解除分配pcl :: PointCloud :: Ptr ]时的分段错误>

Question

我有一个可以成功读取点云并将其存储在pcl::PointCloud<pcl::PointXYZ>::Ptr pcd中的函数

然后我跑

//filter the pointcloud to remove some noise while still keeping the cloud dense
pcl::PointCloud<pcl::PointXYZ>::Ptr tmp = filter_obj.filterVoxelGrid(pcd, 0.01, 0.01, 0.01);
其中filter_obj是stereo_pointcloud_filter的对象

pcl::PointCloud<pcl::PointXYZ>::Ptr stereo_pointcloud_filter::filterVoxelGrid(
    pcl::PointCloud<pcl::PointXYZ>::Ptr inputcloud,
    float voxelX, float voxelY, float voxelZ)
{

    pcl::PointCloud<pcl::PointXYZ>::Ptr outputcloud(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::VoxelGrid<pcl::PointXYZ> sor;
    sor.setInputCloud(inputcloud);
    sor.setLeafSize(voxelX, voxelY, voxelZ);
    sor.filter(*outputcloud);

    pcl::PointCloud<pcl::PointXYZ>::Ptr result(outputcloud);
    return result;
}
我在tmp的取消分配过程中遇到了分段错误。我几乎可以肯定，该错误与filterVoxelGrid()中的一些错误指针有关，但我不确定如何解决。

这里是调用堆栈

libc.so.6！__ GI ___ libc_free（void * mem）（/usr/src/glibc/glibc-2.23/malloc/malloc.c:2951）Eigen :: internal :: handmade_aligned_free（void * ptr）（/home/shawn/Documents/Projects/catkin_ws/devel/include/Eigen/src/Core/util/Memory.h:98）Eigen :: internal :: aligned_free（void * ptr）（/home/shawn/Documents/Projects/catkin_ws/devel/include/Eigen/src/Core/util/Memory.h:179）Eigen :: aligned_allocator :: deallocate（Eigen :: aligned_allocator * const this，Eigen :: aligned_allocator :: pointer p）（/ home / shawn / Documents / Projects / catkin_ws / devel / include / Eigen / src / Core / util / Memory .h：755）std :: allocator_traits> :: deallocate（Eigen :: aligned_allocator＆__a，std :: allocator_traits> :: pointer __p，std :: allocator_traits> :: size_type __n）（/ usr / include / c ++ / 5 / bits / alloc_traits。 h：386）std :: _ Vector_base> :: _ M_deallocate（std :: _ Vector_base> * const this，std :: _ Vector_base> :: pointer __p，std :: size_t __n）（/usr/include/c++/5/bits/stl_vector.h： 178）std :: _ Vector_base> ::〜_Vector_base（std :: _ Vector_base> * const this）（/usr/include/c++/5/bits/stl_vector.h:160）std :: vector> ::〜vector（std :: vector> * const this）（/usr/include/c++/5/bits/stl_vector.h:425）pcl :: PointCloud ::〜PointCloud（pcl :: PointCloud * const this）（/usr/local/include/pcl-1.8/pcl/point_cloud.h:240）pcl :: PointCloud ::〜PointCloud（pcl :: PointCloud * const this）（/usr/local/include/pcl-1.8/pcl/point_cloud.h:240）boost :: checked_delete>（pcl :: PointCloud * x）（/usr/include/boost/core/checked_delete.hpp:34）boost :: detail :: sp_counted_impl_p> :: dispose（boost :: detail :: sp_counted_impl_p> * const this）（/usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78）boost :: detail :: sp_counted_base :: release（boost :: detail :: sp_counted_base * const this）（/usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146）boost :: detail :: shared_count ::〜shared_count（boost :: detail :: shared_count * const this）（/usr/include/boost/smart_ptr/detail/shared_count.hpp:443）boost :: shared_ptr> ::〜shared_ptr（boost :: shared_ptr> * const this）（/usr/include/boost/smart_ptr/shared_ptr.hpp:323）read_PCD_file（std :: __ cxx11 :: string pcdFilePath）（/home/shawn/Documents/Projects/catkin_ws/src/file.cpp:402）main（int argc，char ** argv）（/home/shawn/Documents/Projects/catkin_ws/src/file.cpp:567）

我有一个可以成功读取点云并将其存储在pcl :: PointCloud <:pointxyz>:: Ptr pcd中的函数，然后运行//过滤点云以除去一些噪音，同时仍然保持...

Answer 1

虽然我无法找到此问题的解决方案，但我找到了一种解决方法。我切换为使用pcl::PCLPointCloud2的pcl::PointCloud<pcl::PointXYZ> intead，并且代码运行正常。