when i execute,Segfault happend about semantic_suma

[jbehley]

Thanks for your very detailed report on the problem.

Please ensure that you have compiled gtsam with the option USE_SYSTEM_EIGEN, since it might give a clash between your and the version of gtsam that (probably) causes the problem:

mkdir build && cd build
cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install

Let us know if you still have trouble.

[ACFFF]

Thanks for your very detailed report on the problem.

Please ensure that you have compiled gtsam with the option USE_SYSTEM_EIGEN, since it might give a clash between your and the version of gtsam that (probably) causes the problem:

mkdir build && cd build
cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install

Let us know if you still have trouble.

Thank you for your prompt answer.i try your way right now.but it does't work.
but the gdb result has changed.
(gdb) bt #0 0x00007ffff7b74d67 in _mm256_load_pd (__P=0x5555561e6310) at /usr/lib/gcc/x86_64-linux-gnu/7/include/avxintrin.h:862 #1 0x00007ffff7b74d67 in Eigen::internal::pload<double __vector(4)>(Eigen::internal::unpacket_traits<double __vector(4)>::type const*) (from=0x5555561e6310) at /usr/local/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:215 #2 0x00007ffff7b74d67 in Eigen::internal::ploadt<double __vector(4), 32>(Eigen::internal::unpacket_traits<double __vector(4)>::type const*) (from=0x5555561e6310) at /usr/local/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463 #3 0x00007ffff7b74d67 in Eigen::internal::evaluator<Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> > >::packet<32, double __vector(4)>(long, long) const (this=0x7fffffffce50, col=<optimized out>, row=<optimized out>) at /usr/local/include/eigen3/Eigen/src/Core/CoreEvaluators.h:197 #4 0x00007ffff7b74d67 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacket<32, 32, double __vector(4)>(long, long) (this=this@entry=0x7fffffffce80, this=this@entry=0x7fffffffce80, col=<optimized out>, row=<optimized out>) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652 #5 0x00007ffff7b74d67 in Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) (inner=0, outer=0, this=this@entry=0x7fffffffce80) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666 #6 0x00007ffff7b74d67 in Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 0, 16>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>&) (kernel=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274 #7 0x00007ffff7b6e275 in Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>, 2, 2>::run(Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::evaluator<Eigen::Matrix<double, 4, 4, 0, 4, 4> >, Eigen::internal::assign_op<double, double>, 0>&) (kernel=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:468 #8 0x00007ffff7b6e275 in Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:741 #9 0x00007ffff7b6e275 in Eigen::internal::Assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double>, Eigen::internal::Dense2Dense, void>::run(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879 #10 0x00007ffff7b6e275 in Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836 #11 0x00007ffff7b6e275 in Eigen::internal::call_assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::assign_op<double, double> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::internal::assign_op<double, double> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::internal::evaluator_traits<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::Shape>::value, void*>::type) (func=..., src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804 #12 0x00007ffff7b6e275 in Eigen::internal::call_assignment<Eigen::Matrix<double, 4, 4, 0, 4, 4>, Eigen::Matrix<double, 4, 4, 0, 4, 4> >(Eigen::Matrix<double, 4, 4, 0, 4, 4>&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) (src=..., dst=...) at /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782 #13 0x00007ffff7b6e275 in Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::_set<Eigen::Matrix<double, 4, 4, 0, 4, 4> >(Eigen::DenseBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> > const&) (other=..., this=0x5555561e6410) at /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714 #14 0x00007ffff7b6e275 in Eigen::Matrix<double, 4, 4, 0, 4, 4>::operator=(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) (other=..., this=0x5555561e6410) at /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:208 #15 0x00007ffff7b6e275 in SurfelMapping::SurfelMapping(rv::ParameterList const&) (this=0x5555561e5950, params=...) at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/core/SurfelMapping.cpp:46 #16 0x000055555557cb92 in main(int, char**) (argc=<optimized out>, argv=0x7fffffffd9d8) at /home/darren/ros_projects/rangenet_ws/src/semantic_suma/src/visualizer/visualizer.cpp:29
It seems to be an eigen problem, do you know how to solve it?thank you

[jbehley]

We saw problems with different Eigen Versions, see #14 (comment) and jbehley/SuMa#20 (comment).

Sometimes going back do a different version of gtsam worked. Like jbehley/SuMa#17 (comment) reported this.

Let me know if the switch of the version of gtsam or Eigen did help. Sorry for the trouble.

[ACFFF]

We saw problems with different Eigen Versions, see #14 (comment) and jbehley/SuMa#20 (comment).

Sometimes going back do a different version of gtsam worked. Like jbehley/SuMa#17 (comment) reported this.

Let me know if the switch of the version of gtsam or Eigen did help. Sorry for the trouble.

YES,I chang the gtsam version by 4.0.0-alpha2,now it worked,thank you very much.
I suggest you can write this little hint to the readme，it helped a lot!
thank you again.

[jbehley]

Very good. Thanks for your suggestion, @Chen-Xieyuanli might add a note the readme.

Since this is now resolved, I close this issue.

[Chen-Xieyuanli]

@ACFFF @jbehley Thank you guys for all the information. I'll add this note to the readme soon!