints = 31 nMatches = 27
[DEBUG] [946701364.782114522]: Frame: 40 fps-avg = 121.011 nObs = 35
[DEBUG] [946701364.791393481]: New Frame
[DEBUG] [946701364.798689356]: Img Align: Tracked = 41
[DEBUG] [946701364.800059022]: Reprojection: nPoints = 30 nMatches = 28
[DEBUG] [946701364.800571689]: Frame: 41 fps-avg = 121.164 nObs = 35
[DEBUG] [946701364.807363939]: New Frame
[DEBUG] [946701364.814467564]: Img Align: Tracked = 41
[DEBUG] [946701364.815657356]: Reprojection: nPoints = 29 nMatches = 27
[DEBUG] [946701364.815966272]: Frame: 42 fps-avg = 119.685 nObs = 35
[DEBUG] [946701364.822872231]: New Frame
[DEBUG] [946701364.829520897]: Img Align: Tracked = 41
[DEBUG] [946701364.830763397]: Reprojection: nPoints = 29 nMatches = 27
[DEBUG] [946701364.831054022]: Frame: 43 fps-avg = 117.862 nObs = 35
[DEBUG] [946701364.839508897]: New Frame
[DEBUG] [946701364.846948731]: Img Align: Tracked = 41
[DEBUG] [946701364.848406106]: Reprojection: nPoints = 29 nMatches = 27
[DEBUG] [946701364.849061939]: Frame: 44 fps-avg = 119.025 nObs = 35
[DEBUG] [946701364.857012439]: New Frame
[DEBUG] [946701364.863694231]: Img Align: Tracked = 41
[DEBUG] [946701364.864906064]: Reprojection: nPoints = 29 nMatches = 27
[DEBUG] [946701364.865216022]: Frame: 45 fps-avg = 119.459 nObs = 35
[DEBUG] [946701364.872739522]: New Frame
*** Error in `/root/catkin_ws/devel/lib/svo_ros/vo': free(): invalid next size (normal): 0x00084dd0 ***
[svo-3] process has died [pid 23831, exit code -6, cmd /root/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/root/.ros/log/efafcef2-c004-11d3-9c64-baddbdf00546/svo-3.log].
log file: /root/.ros/log/efafcef2-c004-11d3-9c64-baddbdf00546/svo-3*.log
from rpg_svo.
commented on June 29, 2024
Running test_pipeline on the test dataset:
[ INFO] [946701690.852621178]: SVO initialized
reading image /root/Datasets/sin2_tex2_h1_v8_d/img/frame_000002_0.png
[ INFO] [946701690.909888178]: RESET
[DEBUG] [946701690.910070678]: New Frame
[ INFO] [946701690.939114303]: Init: Selected first frame.
[DEBUG] [946701690.939323428]: Frame: 0 fps-avg = inf nObs = 0
Frame-Id: 0 #Features: 0 Proc. Time: 29.272ms
[DEBUG] [946701690.990367303]: New Frame
[ INFO] [946701691.237126053]: Init: KLT tracked 398 features
[ INFO] [946701691.237347053]: Init: KLT 25.3703px average disparity.
[DEBUG] [946701691.237454928]: Frame: 1 fps-avg = 34.1623 nObs = 0
Frame-Id: 1 #Features: 0 Proc. Time: 247.064ms
[DEBUG] [946701691.287849011]: New Frame
[ INFO] [946701691.854448595]: Init: KLT tracked 383 features
[ INFO] [946701691.854631428]: Init: KLT 50.4137px average disparity.
[ INFO] [946701691.863201803]: Init: Homography RANSAC 242 inliers.
[ INFO] [946701691.863799012]: Init: Selected second frame, triangulated initial map.
[DEBUG] [946701691.863952720]: Frame: 2 fps-avg = 7.23757 nObs = 0
Frame-Id: 2 #Features: 224 Proc. Time: 576.075ms
[DEBUG] [946701691.914841970]: New Frame
[DEBUG] [946701691.925237012]: Img Align: Tracked = 217
[DEBUG] [946701691.928100678]: Reprojection: nPoints = 122 nMatches = 121
[DEBUG] [946701691.928822887]: PoseOptimizer: ErrInit = 0.243179px thresh = 0.359904
[DEBUG] [946701691.928973553]: PoseOptimizer: ErrFin. = 0.20219px nObsFin. = 121
[DEBUG] [946701691.929285220]: Frame: 3 fps-avg = 3.51943 nObs = 224
Frame-Id: 3 #Features: 121 Proc. Time: 14.442ms
[DEBUG] [946701691.980021345]: New Frame
[DEBUG] [946701691.985971345]: Img Align: Tracked = 116
[DEBUG] [946701691.988724095]: Reprojection: nPoints = 121 nMatches = 121
[DEBUG] [946701691.989330637]: PoseOptimizer: ErrInit = 0.332815px thresh = 0.492567
[DEBUG] [946701691.989456470]: PoseOptimizer: ErrFin. = 0.307621px nObsFin. = 121
[DEBUG] [946701691.989718553]: New keyframe selected.
[DEBUG] [946701691.989930303]: Frame: 4 fps-avg = 4.61439 nObs = 172
Frame-Id: 4 #Features: 121 Proc. Time: 9.889ms
[DEBUG] [946701692.041056803]: New Frame
[DEBUG] [946701692.046401470]: Img Align: Tracked = 115
[DEBUG] [946701692.049253262]: Reprojection: nPoints = 123 nMatches = 121
[DEBUG] [946701692.049810303]: PoseOptimizer: ErrInit = 0.413583px thresh = 0.612103
[DEBUG] [946701692.049948095]: PoseOptimizer: ErrFin. = 0.412491px nObsFin. = 121
[DEBUG] [946701692.050242845]: Frame: 5 fps-avg = 5.70293 nObs = 155
Frame-Id: 5 #Features: 121 Proc. Time: 9.164ms
[DEBUG] [946701692.101028678]: New Frame
[DEBUG] [946701692.107057595]: Img Align: Tracked = 116
[DEBUG] [946701692.109910178]: Reprojection: nPoints = 121 nMatches = 121
[DEBUG] [946701692.110709137]: PoseOptimizer: ErrInit = 0.5679px thresh = 0.840492
[DEBUG] [946701692.110845262]: PoseOptimizer: ErrFin. = 0.526401px nObsFin. = 120
[DEBUG] [946701692.111107303]: New keyframe selected.
[DEBUG] [946701692.111312845]: Frame: 6 fps-avg = 6.77273 nObs = 146
Frame-Id: 6 #Features: 121 Proc. Time: 10.256ms
[DEBUG] [946701692.162476262]: New Frame
[DEBUG] [946701692.167162803]: Img Align: Tracked = 115
[DEBUG] [946701692.170145845]: Reprojection: nPoints = 123 nMatches = 121
[DEBUG] [946701692.170707220]: PoseOptimizer: ErrInit = 0.658167px thresh = 0.974087
[DEBUG] [946701692.170839553]: PoseOptimizer: ErrFin. = 0.63715px nObsFin. = 115
[DEBUG] [946701692.171127012]: Frame: 7 fps-avg = 7.81109 nObs = 141
Frame-Id: 7 #Features: 121 Proc. Time: 8.63ms
[DEBUG] [946701692.221821053]: New Frame
[DEBUG] [946701692.227856553]: Img Align: Tracked = 109
[DEBUG] [946701692.230971303]: Reprojection: nPoints = 124 nMatches = 121
[DEBUG] [946701692.232082845]: PoseOptimizer: ErrInit = 0.694509px thresh = 1.02787
[DEBUG] [946701692.232217762]: PoseOptimizer: ErrFin. = 0.679792px nObsFin. = 114
[DEBUG] [946701692.232450637]: New keyframe selected.
[DEBUG] [946701692.232710512]: Frame: 8 fps-avg = 8.84181 nObs = 138
Frame-Id: 8 #Features: 121 Proc. Time: 10.878ms
[DEBUG] [946701692.283857053]: New Frame
[DEBUG] [946701692.290360887]: Img Align: Tracked = 107
[DEBUG] [946701692.293493512]: Reprojection: nPoints = 123 nMatches = 121
[DEBUG] [946701692.294042595]: PoseOptimizer: ErrInit = 0.791808px thresh = 1.17188
[DEBUG] [946701692.294174637]: PoseOptimizer: ErrFin. = 0.88093px nObsFin. = 112
[DEBUG] [946701692.294450845]: Frame: 9 fps-avg = 9.82887 nObs = 135
Frame-Id: 9 #Features: 121 Proc. Time: 10.573ms
[DEBUG] [946701692.345138887]: New Frame
[DEBUG] [946701692.350570553]: Img Align: Tracked = 104
[DEBUG] [946701692.353826887]: Reprojection: nPoints = 125 nMatches = 121
[DEBUG] [946701692.354931887]: PoseOptimizer: ErrInit = 0.812489px thresh = 1.20248
[DEBUG] [946701692.355064470]: PoseOptimizer: ErrFin. = 0.802821px nObsFin. = 112
[DEBUG] [946701692.355309762]: New keyframe selected.
[DEBUG] [946701692.355613012]: Frame: 10 fps-avg = 10.7963 nObs = 133
Frame-Id: 10 #Features: 121 Proc. Time: 10.468ms
[DEBUG] [946701692.406636220]: New Frame
[DEBUG] [946701692.412552595]: Img Align: Tracked = 105
[DEBUG] [946701692.416008220]: Reprojection: nPoints = 133 nMatches = 121
[DEBUG] [946701692.416574470]: PoseOptimizer: ErrInit = 0.958968px thresh = 1.41927
[DEBUG] [946701692.416711678]: PoseOptimizer: ErrFin. = 0.922338px nObsFin. = 114
[DEBUG] [946701692.416982428]: Frame: 11 fps-avg = 11.02 nObs = 132
Frame-Id: 11 #Features: 121 Proc. Time: 10.328ms
[DEBUG] [946701692.467954428]: New Frame
[DEBUG] [946701692.473947553]: Img Align: Tracked = 104
[DEBUG] [946701692.477426345]: Reprojection: nPoints = 134 nMatches = 121
[DEBUG] [946701692.478011178]: PoseOptimizer: ErrInit = 0.76769px thresh = 1.13618
[DEBUG] [946701692.478147803]: PoseOptimizer: ErrFin. = 0.775792px nObsFin. = 115
[DEBUG] [946701692.478391512]: New keyframe selected.
[DEBUG] [946701692.478712095]: Frame: 12 fps-avg = 14.9097 nObs = 131
Frame-Id: 12 #Features: 121 Proc. Time: 10.742ms
[DEBUG] [946701692.529797720]: New Frame
[DEBUG] [946701692.535976137]: Img Align: Tracked = 104
[DEBUG] [946701692.539425387]: Reprojection: nPoints = 129 nMatches = 121
[DEBUG] [946701692.539984220]: PoseOptimizer: ErrInit = 0.7857px thresh = 1.16284
[DEBUG] [946701692.540114887]: PoseOptimizer: ErrFin. = 0.688823px nObsFin. = 112
[DEBUG] [946701692.540401470]: Frame: 13 fps-avg = 94.9037 nObs = 121
Frame-Id: 13 #Features: 121 Proc. Time: 10.584ms
[DEBUG] [946701692.591178054]: New Frame
[DEBUG] [946701692.595975595]: Img Align: Tracked = 105
[DEBUG] [946701692.599599262]: Reprojection: nPoints = 132 nMatches = 121
[DEBUG] [946701692.600159262]: PoseOptimizer: ErrInit = 0.779553px thresh = 1.15374
[DEBUG] [946701692.600294054]: PoseOptimizer: ErrFin. = 0.64056px nObsFin. = 112
[DEBUG] [946701692.600548970]: New keyframe selected.
[DEBUG] [946701692.600887304]: Frame: 14 fps-avg = 98.5105 nObs = 121
Frame-Id: 14 #Features: 121 Proc. Time: 9.691ms
[DEBUG] [946701692.652007429]: New Frame
[DEBUG] [946701692.657888845]: Img Align: Tracked = 101
[DEBUG] [946701692.661445929]: Reprojection: nPoints = 127 nMatches = 121
[DEBUG] [946701692.662001970]: PoseOptimizer: ErrInit = 0.704929px thresh = 1.04329
[DEBUG] [946701692.662128720]: PoseOptimizer: ErrFin. = 0.724794px nObsFin. = 108
[DEBUG] [946701692.662398220]: Frame: 15 fps-avg = 98.703 nObs = 121
Frame-Id: 15 #Features: 121 Proc. Time: 10.373ms
[DEBUG] [946701692.713252595]: New Frame
[DEBUG] [946701692.718219387]: Img Align: Tracked = 96
[DEBUG] [946701692.721797804]: Reprojection: nPoints = 125 nMatches = 121
[DEBUG] [946701692.722934929]: PoseOptimizer: ErrInit = 0.652905px thresh = 0.9663
[DEBUG] [946701692.723074429]: PoseOptimizer: ErrFin. = 0.537063px nObsFin. = 109
[DEBUG] [946701692.723322679]: New keyframe selected.
[DEBUG] [946701692.723704554]: Frame: 16 fps-avg = 97.5391 nObs = 121
Frame-Id: 16 #Features: 121 Proc. Time: 10.441ms
[DEBUG] [946701692.774826054]: New Frame
[DEBUG] [946701692.780179429]: Img Align: Tracked = 100
[DEBUG] [946701692.783839220]: Reprojection: nPoints = 138 nMatches = 121
[DEBUG] [946701692.784641512]: PoseOptimizer: ErrInit = 0.487702px thresh = 0.721799
[DEBUG] [946701692.784778345]: PoseOptimizer: ErrFin. = 0.421836px nObsFin. = 114
[DEBUG] [946701692.785047679]: Frame: 17 fps-avg = 97.3634 nObs = 121
Frame-Id: 17 #Features: 121 Proc. Time: 10.201ms
[DEBUG] [946701692.836013345]: New Frame
[DEBUG] [946701692.841157762]: Img Align: Tracked = 102
*** Error in `/root/catkin_ws/devel/lib/svo/test_pipeline': free(): invalid pointer: 0xb21030e0 ***
Aborted
from rpg_svo.
commented on June 29, 2024
@KorbiS Thanks, if this does not get resolved I will try Groovy with Ubuntu 12.11.
@cfo I did not set the CMAKE_BUILD_TYPE to RelWithDebInfo to get the gdb output. I will do that now and post the results shortly.
from rpg_svo.
commented on June 29, 2024
gdb output after rebuilding with CMAKE_BUILD_TYPE set to RevWithDebInfo:
#0 __libc_do_syscall () at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
#1 0xb68055fe in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#2 0xb6807e1a in __GI_abort () at abort.c:90
#3 0xb682b9ec in __libc_message (do_abort=2, fmt=0xb68aa2b0 "*** Error in `%s': %s: 0x%s ***\n")
at ../sysdeps/unix/sysv/linux/libc_fatal.c:199
#4 0xb6832752 in malloc_printerr (action=3, str=0xb68aa46c "free(): invalid next size (normal)",
ptr=<optimized out>) at malloc.c:4902
#5 0xb6833192 in _int_free (av=<optimized out>, p=0xb8b48, have_lock=0) at malloc.c:3758
#6 0xb6e4a3d8 in aligned_free (ptr=0xb8b50) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:227
#7 conditional_aligned_free<true> (ptr=0xb8b50)
at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:299
#8 operator delete (ptr=0xb8b50) at /root/catkin_ws/src/rpg_svo/svo/include/svo/point.h:38
#9 operator() (pt=@0xb8c80: 0xb8b50, __closure=<optimized out>)
at /root/catkin_ws/src/rpg_svo/svo/src/map.cpp:193
#10 for_each<std::_List_iterator<svo::Point*>, svo::Map::emptyTrash()::<lambda(svo::Point*&)> > (
__last=..., __first=..., __f=...) at /usr/include/c++/4.7/bits/stl_algo.h:4442
#11 svo::Map::emptyTrash (this=this@entry=0x89afc)
at /root/catkin_ws/src/rpg_svo/svo/src/map.cpp:195
#12 0xb6e4574e in svo::FrameHandlerBase::startFrameProcessingCommon (this=this@entry=0x89af0,
timestamp=946702340.15010703) at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_base.cpp:104
#13 0xb6e421e2 in svo::FrameHandlerMono::addImage (this=0x89af0, img=...,
timestamp=946702340.15010703) at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:60
#14 0x00014e6a in svo::VoNode::imgCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#15 0x00015b62 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, svo::VoNode, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<svo::VoNode*>, boost::arg<1> > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#16 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const () from /opt/ros/hydro/lib/libimage_transport.so
#17 0xb1f8b24a in image_transport::RawSubscriber::internalCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#18 0xb1f9629a in boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>::operator()(image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) const ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#19 0xb1f95994 in void boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > >::operator()<boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&> >(boost::_bi::type<void>, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>&, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>&, int) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#20 0xb1f94e76 in void boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >::operator()<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#21 0xb1f94450 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#22 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const () from /opt/ros/hydro/lib/libimage_transport.so
#23 0xb6f610ae in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) ()
from /opt/ros/hydro/lib/libimage_transport.so
#24 0xb6f6e490 in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) const ()
from /opt/ros/hydro/lib/libimage_transport.so
#25 0xb1f987e2 in ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#26 0xb6bdceb6 in ros::SubscriptionQueue::call() () from /opt/ros/hydro/lib/libroscpp.so
#27 0xb6b8d066 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()
from /opt/ros/hydro/lib/libroscpp.so
#28 0xb6b8cc4c in ros::CallbackQueue::callAvailable(ros::WallDuration) ()
from /opt/ros/hydro/lib/libroscpp.so
#29 0xb6bc4036 in ros::spinOnce() () from /opt/ros/hydro/lib/libroscpp.so
#30 0x000149fc in main ()
from rpg_svo.
cfo
commented on June 29, 2024
thanks for the tracefiles. as a dirty fix, you can comment line 104 in frame_handler_base.cpp: https://github.com/uzh-rpg/rpg_svo/blob/master/svo/src/frame_handler_base.cpp#L104
and see if you get another error?
from rpg_svo.
commented on June 29, 2024
After rebuilding with line 104 of frame_handler_base.cpp commented out, SVO still crashes with the following gdb output:
#0 __libc_do_syscall ()
at ../ports/sysdeps/unix/sysv/linux/arm/libc-do-syscall.S:44
#1 0xb68055fe in __GI_raise (sig=sig@entry=6)
at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#2 0xb6807e1a in __GI_abort () at abort.c:90
#3 0xb682b9ec in __libc_message (do_abort=2,
fmt=0xb68aa2b0 "*** Error in `%s': %s: 0x%s ***\n")
at ../sysdeps/unix/sysv/linux/libc_fatal.c:199
#4 0xb6832752 in malloc_printerr (action=3,
str=0xb68aa4b4 "free(): invalid pointer", ptr=<optimized out>)
at malloc.c:4902
#5 0xb6833192 in _int_free (av=<optimized out>, p=0xb0302658, have_lock=0)
at malloc.c:3758
#6 0xb6e49e54 in aligned_free (ptr=<optimized out>)
at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:227
#7 conditional_aligned_free<true> (ptr=<optimized out>)
at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:299
#8 operator delete (ptr=<optimized out>)
at /root/catkin_ws/src/rpg_svo/svo/include/svo/feature.h:27
#9 svo::MapPointCandidates::deleteCandidate (this=0x8983c, c=...)
at /root/catkin_ws/src/rpg_svo/svo/src/map.cpp:279
#10 0xb6e5256c in svo::Reprojector::reprojectMap (this=this@entry=0x898d0,
frame=..., overlap_kfs=...)
at /root/catkin_ws/src/rpg_svo/svo/src/reprojector.cpp:119
#11 0xb6e42926 in svo::FrameHandlerMono::processFrame (this=0x89820)
at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:146
#12 0xb6e422f8 in svo::FrameHandlerMono::addImage (this=0x89820, img=...,
timestamp=946685586.83669782)
at /root/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:75
#13 0x00014e6a in svo::VoNode::imgCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#14 0x00015b62 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, svo::VoNode, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<svo::VoNode*>, boost::arg<1> > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#15 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const ()
from /opt/ros/hydro/lib/libimage_transport.so
#16 0xb1f8b24a in image_transport::RawSubscriber::internalCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) () from /opt/ros/hydro/lib//libimage_transport_plugins.so
#17 0xb1f9629a in boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>::operator()(image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) const ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#18 0xb1f95994 in void boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > >::operator()<boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&> >(boost::_bi::type<void>, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>&, boost::_bi::list1<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>&, int) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#19 0xb1f94e76 in void boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >::operator()<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#20 0xb1f94450 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf2<void, image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&>, boost::_bi::list3<boost::_bi::value<image_transport::SimpleSubscriberPlugin<sensor_msgs::Image_<std::allocator<void> > >*>, boost::arg<1>, boost::_bi::value<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> > > >, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#21 0xb6f6291c in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const ()
from /opt/ros/hydro/lib/libimage_transport.so
#22 0xb6f610ae in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) ()
from /opt/ros/hydro/lib/libimage_transport.so
#23 0xb6f6e490 in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::operator()(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) const ()
from /opt/ros/hydro/lib/libimage_transport.so
#24 0xb1f987e2 in ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) ()
from /opt/ros/hydro/lib//libimage_transport_plugins.so
#25 0xb6bdceb6 in ros::SubscriptionQueue::call() ()
from /opt/ros/hydro/lib/libroscpp.so
#26 0xb6b8d066 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) ()
from /opt/ros/hydro/lib/libroscpp.so
#27 0xb6b8cc4c in ros::CallbackQueue::callAvailable(ros::WallDuration) ()
from /opt/ros/hydro/lib/libroscpp.so
#28 0xb6bc4036 in ros::spinOnce() () from /opt/ros/hydro/lib/libroscpp.so
#29 0x000149fc in main ()
It also crashed with rosrun svo test_pipeline.
I can confirm that SVO runs without any problems on Linaro Ubuntu 12.11 with ROS Groovy.
from rpg_svo.
Related Issues (20)
- [svo-1] process has died [pid 2709, exit code -11 HOT 4
- Jetson TX2 (cpu: aarch64) HOT 3
- Run SVO with ROS Melodic HOT 3
- live camera for NON-ROS build test_pipeline core dump error HOT 3
- I USE SVO TO RUN MY OWN DATA ERROE OCCURED HOT 1
- SVO with Raspicam v2
- How to allow SVO pipeline to spend more time on processing each frame?
- may be used uninitialized in this function [-Werror=maybe-uninitialized]
- rpg_svo fatal error: sophus/se3.h: No such file or directory HOT 3
- my marker will not move
- Error while live.launch HOT 1
- log stops at " Init: Selected second frame, triangulated initial map."
- [svo-1] process has died [pid 3794, exit code -6
- compile error HOT 1
- Issue while running ./test_pipeline HOT 2
- Live camera with non ROS installation
- Query about IMU measure in VIO
- issue while running test_pipeline HOT 1
- segmentation fault running the test program HOT 1
- Issue with (Dataset) of Run SVO with ROS
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