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RANSAC Example Segfaulting

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Ian Douglas Miller

RANSAC Example Segfaulting

I am working on getting RANSAC working in PCL, and even the example code at http://pointclouds.org/documentation/tutorials/random_sample_consensus.php is segfaulting. I cam running precompiled PCL 1.8 from the Ubuntu repo on Ubuntu 18.04. Here is a minimal example:

#include <iostream>
#include <pcl/console/parse.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

int
main(int argc, char** argv)
{
  // initialize PointClouds
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

  // populate our PointCloud with points
  cloud->width    = 500;
  cloud->height   = 1;
  cloud->is_dense = false;
  cloud->points.resize (cloud->width * cloud->height);
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0);
    cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0);
    if( i % 2 == 0)
    cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0);
    else
    cloud->points[i].z = -1 * (cloud->points[i].x + cloud->points[i].y);
  }

  // created RandomSampleConsensus object and compute the appropriated model
  pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr
    model_p (new pcl::SampleConsensusModelPlane<pcl::PointXYZ> (cloud));
  pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_p);
  ransac.setDistanceThreshold (.01);
  ransac.computeModel();
    
  return 0;
 }

The backtrace is as follows:

#0 __GI___libc_free (mem=0x31) at malloc.c:3103
#1 0x000055555557a2e7 in Eigen::internal::handmade_aligned_free (
    ptr=0x5555557d6710) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
#2 0x000055555557a343 in Eigen::internal::aligned_free (ptr=0x5555557d6710)
    at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:179
#3 0x000055555557b2d2 in Eigen::internal::conditional_aligned_free<true> (
    ptr=0x5555557d6710) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:230
#4 0x000055555557db3c in Eigen::internal::conditional_aligned_delete_auto<float, true> (ptr=0x5555557d6710, size=4)
    at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:416
#5 0x000055555557c497 in Eigen::DenseStorage<float, -1, -1, 1, 0>::~DenseStorage (this=0x7fffffffd0e8, __in_chrg=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:542
#6 0x000055555557b0d0 in Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::~PlainObjectBase (this=0x7fffffffd0e8, __in_chrg=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:98
#7 0x000055555557b0ec in Eigen::Matrix<float, -1, 1, 0, -1, 1>::~Matrix (
    this=0x7fffffffd0e8, __in_chrg=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/Matrix.h:178
#8 0x000055555557e6b8 in pcl::SampleConsensus<pcl::PointXYZ>::~SampleConsensus
    (this=0x7fffffffd0a0, __in_chrg=<optimized out>)
    at /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:134
#9 0x0000555555584300 in pcl::RandomSampleConsensus<pcl::PointXYZ>::~RandomSamp---Type <return> to continue, or q <return> to quit---
leConsensus (this=0x7fffffffd0a0, __in_chrg=<optimized out>)
    at /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:56
#10 0x0000555555579774 in main (argc=1, argv=0x7fffffffdc08)
    at /home/ian/cpp_scripts/pcl_ransac/ransac.cpp:36

The full backtrace is here: https://pastebin.com/cHDXUR3L.

Thank you!

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