ethz-asl/dynablox

Program Crash in official dataset with seq0 and seq1

Kin-Zhang opened this issue · 1 comments

Kin-Zhang commented

Information:

  • ROS noetic
  • Running after 1 mins will have the crash:
  • Default config and code
  • Dataset: hauptgebaeude/sequence_1 and hauptgebaeude/sequence_2

Crash message:

motion_detector: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:117: Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index, Eigen::Index) const [with Derived = Eigen::Matrix<float, -1, -1>; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = const float&; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.
*** Aborted at 1683150283 (unix time) try "date -d @1683150283" if you are using GNU date ***
PC: @     0x7f161673900b gsignal
*** SIGABRT (@0x7740) received by PID 30528 (TID 0x7f15dbfff700) from PID 30528; stack trace: ***
    @     0x7f161707a781 google::(anonymous namespace)::FailureSignalHandler()
    @     0x7f1616739090 (unknown)
    @     0x7f161673900b gsignal
    @     0x7f1616718859 abort
    @     0x7f1616718729 (unknown)
    @     0x7f1616729fd6 __assert_fail
    @     0x7f161582d851 Eigen::DenseCoeffsBase<>::operator()()
    @     0x7f161582cd8c voxblox::ProjectiveTsdfIntegrator<>::interpolate()
    @     0x7f16158407ed voxblox::ProjectiveTsdfIntegrator<>::updateTsdfVoxel()
    @     0x7f161583f3de voxblox::ProjectiveTsdfIntegrator<>::updateTsdfBlocks()
    @     0x7f161584683c _ZSt13__invoke_implIvMN7voxblox24ProjectiveTsdfIntegratorILNS0_19InterpolationSchemeE3EEEFvRKN5kindr7minimal26QuatTransformationTemplateIfEERKN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEERKSt13unordered_setINSB_IiLi3ELi1ELi0ELi3ELi1EEENS0_12AnyIndexHashESt8equal_toISG_ENSA_17aligned_allocatorISG_EEEbEPS3_JS7_SC_SM_bEET_St21__invoke_memfun_derefOT0_OT1_DpOT2_
    @     0x7f161584664f _ZSt8__invokeIMN7voxblox24ProjectiveTsdfIntegratorILNS0_19InterpolationSchemeE3EEEFvRKN5kindr7minimal26QuatTransformationTemplateIfEERKN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEERKSt13unordered_setINSB_IiLi3ELi1ELi0ELi3ELi1EEENS0_12AnyIndexHashESt8equal_toISG_ENSA_17aligned_allocatorISG_EEEbEJPS3_S7_SC_SM_bEENSt15__invoke_resultIT_JDpT0_EE4typeEOST_DpOSU_
    @     0x7f161584649f _ZNSt6thread8_InvokerISt5tupleIJMN7voxblox24ProjectiveTsdfIntegratorILNS2_19InterpolationSchemeE3EEEFvRKN5kindr7minimal26QuatTransformationTemplateIfEERKN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEERKSt13unordered_setINSD_IiLi3ELi1ELi0ELi3ELi1EEENS2_12AnyIndexHashESt8equal_toISI_ENSC_17aligned_allocatorISI_EEEbEPS5_S9_SE_SO_bEEE9_M_invokeIJLm0ELm1ELm2ELm3ELm4ELm5EEEEvSt12_Index_tupleIJXspT_EEE
    @     0x7f16158463d1 _ZNSt6thread8_InvokerISt5tupleIJMN7voxblox24ProjectiveTsdfIntegratorILNS2_19InterpolationSchemeE3EEEFvRKN5kindr7minimal26QuatTransformationTemplateIfEERKN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEERKSt13unordered_setINSD_IiLi3ELi1ELi0ELi3ELi1EEENS2_12AnyIndexHashESt8equal_toISI_ENSC_17aligned_allocatorISI_EEEbEPS5_S9_SE_SO_bEEEclEv
    @     0x7f16158463a2 _ZNSt6thread11_State_implINS_8_InvokerISt5tupleIJMN7voxblox24ProjectiveTsdfIntegratorILNS3_19InterpolationSchemeE3EEEFvRKN5kindr7minimal26QuatTransformationTemplateIfEERKN5Eigen6MatrixIfLin1ELin1ELi0ELin1ELin1EEERKSt13unordered_setINSE_IiLi3ELi1ELi0ELi3ELi1EEENS3_12AnyIndexHashESt8equal_toISJ_ENSD_17aligned_allocatorISJ_EEEbEPS6_SA_SF_SP_bEEEEE6_M_runEv
    @     0x7f16169d9de4 (unknown)
    @     0x7f16166db609 start_thread
    @     0x7f1616815133 clone
Kin-Zhang commented

The compile mode should be Release.

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release