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correspondence_grouping segfault at Feature::compute

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correspondence_grouping segfault at Feature::compute

peter9606
Hi, Experts,

I was trying to go through "3D Object Recognition based on Correspondence Grouping" sample from http://pointclouds.org/documentation/tutorials/correspondence_grouping.php but met segment fault. What I did is just download sample code, sample pcd files, make and run.

My environment:
Ubuntu 16.04
PCL: commit : 6fb1b65d3099a915255b070269b1ac78ed384921
libeigen3-dev: 3.3~beta1-2

Here is my back trace:
(gdb) set args milk.pcd milk_cartoon_all_small_clorox.pcd
(gdb) run
Starting program: /home/peter/study/pcl/rec/correspondence_grouping milk.pcd milk_cartoon_all_small_clorox.pcd
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Failed to find match for field 'rgba'.
[New Thread 0x7fffd7979700 (LWP 7688)]
[New Thread 0x7fffd7178700 (LWP 7689)]
[New Thread 0x7fffd6977700 (LWP 7690)]
[New Thread 0x7fffd6176700 (LWP 7691)]
[New Thread 0x7fffd5975700 (LWP 7692)]
[New Thread 0x7fffd5174700 (LWP 7693)]
[New Thread 0x7fffd4973700 (LWP 7694)]
Model total points: 13704; Selected Keypoints: 739
Scene total points: 307200; Selected Keypoints: 3747

Thread 1 "correspondence_" received signal SIGSEGV, Segmentation fault.
0x00007ffff7887966 in void Eigen::internal::pstore<float, float __vector>(float*, float __vector const&) () from /usr/local/lib/libpcl_common.so.1.8
(gdb) bt
#0  0x00007ffff7887966 in void Eigen::internal::pstore<float, float __vector>(float*, float __vector const&) () from /usr/local/lib/libpcl_common.so.1.8
#1  0x00007ffff788f639 in void Eigen::internal::assign_op<float>::assignPacket<32, float __vector>(float*, float __vector const&) const ()
   from /usr/local/lib/libpcl_common.so.1.8
#2  0x00007ffff6583739 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::interen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >, Eigen::internal::assign_op<float>, 0>::assignPacket<32or>(long) () from /usr/local/lib/libpcl_filters.so.1.8
#3  0x00007ffff6580468 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >, Eigen::internal::ass 3, 0>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator<EigeEigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >, Eigen::internal::assign_op<float>, 0>&) () from /usr/local/lib/libpcl_fil
#4  0x00007ffff657c88c in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1> const&, Eigen::CwiseNullaryOp<Eigen::internt_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&) () from /usr/local/lib/libpcl_filters.so.1.8
#5  0x00007ffff6579585 in Eigen::internal::Assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, E, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float>, Eigen::internal::Dense2Dense, float>::run(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOpscalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&) () from /usr/local/lib/libpcl_filters.so.1.
#6  0x00007ffff6576265 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_coEigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalat>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&) () from /usr/local/lib/libpcl_filters.so.1.8
#7  0x00007ffff65a5432 in void Eigen::internal::call_assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_optrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constan::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eig<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator_traits<Eigen::CwiseNullaryOp<Eigen::internal::sfloat>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >::Shape>::value, void*>::type) () from /usr/local/lib/libpcl_filters.so.1.8
#8  0x00007ffff65a3cf5 in void Eigen::internal::call_assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_optrix<float, -1, 1, 0, -1, 1> > >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float,  const&) () from /usr/local/lib/libpcl_filters.so.1.8
#9  0x00007ffff65a31f5 in Eigen::Matrix<float, -1, 1, 0, -1, 1>& Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::_set<Eigen::CwiseNullaryOp<Eiger_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >(Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix-1, 1> > > const&) () from /usr/local/lib/libpcl_filters.so.1.8
#10 0x00007ffff65a2309 in Eigen::Matrix<float, -1, 1, 0, -1, 1>& Eigen::Matrix<float, -1, 1, 0, -1, 1>::operator=<Eigen::CwiseNullaryOp<Eigen::internal::scalar_, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >(Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1
    () from /usr/local/lib/libpcl_filters.so.1.8
#11 0x00007ffff65a3380 in Eigen::DenseBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::setConstant(float const&) () from /usr/local/lib/libpcl_filters.so.1.8
#12 0x00007ffff2c8284a in Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::setZero(long) () from /usr/local/lib/libpcl_features.so.1.8
#13 0x00007ffff3953e75 in pcl::SHOTEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT352, pcl::ReferenceFrame>::computeFeature(pcl::PointCloud<pcl::SHOT352n.18] () from /usr/local/lib/libpcl_features.so.1.8
#14 0x00007fffea78ecbf in GOMP_parallel () from /usr/lib/x86_64-linux-gnu/libgomp.so.1
#15 0x00007ffff3b6f832 in pcl::SHOTEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT352, pcl::ReferenceFrame>::computeFeature(pcl::PointCloud<pcl::SHOT352
   from /usr/local/lib/libpcl_features.so.1.8
#16 0x000000000050568d in pcl::Feature<pcl::PointXYZRGBA, pcl::SHOT352>::compute (this=0x7fffffffd390, output=...)
    at /usr/local/include/pcl-1.8/pcl/features/impl/feature.hpp:220
#17 0x00000000004f9f31 in main (argc=3, argv=0x7fffffffd8e8) at /home/peter/study/pcl/rec/correspondence_grouping.cpp:251
(gdb)


Thanks,
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Re: correspondence_grouping segfault at Feature::compute

peter9606
When running the follow up global-hypothesis-verification sample, a related segment fault happened. Detail back trace is as following:

(gdb) set args milk.pcd milk_cartoon_all_small_clorox.pcd
(gdb)
(gdb) run
Starting program: /home/peter/study/pcl/very/global_hypothesis_verification milk.pcd milk_cartoon_all_small_clorox.pcd
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Failed to find match for field 'rgba'.
[New Thread 0x7fffd7979700 (LWP 8848)]
[New Thread 0x7fffd7178700 (LWP 8849)]
[New Thread 0x7fffd6977700 (LWP 8850)]
[New Thread 0x7fffd6176700 (LWP 8851)]
[New Thread 0x7fffd5975700 (LWP 8852)]
[New Thread 0x7fffd5174700 (LWP 8853)]
[New Thread 0x7fffd4973700 (LWP 8854)]
Model total points: 13704; Selected Keypoints: 206
Scene total points: 307200; Selected Keypoints: 7756

Thread 1 "global_hypothes" received signal SIGSEGV, Segmentation fault.
0x00007ffff7887966 in void Eigen::internal::pstore<float, float __vector>(float*, float __vector const&) () from /usr/local/lib/libpcl_common.so.1.8
(gdb) bt
#0  0x00007ffff7887966 in void Eigen::internal::pstore<float, float __vector>(float*, float __vector const&) () from /usr/local/lib/libpcl_common.so.1.8
#1  0x00007ffff788f639 in void Eigen::internal::assign_op<float>::assignPacket<32, float __vector>(float*, float __vector const&) const ()
   from /usr/local/lib/libpcl_common.so.1.8
#2  0x00007ffff6583739 in void Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >, Eigen::internal::assign_op<float>, 0>::assignPacket<32, 32, float __vector>(long) () from /usr/local/lib/libpcl_filters.so.1.8
#3  0x00007ffff6580468 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >, Eigen::internal::assign_op<float>, 0>, 3, 0>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >, Eigen::internal::assign_op<float>, 0>&) () from /usr/local/lib/libpcl_filters.so.1.8
#4  0x00007ffff657c88c in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1> const&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&) () from /usr/local/lib/libpcl_filters.so.1.8
#5  0x00007ffff6579585 in Eigen::internal::Assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float>, Eigen::internal::Dense2Dense, float>::run(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&) () from /usr/local/lib/libpcl_filters.so.1.8
#6  0x00007ffff6576265 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&) () from /usr/local/lib/libpcl_filters.so.1.8
#7  0x00007ffff65a5432 in void Eigen::internal::call_assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<float> >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<float> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> >, Eigen::internal::evaluator_traits<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >::Shape>::value, void*>::type) () from /usr/local/lib/libpcl_filters.so.1.8
#8  0x00007ffff65a3cf5 in void Eigen::internal::call_assignment<Eigen::Matrix<float, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >(Eigen::Matrix<float, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > const&) () from /usr/local/lib/libpcl_filters.so.1.8
#9  0x00007ffff65a31f5 in Eigen::Matrix<float, -1, 1, 0, -1, 1>& Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::_set<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >(Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > > const&) () from /usr/local/lib/libpcl_filters.so.1.8
#10 0x00007ffff65a2309 in Eigen::Matrix<float, -1, 1, 0, -1, 1>& Eigen::Matrix<float, -1, 1, 0, -1, 1>::operator=<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > >(Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, -1, 1, 0, -1, 1> > > const&)
    () from /usr/local/lib/libpcl_filters.so.1.8
#11 0x00007ffff65a3380 in Eigen::DenseBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::setConstant(float const&) () from /usr/local/lib/libpcl_filters.so.1.8
#12 0x00007ffff2c8284a in Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::setZero(long) () from /usr/local/lib/libpcl_features.so.1.8
#13 0x00007ffff3953e75 in pcl::SHOTEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT352, pcl::ReferenceFrame>::computeFeature(pcl::PointCloud<pcl::SHOT352>&) [clone ._omp_fn.18] () from /usr/local/lib/libpcl_features.so.1.8
#14 0x00007fffea78ecbf in GOMP_parallel () from /usr/lib/x86_64-linux-gnu/libgomp.so.1
#15 0x00007ffff3b6f832 in pcl::SHOTEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT352, pcl::ReferenceFrame>::computeFeature(pcl::PointCloud<pcl::SHOT352>&) ()
   from /usr/local/lib/libpcl_features.so.1.8
#16 0x00000000005f773d in pcl::Feature<pcl::PointXYZRGBA, pcl::SHOT352>::compute (this=0x7fffffffd450, output=...)
    at /usr/local/include/pcl-1.8/pcl/features/impl/feature.hpp:220
#17 0x00000000005e76ab in main (argc=3, argv=0x7fffffffd8d8) at /home/peter/study/pcl/very/global_hypothesis_verification.cpp:284
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