特征分配分段错误（Open3D）

Question

我正在尝试在 Pointcloud 上进行一些操作，但是当调用 VoxelDownSample 函数时，我收到了分段错误信号。我发现问题是程序想要分配一些天文数字量的数据，但我不知道它来自哪里，因为实际的 PointCloud 对象大小是 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 是我的函数，它从 csv 文件创建 PointCloud 并且工作正常。

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

我尝试从 Eigen 更改宏并更改编译器，但没有任何效果。

Answer 1

由于内存太多，这部分显示为

SIGABRT

，而不是

SIGSEGV

：

#0 __GI_raise (sig=sig@entry=6) 位于 ../sysdeps/unix/sysv/linux/raise.c:51
#1 __GI_abort () 中的 0x00007ffff6eb4921 at abort.c:79

Valgrind 表明使用了未初始化的数据，而不是未映射的内存：

==14534== 大小 8 的读取无效

它似乎指向位于

vector

下面的数组开头的内部指针：

==14534== 在 0x114D59：std::vector，std::allocator > >::begin() const （在 /home/rufus/CLionProjects/isolatedSegFault/build/isolatedSegFault）

然后它说

vector

是由

make_shared

在

voxelDownSample

内创建的：

==14534== 0x12C358：make_sharedopen3d::geometry::PointCloud (shared_ptr.h:707)
==14534== 0x12C358：open3d::geometry::PointCloud::VoxelDownSample(double) const (PointCloud.cpp:306)

我的直觉告诉我，

• 如果涉及

  weak_ptr

  ，那么向量可能因丢失所有

  shared_ptr

  引用而被破坏。 Valgrind 无法看到这一点，因为在

  weak_ptr

  引用也消失之前它不会被释放。
• 否则，可能会出现其他类型的内存错误，例如
  • 在实际构建之前尝试使用

    vector

  • 在

    shared_ptr

    被销毁后使用原始指针
  • 缓冲区溢出，或其他随机喷射内存（不太可能击中

    shared_ptr

    对象，但你永远不知道）
• 无论如何，如果该对象是在上次运行任何代码之后创建的，并且您的参数在数字上有效，那么它看起来像是一个库错误。

Answer 2

我遇到了同样的问题。我认为原因是 Open3D 附带的 Eigen 与您系统上安装的 Eigen 版本存在差异。 在我的 Ubuntu22.04 上，apt 让我发布了 3.4.0 而 Open3D 在 3rdparty/eigen/eigen.cmake 指定 da7909592376 我用地址消毒剂对其进行了测试，这给了我很多线索，导致了这个结论。

$ sudo apt list -a *libeigen*
Listing... Done
libeigen-stl-containers-dev/jammy,jammy 0.1.8-4 all
libeigen3-dev/jammy,jammy,now 3.4.0-2ubuntu2 all [installed]
libeigen3-doc/jammy,jammy 3.4.0-2ubuntu2 all
libeigenbase-farrago-java/jammy,jammy 0.9.0-2.1 all
libeigenbase-resgen-java-doc/jammy,jammy 1.3.0.13768-4.1 all
libeigenbase-resgen-java/jammy,jammy 1.3.0.13768-4.1 all

我通过删除

/usr/local

下所有 Open3D 安装的文件、删除构建目录内容并使用

再次进行 cmake 来解决此问题

cmake .. -DUSE_SYSTEM_EIGEN3=ON

之后，我干净地重建了与库相关的所有内容，问题就消失了。