I have a function that reads in a pointcloud successfully and stores it in pcl::PointCloud<pcl::PointXYZ>::Ptr pcd
I then run
//filter the pointcloud to remove some noise while still keeping the cloud dense
pcl::PointCloud<pcl::PointXYZ>::Ptr tmp = filter_obj.filterVoxelGrid(pcd, 0.01, 0.01, 0.01);
where filter_obj is an object of stereo_pointcloud_filter
pcl::PointCloud<pcl::PointXYZ>::Ptr stereo_pointcloud_filter::filterVoxelGrid(
pcl::PointCloud<pcl::PointXYZ>::Ptr inputcloud,
float voxelX, float voxelY, float voxelZ)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr outputcloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::VoxelGrid<pcl::PointXYZ> sor;
sor.setInputCloud(inputcloud);
sor.setLeafSize(voxelX, voxelY, voxelZ);
sor.filter(*outputcloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr result(outputcloud);
return result;
}
I get a segmentation fault during de-allocation of tmp. I'm almost certain the error is to do with some bad pointers in filterVoxelGrid(), but I'm not sure how to solve it.
Here's the call stack
libc.so.6!__GI___libc_free(void * mem) (/usr/src/glibc/glibc-2.23/malloc/malloc.c:2951) Eigen::internal::handmade_aligned_free(void * ptr) (/home/shawn/Documents/Projects/catkin_ws/devel/include/Eigen/src/Core/util/Memory.h:98) Eigen::internal::aligned_free(void * ptr) (/home/shawn/Documents/Projects/catkin_ws/devel/include/Eigen/src/Core/util/Memory.h:179) Eigen::aligned_allocator::deallocate(Eigen::aligned_allocator * const this, Eigen::aligned_allocator::pointer p) (/home/shawn/Documents/Projects/catkin_ws/devel/include/Eigen/src/Core/util/Memory.h:755) std::allocator_traits >::deallocate(Eigen::aligned_allocator & __a, std::allocator_traits >::pointer __p, std::allocator_traits >::size_type __n) (/usr/include/c++/5/bits/alloc_traits.h:386) std::_Vector_base >::_M_deallocate(std::_Vector_base > * const this, std::_Vector_base >::pointer __p, std::size_t __n) (/usr/include/c++/5/bits/stl_vector.h:178) std::_Vector_base >::~_Vector_base(std::_Vector_base > * const this) (/usr/include/c++/5/bits/stl_vector.h:160) std::vector >::~vector(std::vector > * const this) (/usr/include/c++/5/bits/stl_vector.h:425) pcl::PointCloud::~PointCloud(pcl::PointCloud * const this) (/usr/local/include/pcl-1.8/pcl/point_cloud.h:240) pcl::PointCloud::~PointCloud(pcl::PointCloud * const this) (/usr/local/include/pcl-1.8/pcl/point_cloud.h:240) boost::checked_delete >(pcl::PointCloud * x) (/usr/include/boost/core/checked_delete.hpp:34) boost::detail::sp_counted_impl_p >::dispose(boost::detail::sp_counted_impl_p > * const this) (/usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78) boost::detail::sp_counted_base::release(boost::detail::sp_counted_base * const this) (/usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:146) boost::detail::shared_count::~shared_count(boost::detail::shared_count * const this) (/usr/include/boost/smart_ptr/detail/shared_count.hpp:443) boost::shared_ptr >::~shared_ptr(boost::shared_ptr > * const this) (/usr/include/boost/smart_ptr/shared_ptr.hpp:323) read_PCD_file(std::__cxx11::string pcdFilePath) (/home/shawn/Documents/Projects/catkin_ws/src/file.cpp:402) main(int argc, char ** argv) (/home/shawn/Documents/Projects/catkin_ws/src/file.cpp:567)
The problem lay somewhere in the PCL libraries. I had a few builds of different versions of PCL on my machine which probably caused some sort of conflict. Wiping everything and starting again cleared this error.