Segmentation fault when run test on kitti
LongruiDong opened this issue · 3 comments
Hi:
Thans for contributing such a great project!
I have build DSP-SLAM successfully, but when I run dsp_slam on your kitti 07, i got Segmentation fault,
below is terminal output in gdb debugging
(gdb) run
Starting program: /home/dlr/Project/DSP-SLAM/dsp_slam Vocabulary/ORBvoc.bin configs/KITTI04-12.yaml /media/dsp-slam/data/kitti/07 map/kitti/07
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
DSP-SLAM: Object Oriented SLAM with Deep Shape Priors.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: Stereo
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
[debug]: py::module::import(sys)
[New Thread 0x7ffec9cde700 (LWP 8631)]
....
[New Thread 0x7ffd6f288700 (LWP 8704)]
[debug]: py::module::import(reconstruct.utils)
[debug]: pyCfgPath: configs/config_kitti.json
[New Thread 0x7ffd5f9a7700 (LWP 8711)]
...
[New Thread 0x7ffd52ffd700 (LWP 8732)]
[debug]: io_utils.attr(get_decoder)(pyCfg)
[debug]: strSequencePath: /media/dsp-slam/data/kitti/07
[pydebug] to get_seq
[pydebug] to Class KITIISequence
[pydebug] load_calib() done
[Thread 0x7ffd6f288700 (LWP 8704) exited]
...
[Thread 0x7ffec9cde700 (LWP 8631) exited]
[pydebug] data_type == KITTI
Thread 1 "dsp_slam" received signal SIGSEGV, Segmentation fault.
0x00007fffd4a16e6c in geos::io::WKBReader::readGeometry() () from /usr/lib/x86_64-linux-gnu/libgeos-3.6.2.so
(gdb) bt
#0 0x00007fffd4a16e6c in geos::io::WKBReader::readGeometry() () at /usr/lib/x86_64-linux-gnu/libgeos-3.6.2.so
#1 0x00007ffe52595e14 in () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/python3.7/site-packages/Shapely.libs/libgeos_c-74dec7a7.so.1.14.2
#2 0x00007ffe525980ee in GEOSGeomFromWKB_buf_r () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/python3.7/site-packages/Shapely.libs/libgeos_c-74dec7a7.so.1.14.2
#3 0x00007fffe82d7dae in ffi_call_unix64 () at /usr/lib/x86_64-linux-gnu/libffi.so.6
#4 0x00007fffe82d771f in ffi_call () at /usr/lib/x86_64-linux-gnu/libffi.so.6
#5 0x00007fffb4baa7b4 in _call_function_pointer (argcount=3, resmem=0x7fffffff24a0, restype=<optimized out>, atypes=<optimized out>, avalues=0x7fffffff2480, pProc=0x7ffe525980a0 <GEOSGeomFromWKB_buf_r>, flags=<optimized out>) at /usr/local/src/conda/python-3.7.12/Modules/_ctypes/callproc.c:816
#6 0x00007fffb4baa7b4 in _ctypes_callproc (pProc=0x7ffe525980a0 <GEOSGeomFromWKB_buf_r>, argtuple=0x7ffe52849550, flags=<optimized out>, argtypes=0x7ffe5280d410, restype=<optimized out>, checker=0x0) at /usr/local/src/conda/python-3.7.12/Modules/_ctypes/callproc.c:1188
#7 0x00007fffb4bab02c in PyCFuncPtr_call (self=<optimized out>, inargs=<optimized out>, kwds=0x0) at /usr/local/src/conda/python-3.7.12/Modules/_ctypes/_ctypes.c:4025
#8 0x00007ffff583ac04 in PyObject_Call () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#9 0x00007ffff56f3805 in partial_call () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#10 0x00007ffff583add9 in _PyObject_FastCallKeywords () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#11 0x00007ffff56b13c3 in call_function.lto_priv () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#12 0x00007ffff56b7c77 in _PyEval_EvalFrameDefault () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#13 0x00007ffff56badea in function_code_fastcall () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#14 0x00007ffff56b1416 in call_function.lto_priv () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#15 0x00007ffff56b5d92 in _PyEval_EvalFrameDefault () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#16 0x00007ffff576ee80 in _PyEval_EvalCodeWithName () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#17 0x00007ffff576e29f in PyEval_EvalCodeEx () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#18 0x00007ffff576f93c in PyEval_EvalCode () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#19 0x00007ffff5773b0e in builtin_exec () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#20 0x00007ffff5839f9c in _PyMethodDef_RawFastCallDict () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#21 0x00007ffff583a9d9 in _PyCFunction_FastCallDict () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#22 0x00007ffff56b95f1 in _PyEval_EvalFrameDefault () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#23 0x00007ffff576ee80 in _PyEval_EvalCodeWithName () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#24 0x00007ffff583a0ea in _PyFunction_FastCallKeywords () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#25 0x00007ffff56b1416 in call_function.lto_priv () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#26 0x00007ffff56b7c77 in _PyEval_EvalFrameDefault () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#27 0x00007ffff56badea in function_code_fastcall () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#28 0x00007ffff56b1416 in call_function.lto_priv () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#29 0x00007ffff56b5f46 in _PyEval_EvalFrameDefault () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#30 0x00007ffff56badea in function_code_fastcall () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#31 0x00007ffff56b1416 in call_function.lto_priv () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
#32 0x00007ffff56b5d92 in _PyEval_EvalFrameDefault () at /home/dlr/3rdpack/anaconda3/envs/dsp-slam/lib/libpython3.7m.so.1.0
---Type <return> to continue, or q <return> to quit---
...
according to my print infos. I noticed the code stuck at
DSP-SLAM/reconstruct/__init__.py
Line 5 in cfce877
I am wondering how to solve this , can you give some insights?
Thanks in advance!
Hi LongruiDong,
Thanks for reaching out! The segfault seems quite wierd. From where it stucks it seems that it cannot find the module .detector. And I saw that you are running DSP-SLAM from your home directory, my hypothesis is that as you are not running the program under the prgram directory, it might be the case that the Python interpreter cannot locate that module. Have you tried cd into the DSP-SLAM directory and run the program with relative paths? You can simply follow the command in readme.
Also, the Python reconstruction script reconstruct_frame.py is very useful for you to debug. Can you successfully run that script?
Feel free to contact me if you have any questions.
Best
Jingwen
Hi LongruiDong,
Thanks for reaching out! The segfault seems quite wierd. From where it stucks it seems that it cannot find the module .detector. And I saw that you are running DSP-SLAM from your home directory, my hypothesis is that as you are not running the program under the prgram directory, it might be the case that the Python interpreter cannot locate that module. Have you tried cd into the DSP-SLAM directory and run the program with relative paths? You can simply follow the command in readme.
Also, the Python reconstruction script reconstruct_frame.py is very useful for you to debug. Can you successfully run that script?
Feel free to contact me if you have any questions.
Best Jingwen
Actually I am running the program in DSP-SLAM directory, the gdb show the full path of each args of raw command.
yes I can also run reconstruction script reconstruct_frame.py fluently, which may indicates the python can find detector3d module.
Furthermore, I change to run DSP-SLAM with offline detector as ReadMe.txt, which also normally get succeed. and I found the map is okay...
the program with onlline detector also works on redwood and freiburg dataset !
So now the online detect mode is the question
The problem should be that when the kitti data is input, the program cannot run the detection module normally...
However I am not sure how to solve it
Hi! Sorry, I thought you were running it from your home because I saw that you used the absolute path of the executable. Why don't you just use ./dsp-slam? So the problem now is you can run online mode on Redwood and Freiburg sequences but get errors when running KITTI? It shouldn't happen because if you run it under the DSP-SLAM directory it will automatically include the current directory to Python path, especially given that you said you can run reconstruct_frame.py smoothly...
I have tested from my side and cannot reproduce the error. Did you make sure that everything is the same when you run on KITTI and mono sequences? I'm sorry but I have no idea what might be happening. You can reach out to me via Jingwen.Wang.17@ucl.ac.uk and we can have a more detailed discussion via email.