Hello, experts.
I have a bug on my code.
When it reach functions as ROS_INFO or assignment values, this bug log "Bus error (core dumped)" or "Segmentation fault (core dumped)" or "Aborted (core dumped)".
I want to test it more accurately, but it is not easy to debug because I get an error in one of the thousands of cases in the Bag file.
Briefly, it is a function that it convert points position with matrix.
I attached the code.
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// Conver a point from a Lidar point to a Image point
void Fusion::Conversion::points2img(const Fusion::Point &_lidar_pt, const cv::Mat &projection_matrix, cv::Point2f &_point){
cv::Mat pt_3D(4, 1, CV_32FC1);
float *pt_3D_data = (float*) pt_3D.data;
pt_3D_data[0] = _lidar_pt.x;
pt_3D_data[1] = _lidar_pt.y;
pt_3D_data[2] = _lidar_pt.z;
pt_3D_data[3] = 1.0f;
ROS_INFO("Check Error 0: %f, 1: %f, 2: %f, 4: %f", (float)pt_3D.data[0], (float)pt_3D.data[1], (float)pt_3D.data[2], (float)pt_3D.data[3]);
cv::Mat pt_2D = projection_matrix * pt_3D;
float *pt_2D_data = (float*) pt_2D.data;
ROS_INFO("Check Error 0 1: %f, 1: %f, 2: %f", (float)pt_2D.data[0], (float)pt_2D.data[1], (float)pt_2D.data[2]);
float w = pt_2D_data[2];
ROS_INFO("w %f", w);
float y = pt_2D_data[0] / w;
ROS_INFO("y %f", y);
float x = pt_2D_data[1] / w;
ROS_INFO("x %f", x);
cv::Point2f result(y, x);
_point = result;
return;
}
The error was caused on **`float w = pt_2D_data[2];` or `float w = pt_2D_data[2];` or other ROS_INFO functions.**
Below is the error log.
*** Error in `/PATH/conversion/conversion_points2img_node': corrupted double-linked list: 0x000000000343b2d0 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f1fd7b317e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x82970)[0x7f1fd7b3c970]
/lib/x86_64-linux-gnu/libc.so.6(__libc_malloc+0x54)[0x7f1fd7b3e184]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_Znwm+0x18)[0x7f1fd8127e78]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE7reserveEm+0x7d)[0x7f1fd81b987d]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSt7__cxx1115basic_stringbufIcSt11char_traitsIcESaIcEE8overflowEi+0xe5)[0x7f1fd81adcd5]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSt15basic_streambufIcSt11char_traitsIcEE6xsputnEPKcl+0x89)[0x7f1fd81b7e79]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNKSt7num_putIcSt19ostreambuf_iteratorIcSt11char_traitsIcEEE13_M_insert_intImEES3_S3_RSt8ios_basecT_+0xf4)[0x7f1fd819d214]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNKSt7num_putIcSt19ostreambuf_iteratorIcSt11char_traitsIcEEE6do_putES3_RSt8ios_basecm+0xd)[0x7f1fd819d36d]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSo9_M_insertImEERSoT_+0xca)[0x7f1fd81a969a]
/opt/ros/kinetic/lib/librostime.so(_ZN3roslsERSoRKNS_8WallTimeE+0xae)[0x7f1fd6b391ae]
/opt/ros/kinetic/lib/librosconsole.so(_ZN3ros7console9TimeToken9getStringB5cxx11EPvNS0_6levels5LevelEPKcS6_S6_i+0x4a)[0x7f1fd8d735fa]
/opt/ros/kinetic/lib/librosconsole.so(_ZN3ros7console9Formatter5printEPvNS0_6levels5LevelEPKcS6_S6_i+0x13b)[0x7f1fd8d6fc3b]
/opt/ros/kinetic/lib/librosconsole.so(_ZN3ros7console6_printEPvNS0_6levels5LevelEPKcS5_S5_i+0x20)[0x7f1fd8d6fde0]
/opt/ros/kinetic/lib/librosconsole_log4cxx.so(_ZN3ros7console4impl23ROSConsoleStdioAppender6appendERKN7log4cxx7helpers10ObjectPtrTINS3_3spi12LoggingEventEEERNS4_4PoolE+0x1e2)[0x7f1fd60c9322]
/usr/lib/x86_64-linux-gnu/liblog4cxx.so.10(_ZN7log4cxx16AppenderSkeleton8doAppendERKNS_7helpers10ObjectPtrTINS_3spi12LoggingEventEEERNS1_4PoolE+0x226)[0x7f1fd5bab9b6]
/usr/lib/x86_64-linux-gnu/liblog4cxx.so.10(_ZN7log4cxx7helpers22AppenderAttachableImpl21appendLoopOnAppendersERKNS0_10ObjectPtrTINS_3spi12LoggingEventEEERNS0_4PoolE+0x3f)[0x7f1fd5ba96af]
/usr/lib/x86_64-linux-gnu/liblog4cxx.so.10(_ZNK7log4cxx6Logger13callAppendersERKNS_7helpers10ObjectPtrTINS_3spi12LoggingEventEEERNS1_4PoolE+0xe8)[0x7f1fd5bf1428]
/usr/lib/x86_64-linux-gnu/liblog4cxx.so.10(_ZNK7log4cxx6Logger9forcedLogERKNS_7helpers10ObjectPtrTINS_5LevelEEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3spi12LocationInfoE+0xbe)[0x7f1fd5bf167e]
/opt/ros/kinetic/lib/librosconsole_log4cxx.so(_ZN3ros7console4impl5printEPvNS0_6levels5LevelEPKcS6_S6_i+0x8b)[0x7f1fd60c609b]
/opt/ros/kinetic/lib/librosconsole.so(_ZN3ros7console5printEPNS0_10FilterBaseEPvNS0_6levels5LevelEPKciS7_S7_z+0x1a9)[0x7f1fd8d70549]
...
...
gdb debuger log
Thread 1 "conversion_poin" received signal SIGSEGV, Segmentation fault. malloc_consolidate (av=av@entry=0x7ffff59f8b20 ) at malloc.c:4167 4167 malloc.c: No such file or directory.
I do not know how to solve this problem.
Has anyone experienced a similar problem?
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