error: double free or corruption (out)

[Followmeczx]

When I run "./run_video_slam -v ./orb_vocab/orb_vocab.fbow -c ../example/aist/equirectangular.yaml -m ./aist_living_lab_1/video.mp4 --frame-skip 3 --map-db-out aist_living_lab_1_map.msg", there is a error:

[2023-07-13 16:00:17.104] [I] config file loaded: ../example/aist/equirectangular.yaml
--start-timestamp is not set. using system timestamp.
[2023-07-13 16:00:17.104] [I] 
original version of OpenVSLAM,
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
stella_vslam (the changes after forking from OpenVSLAM),
Copyright (C) 2022, stella-cv, All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera:
  name: RICOH THETA S 960
  setup: monocular
  model: equirectangular
  fps: 30.0
  cols: 1920
  rows: 960
  color_order: RGB
Preprocessing:
  min_size: 800
  mask_rectangles:
    - [0.0, 1.0, 0.0, 0.1]
    - [0.0, 1.0, 0.84, 1.0]
    - [0.0, 0.2, 0.7, 1.0]
    - [0.8, 1.0, 0.7, 1.0]
Feature:
  name: default ORB feature extraction setting
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7
Mapping:
  backend: g2o
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.95
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20
Tracking:
  backend: g2o
LoopDetector:
  backend: g2o
  enabled: true
  reject_by_graph_distance: true
  min_distance_on_graph: 50
System:
  map_format: msgpack

[2023-07-13 16:00:17.104] [I] loading ORB vocabulary: ./orb_vocab/orb_vocab.fbow
[2023-07-13 16:00:17.127] [I] load orb_params "default ORB feature extraction setting"
[2023-07-13 16:00:17.128] [I] startup SLAM system
[2023-07-13 16:00:17.128] [I] start mapping module
[2023-07-13 16:00:17.128] [I] start global optimization module
[2023-07-13 16:00:17.354] [I] initialization succeeded with E
**double free or corruption (out)**
Stack trace (most recent call last) in thread 3211383:
#23   Object "", at 0xffffffffffffffff, in 
#22   Source "./misc/../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7fcf6ed269ff]
#21   Source "./nptl/pthread_create.c", line 442, in start_thread [0x7fcf6ec94b42]
#20   Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fcf6f0dc2b2, in std::error_code::default_error_condition() const
#19 | Source "/usr/include/c++/7/thread", line 186, in _M_run
    |   185: 	void
    | > 186: 	_M_run() { _M_func(); }
    |   187:       };
    | Source "/usr/include/c++/7/thread", line 243, in operator()
    |   241: 	noexcept(noexcept(std::declval<_Invoker&>()._M_invoke(_Indices())))
    |   242: 	-> decltype(std::declval<_Invoker&>()._M_invoke(_Indices()))
    | > 243: 	{ return _M_invoke(_Indices()); }
    |   244:       };
    | Source "/usr/include/c++/7/thread", line 234, in _M_invoke<0>
    |   232: 	  noexcept(noexcept(std::__invoke(_S_declval<_Ind>()...)))
    |   233: 	  -> decltype(std::__invoke(_S_declval<_Ind>()...))
    | > 234: 	  { return std::__invoke(std::get<_Ind>(std::move(_M_t))...); }
    |   235: 
    |   236: 	using _Indices
    | Source "/usr/include/c++/7/bits/invoke.h", line 95, in __invoke<mono_tracking(const std::shared_ptr<stella_vslam::system>&, const std::shared_ptr<stella_vslam::config>&, const string&, const string&, unsigned int, unsigned int, bool, bool, bool, const string&, const string&, double, bool)::<lambda()> >
    |    93:       using __type = typename __result::type;
    |    94:       using __tag = typename __result::__invoke_type;
    | >  95:       return std::__invoke_impl<__type>(__tag{}, std::forward<_Callable>(__fn),
    |    96: 					std::forward<_Args>(__args)...);
    |    97:     }
    | Source "/usr/include/c++/7/bits/invoke.h", line 60, in __invoke_impl<void, mono_tracking(const std::shared_ptr<stella_vslam::system>&, const std::shared_ptr<stella_vslam::config>&, const string&, const string&, unsigned int, unsigned int, bool, bool, bool, const string&, const string&, double, bool)::<lambda()> >
    |    58:     constexpr _Res
    |    59:     __invoke_impl(__invoke_other, _Fn&& __f, _Args&&... __args)
    | >  60:     { return std::forward<_Fn>(__f)(std::forward<_Args>(__args)...); }
    |    61: 
    |    62:   template<typename _Res, typename _MemFun, typename _Tp, typename... _Args>
      Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/example/run_video_slam.cc", line 91, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<mono_tracking(std::shared_ptr<stella_vslam::system> const&, std::shared_ptr<stella_vslam::config> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, bool, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double, bool)::{lambda()#1}> > >::_M_run() [0x564e2c7c3b8e]
         89:             if (!frame.empty() && (num_frame % frame_skip == 0)) {
         90:                 // input the current frame and estimate the camera pose
      >  91:                 slam->feed_monocular_frame(frame, timestamp, mask);
         92:             }
         93: 
         94:             const auto tp_2 = std::chrono::steady_clock::now();
#18   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/system.cc", line 445, in stella_vslam::system::feed_monocular_frame(cv::Mat const&, double, cv::Mat const&) [0x7fcf71b59d9c]
        442:     if (img.empty()) {
        443:         spdlog::warn("preprocess: empty image");
        444:         return nullptr;
      > 445:     }
        446:     return feed_frame(create_monocular_frame(img, timestamp, mask), img);
        447: }
#17   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/system.cc", line 471, in stella_vslam::system::feed_frame(stella_vslam::data::frame const&, cv::Mat const&) [0x7fcf71b57f5c]
        468:     check_reset_request();
        469: 
        470:     const auto start = std::chrono::system_clock::now();
      > 471: 
        472:     const auto cam_pose_wc = tracker_->feed_frame(frm);
        473: 
        474:     const auto end = std::chrono::system_clock::now();
#16   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/tracking_module.cc", line 127, in stella_vslam::tracking_module::feed_frame(stella_vslam::data::frame) [0x7fcf71b6f17f]
        125:     bool succeeded = false;
        126:     if (tracking_state_ == tracker_state_t::Initializing) {
      > 127:         succeeded = initialize();
        128:     }
        129:     else {
        130:         bool relocalization_is_needed = tracking_state_ == tracker_state_t::Lost;
#15   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/tracking_module.cc", line 300, in stella_vslam::tracking_module::initialize() [0x7fcf71b6e5df]
        297: }
        298: 
        299: bool tracking_module::initialize() {
      > 300:     // LOCK the map database
        301:     std::lock_guard<std::mutex> lock1(data::map_database::mtx_database_);
        302:     std::lock_guard<std::mutex> lock2(mtx_stop_keyframe_insertion_);
#14   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/module/initializer.cc", line 76, in stella_vslam::module::initializer::initialize(stella_vslam::camera::setup_type_t, fbow::Vocabulary*, stella_vslam::data::frame&) [0x7fcf71c184e0]
         73:             }
         74: 
         75:             // create new map if succeeded
      >  76:             create_map_for_monocular(bow_vocab, curr_frm);
         77:             break;
         78:         }
         79:         case camera::setup_type_t::Stereo:
#13   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/module/initializer.cc", line 278, in stella_vslam::module::initializer::create_map_for_monocular(fbow::Vocabulary*, stella_vslam::data::frame&) [0x7fcf71c17769]
        275:     // global bundle adjustment
        276:     const auto global_bundle_adjuster = optimize::global_bundle_adjuster(num_ba_iters_, true);
        277:     std::vector<std::shared_ptr<data::keyframe>> keyfrms{init_keyfrm, curr_keyfrm};
      > 278:     global_bundle_adjuster.optimize_for_initialization(keyfrms, lms, markers);
        279: 
        280:     if (indefinite_scale) {
        281:         // scale the map so that the median of depths is 1.0
#12   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/optimize/global_bundle_adjuster.cc", line 195, in stella_vslam::optimize::global_bundle_adjuster::optimize_for_initialization(std::vector<std::shared_ptr<stella_vslam::data::keyframe>, std::allocator<std::shared_ptr<stella_vslam::data::keyframe> > > const&, std::vector<std::shared_ptr<stella_vslam::data::landmark>, std::allocator<std::shared_ptr<stella_vslam::data::landmark> > > const&, std::vector<std::shared_ptr<stella_vslam::data::marker>, std::allocator<std::shared_ptr<stella_vslam::data::marker> > > const&, bool*) const [0x7fcf71c87e14]
        193:     g2o::SparseOptimizer optimizer;
        194: 
      > 195:     optimize_impl(optimizer, keyfrms, lms, markers, is_optimized_lm, keyfrm_vtx_container, lm_vtx_container, marker_vtx_container,
        196:                   num_iter_, use_huber_kernel_, force_stop_flag);
        197: 
        198:     if (force_stop_flag && *force_stop_flag) {
#11   Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/stella_vslam/optimize/global_bundle_adjuster.cc", line 169, in stella_vslam::optimize::optimize_impl(g2o::SparseOptimizer&, std::vector<std::shared_ptr<stella_vslam::data::keyframe>, std::allocator<std::shared_ptr<stella_vslam::data::keyframe> > > const&, std::vector<std::shared_ptr<stella_vslam::data::landmark>, std::allocator<std::shared_ptr<stella_vslam::data::landmark> > > const&, std::vector<std::shared_ptr<stella_vslam::data::marker>, std::allocator<std::shared_ptr<stella_vslam::data::marker> > > const&, std::vector<bool, std::allocator<bool> >&, stella_vslam::optimize::internal::se3::shot_vertex_container&, stella_vslam::optimize::internal::landmark_vertex_container&, stella_vslam::optimize::internal::marker_vertex_container&, unsigned int, bool, bool*) [0x7fcf71c87483]
        166:     // 5. Perform optimization
        167: 
        168:     optimizer.initializeOptimization();
      > 169:     optimizer.optimize(num_iter);
        170: 
        171:     if (force_stop_flag && *force_stop_flag) {
        172:         return;
#10   Object "/usr/local/lib/libg2o_core.so", at 0x7fcf6f2a181c, in g2o::SparseOptimizer::optimize(int, bool)
#9    Object "/usr/local/lib/libg2o_core.so", at 0x7fcf6f2aa147, in g2o::OptimizationAlgorithmLevenberg::solve(int, bool)
#8    Source "/usr/local/include/g2o/core/block_solver.hpp", line 440, in g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::solve() [0x7fcf71c49d24]
        437:   }
        438: 
        439:   t = get_monotonic_time();
      > 440:   bool solvedPoses = _linearSolver->solve(*_Hschur, _x, _bschur.get());
        441:   if (globalStats) {
        442:     globalStats->timeLinearSolver = get_monotonic_time() - t;
        443:     globalStats->hessianPoseDimension = _Hpp->cols();
#7  | Source "/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h", line 61, in g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)
    |    60:   bool solve(const SparseBlockMatrix<MatrixType>& A, number_t* x, number_t* b) {
    | >  61:     prepareSolve(A);
    |    62: 
    |    63:     number_t t = get_monotonic_time();
    | Source "/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h", line 90, in g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::prepareSolve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)
    |    88:     // perform symbolic cholesky once
    |    89:     if (!hasSymbolic) {
    | >  90:       computeSymbolicDecomposition(A);
    |    91:       assert(csparse.hasSymbolic() && "Symbolic cholesky failed");
    |    92:     }
    | Source "/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h", line 112, in g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::computeSymbolicDecomposition(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)
    |   111:       // AMD ordering on the block structure
    | > 112:       VectorXI blockPermutation;
    |   113:       csparse.amd(auxBlock, blockPermutation);
    | Source "/usr/local/include/eigen3/Eigen/src/Core/Matrix.h", line 178, in Eigen::Matrix<int, -1, 1, 0, -1, 1>::~Matrix()
    |   177: template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
    | > 178: class Matrix
    |   179:   : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
    |   180: {
    | Source "/usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h", line 98, in Eigen::PlainObjectBase<Eigen::Matrix<int, -1, 1, 0, -1, 1> >::~PlainObjectBase()
    |    96: #else
    |    97: template<typename Derived>
    | >  98: class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
    |    99: #endif
    |   100: {
    | Source "/usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h", line 542, in Eigen::DenseStorage<int, -1, -1, 1, 0>::~DenseStorage()
    |   540:     }
    |   541: #endif
    | > 542:     EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
    |   543:     EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
    |   544:     EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
    | Source "/usr/local/include/eigen3/Eigen/src/Core/util/Memory.h", line 416, in void Eigen::internal::conditional_aligned_delete_auto<int, true>(int*, unsigned long)
    |   414:   if(NumTraits<T>::RequireInitialization)
    |   415:     destruct_elements_of_array<T>(ptr, size);
    | > 416:   conditional_aligned_free<Align>(ptr);
    |   417: }
    | Source "/usr/local/include/eigen3/Eigen/src/Core/util/Memory.h", line 230, in void Eigen::internal::conditional_aligned_free<true>(void*)
    |   228: template<bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void *ptr)
    |   229: {
    | > 230:   aligned_free(ptr);
    |   231: }
      Source "/usr/local/include/eigen3/Eigen/src/Core/util/Memory.h", line 177, in Eigen::internal::aligned_free(void*) [0x7fcf71c8be80]
        174: EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
        175: {
        176:   #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
      > 177:     std::free(ptr);
        178:   #else
        179:     handmade_aligned_free(ptr);
        180:   #endif
#6    Source "./malloc/malloc.c", line 3391, in __GI___libc_free [0x7fcf6eca54d2]
#5    Source "./malloc/malloc.c", line 4588, in _int_free [0x7fcf6eca2eef]
#4    Source "./malloc/malloc.c", line 5664, in malloc_printerr [0x7fcf6eca0d7b]
#3    Source "./libio/../sysdeps/posix/libc_fatal.c", line 155, in __libc_message [0x7fcf6ec896f5]
#2    Source "./stdlib/abort.c", line 79, in __GI_abort [0x7fcf6ec287f2]
#1    Source "./signal/../sysdeps/posix/raise.c", line 26, in __GI_raise [0x7fcf6ec42475]
#0  | Source "./nptl/pthread_kill.c", line 89, in __GI___pthread_kill
    | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_internal
      Source "./nptl/pthread_kill.c", line 44, in __pthread_kill_implementation [0x7fcf6ec96a7c]
Aborted (Signal sent by tkill() 3211358 1007)

I don't know how to solve it. Can you help me?

[ymd-stella]

Have you read https://stella-cv.readthedocs.io/en/latest/trouble_shooting.html#for-building?

[standmit]

Could you give a more detailed explanation please? How does an incorrect value for the DBUILD_WITH_MARCH_NATIVE flag cause this error?

[Followmeczx]

你读过 https://stella-cv.readthedocs.io/en/latest/trouble_shooting.html#for-building 吗？
Thank you very much! I have read https://stella-cv.readthedocs.io/en/latest/trouble_shooting.html#for-building and solved problem.
But when I run again I face another problem:
[2023-07-14 11:18:56.025] [I] new map created with 108 points: frame 0 - frame 1
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
X11 Error: BadValue (integer parameter out of range for operation)
terminate called after throwing an instance of 'std::runtime_error'
what(): Pangolin X11: Failed to create an OpenGL context
Stack trace (most recent call last):
#20 Object "", at 0xffffffffffffffff, in
#19 Object "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/build/run_video_slam", at 0x55803cb32354, in _start
#18 Source "./csu/../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f38bc229e3f]
#17 Source "./csu/../sysdeps/nptl/libc_start_call_main.h", line 58, in _libc_start_call_main [0x7f38bc229d8f]
#16 Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/example/run_video_slam.cc", line 299, in main [0x55803cb303aa]
296: // run tracking
297: int ret;
298: if (slam->get_camera()->setup_type == stella_vslam::camera::setup_type_t::Monocular) {
> 299: ret = mono_tracking(slam,
300: cfg,
301: video_file_path->value(),
302: mask_img_path->value(),
#15 Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/example/run_video_slam.cc", line 140, in mono_tracking(std::shared_ptr<stella_vslam::system> const&, std::shared_ptr<stella_vslam::config> const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, unsigned int, unsigned int, bool, bool, bool, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, double, bool) [0x55803cb336b9]
137: if (!disable_gui) {
138: // run the viewer in the current thread
139: #ifdef USE_PANGOLIN_VIEWER
> 140: viewer.run();
141: #elif USE_SOCKET_PUBLISHER
142: publisher.run();
143: #endif
#14 Source "/data/S221000776-CZX/D2L/EgocentricReconstruction/stella_vslam/src/pangolin_viewer/src/viewer.cc", line 54, in pangolin_viewer::viewer::run() [0x7f38bfe7240b]
51: void viewer::run() {
52: is_terminated = false;
53:
> 54: pangolin::CreateWindowAndBind(map_viewer_name, 1024, 768);
55:
56: glEnable(GL_BLEND);
57: glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
#13 Object "/usr/local/lib/libpango_display.so", at 0x7f38c03435d0, in pangolin::CreateWindowAndBind(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, int, pangolin::Params const&)
#12 Object "/usr/local/lib/libpango_windowing.so", at 0x7f38bc858073, in pangolin::ConstructWindow(pangolin::Uri const&)
#11 Object "/usr/local/lib/libpango_windowing.so", at 0x7f38bc85f753, in std::unique_ptr<pangolin::WindowInterface, std::default_deletepangolin::WindowInterface > pangolin::FactoryRegistry::Constructpangolin::WindowInterface(pangolin::Uri const&)
#10 Source "display_x11.cpp", line 0, in pangolin::RegisterX11WindowFactory()::X11WindowFactory::Open(pangolin::Uri const&) [0x7f38bc83f0f1]
#9 Object "/usr/local/lib/libpango_windowing.so", at 0x7f38bc83e086, in pangolin::CreateX11WindowAndBind(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, int, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, int, int)
#8 Object "/usr/local/lib/libpango_windowing.so", at 0x7f38bc83c799, in pangolin::X11GlContext::X11GlContext(std::shared_ptrpangolin::X11Display&, __GLXFBConfigRec*, std::shared_ptrpangolin::X11GlContext)
#7 Object "/usr/local/lib/libpango_windowing.so", at 0x7f38bc83bf3c, in pangolin::CreateGlContext(_XDisplay*, __GLXFBConfigRec*, __GLXcontextRec*)
#6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f38bc6ae517, in __cxa_throw
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f38bc6ae2b6, in std::terminate()
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f38bc6ae24b, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f38bc6a2bbd, in __cxa_throw_bad_array_new_length
#2 Source "./stdlib/abort.c", line 79, in __GI_abort [0x7f38bc2287f2]
#1 Source "./signal/../sysdeps/posix/raise.c", line 26, in __GI_raise [0x7f38bc242475]
#0 | Source "./nptl/pthread_kill.c", line 89, in __GI___pthread_kill
| Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_internal
Source "./nptl/pthread_kill.c", line 44, in __pthread_kill_implementation [0x7f38bc296a7c]
Aborted (Signal sent by tkill() 3554041 1007)
I don't know how to solve it? Does it have anything to do with https://stella-cv.readthedocs.io/en/latest/trouble_shooting.html#for-viewer?