EnvGap
Memory Corruption and Segfault on basic example
envgap__RainerKuemmerle__g2o-309
01 / FAILURE SIGNATURE
As reported upstream
*** Error in `./devel/lib/sensor-calibration/calibrate_sensors': free(): invalid next size (fast): 0x0000000000b64770 ***
Not a benchmark task.
- In a clean container the reported failure did not reproduce, or the known fix did not make the project run.
02 / ENVIRONMENT RECIPE
- Base commit
0d4e98b691988c400450c79d29cb3dae4f6bc8a5- Manifest
CMakeLists.txt- Reproduce
Awaiting issue-specific recipe- Run under trace
Awaiting a meaningful runtime command
03 / ORIGINAL ISSUE TEXT
RainerKuemmerle/g2o #309 · read the original issue
Hi everybody,
first of all thanks for this great piece of software! I have used g2o before, but I get segfault and memory corruption errors with a fairly new version of g2o. Note that compiling works like a charm, no errors there. I have also used g2o before with an older version (latest tag).
Here are my details:
OS: Ubuntu 16.04
G2O Revision: 653c9eedc51f73394451cd8f55463c962b4092ab
GCC: gcc (Ubuntu 5.4.0-6ubuntu1~16.04.10) 5.4.0 20160609
CMake: cmake version 3.5.1
I have created a very simple example which crashes in my setup all the time.
```cpp
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/csparse/linear_solver_csparse.h>
#include <g2o/types/slam3d/edge_se3.h>
#include <g2o/types/slam3d/vertex_se3.h>
typedef g2o::LinearSolverCSparse<g2o::BlockSolverX::PoseMatrixType> SlamLinearSolver;
int main(int argc, char **argv)
{
g2o::SparseOptimizer optimizer;
auto linearSolver = g2o::make_unique<SlamLinearSolver>();
linearSolver->setBlockOrdering(false);
auto blockSolver =
g2o::make_unique<g2o::BlockSolverX>(std::move(linearSolver));
g2o::OptimizationAlgorithm *algorithm =
new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));
optimizer.setVerbose(true);
optimizer.setAlgorithm(algorithm);
g2o::VertexSE3 *v = new g2o::VertexSE3();
v->setId(0);
v->setEstimate(g2o::Isometry3::Identity());
v->setFixed(false);
optimizer.addVertex(v);
v = new g2o::VertexSE3();
v->setId(1);
v->setEstimate(g2o::Isometry3::Identity());
v->setFixed(false);
optimizer.addVertex(v);
g2o::EdgeSE3 *e = new g2o::EdgeSE3();
e->setInformation(g2o::EdgeSE3::InformationType::Identity());
e->setMeasurement(g2o::Isometry3::Identity());
e->vertices()[0] = optimizer.vertex(0);
e->vertices()[1] = optimizer.vertex(1);
optimizer.addEdge(e);
optimizer.initializeOptimization();
optimizer.optimize(100);
return 0;
}
```
The crash creates direct command line output stating a memory corruption as follows:
```
*** Error in `./devel/lib/sensor-calibration/calibrate_sensors': free(): invalid next size (fast): 0x0000000000b64770 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f4f082b77e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f4f082c037a]
/lib/x86_64-linux-gnu/libc.so.6(+0x82d52)[0x7f4f082c2d52]
/lib/x86_64-linux-gnu/libc.so.6(posix_memalign+0x11d)[0x7f4f082c771d]
/home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_types_slam3d.so(_ZNSt6vectorIN5Eigen9TransformIdLi3ELi1ELi0EEENS0_17aligned_allocatorIS2_EEE19_M_emplace_back_auxIJRKS2_EEEvDpOT_+0x7f)[0x7f4f094403ff]
/home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so(_ZN3g2o15SparseOptimizer4pushERSt6vectorIPNS_16OptimizableGraph6VertexESaIS4_EE+0x28)[0x7f4f096c3c78]
/home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so(_ZN3g2o30OptimizationAlgorithmLevenberg5solveEib+0xb1)[0x7f4f096ccda1]
/home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so(_ZN3g2o15SparseOptimizer8optimizeEib+0xf7)[0x7f4f096c49d7]
./devel/lib/sensor-calibration/calibrate_sensors(main+0x37b)[0x4d7ddb]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7f4f08260830]
./devel/lib/sensor-calibration/calibrate_sensors(_start+0x29)[0x4d7909]
======= Memory map: ========
00400000-0055d000 r-xp 00000000 00:33 1056490 /home/fabian/develop/calib_ws/devel/lib/sensor-calibration/calibrate_sensors
0075d000-0075e000 r--p 0015d000 00:33 1056490 /home/fabian/develop/calib_ws/devel/lib/sensor-calibration/calibrate_sensors
0075e000-0075f000 rw-p 0015e000 00:33 1056490 /home/fabian/develop/calib_ws/devel/lib/sensor-calibration/calibrate_sensors
00b4e000-00b80000 rw-p 00000000 00:00 0 [heap]
7f4f00000000-7f4f00021000 rw-p 00000000 00:00 0
7f4f00021000-7f4f04000000 ---p 00000000 00:00 0
7f4f04bf1000-7f4f04bf6000 r-xp 00000000 08:03 5381482 /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f4f04bf6000-7f4f04df5000 ---p 00005000 08:03 5381482 /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f4f04df5000-7f4f04df6000 r--p 00004000 08:03 5381482 /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f4f04df6000-7f4f04df7000 rw-p 00005000 08:03 5381482 /usr/lib/x86_64-linux-gnu/libXdmcp.so.6.0.0
7f4f04df7000-7f4f04df9000 r-xp 00000000 08:03 5381471 /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f4f04df9000-7f4f04ff9000 ---p 00002000 08:03 5381471 /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f4f04ff9000-7f4f04ffa000 r--p 00002000 08:03 5381471 /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f4f04ffa000-7f4f04ffb000 rw-p 00003000 08:03 5381471 /usr/lib/x86_64-linux-gnu/libXau.so.6.0.0
7f4f04ffb000-7f4f0500b000 r-xp 00000000 08:03 5379974 /usr/lib/x86_64-linux-gnu/libdrm.so.2.4.0
7f4f0500b000-7f4f0520b000 ---p 00010000 08:03 5379974 /usr/lib/x86_64-linux-gnu/libdrm.so.2.4.0
7f4f0520b000-7f4f0520c000 r--p 00010000 08:03 5379974 /usr/lib/x86_64-linux-gnu/libdrm.so.2.4.0
7f4f0520c000-7f4f0520d000 rw-p 00011000 08:03 5379974 /usr/lib/x86_64-linux-gnu/libdrm.so.2.4.0
7f4f0520d000-7f4f05212000 r-xp 00000000 08:03 5381520 /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1.0.0
7f4f05212000-7f4f05411000 ---p 00005000 08:03 5381520 /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1.0.0
7f4f05411000-7f4f05412000 r--p 00004000 08:03 5381520 /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1.0.0
7f4f05412000-7f4f05413000 rw-p 00005000 08:03 5381520 /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1.0.0
7f4f05413000-7f4f05434000 r-xp 00000000 08:03 5382907 /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f4f05434000-7f4f05633000 ---p 00021000 08:03 5382907 /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f4f05633000-7f4f05634000 r--p 00020000 08:03 5382907 /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f4f05634000-7f4f05635000 rw-p 00021000 08:03 5382907 /usr/lib/x86_64-linux-gnu/libxcb.so.1.1.0
7f4f05635000-7f4f05639000 r-xp 00000000 08:03 5382875 /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0.0.0
7f4f05639000-7f4f05838000 ---p 00004000 08:03 5382875 /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0.0.0
7f4f05838000-7f4f05839000 r--p 00003000 08:03 5382875 /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0.0.0
7f4f05839000-7f4f0583a000 rw-p 00004000 08:03 5382875 /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0.0.0
7f4f0583a000-7f4f05851000 r-xp 00000000 08:03 5382879 /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0.0.0
7f4f05851000-7f4f05a50000 ---p 00017000 08:03 5382879 /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0.0.0
7f4f05a50000-7f4f05a52000 r--p 00016000 08:03 5382879 /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0.0.0
7f4f05a52000-7f4f05a53000 rw-p 00018000 08:03 5382879 /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0.0.0
7f4f05a53000-7f4f05b88000 r-xp 00000000 08:03 5395805 /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f4f05b88000-7f4f05d88000 ---p 00135000 08:03 5395805 /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f4f05d88000-7f4f05d89000 r--p 00135000 08:03 5395805 /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f4f05d89000-7f4f05d8d000 rw-p 00136000 08:03 5395805 /usr/lib/x86_64-linux-gnu/libX11.so.6.3.0
7f4f05d8d000-7f4f05d8e000 r-xp 00000000 08:03 5395811 /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1.0.0
7f4f05d8e000-7f4f05f8d000 ---p 00001000 08:03 5395811 /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1.0.0
7f4f05f8d000-7f4f05f8e000 r--p 00000000 08:03 5395811 /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1.0.0
7f4f05f8e000-7f4f05f8f000 rw-p 00001000 08:03 5395811 /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1.0.0
7f4f05f8f000-7f4f05f94000 r-xp 00000000 08:03 5381486 /usr/lib/x86_64-linux-gnu/libXfixes.so.3.1.0
7f4f05f94000-7f4f06193000 ---p 00005000 08:03 5381486 /usr/lib/x86_64-linux-gnu/libXfixes.so.3.1.0
7f4f06193000-7f4f06194000 r--p 00004000 08:03 5381486 /usr/lib/x86_64-linux-gnu/libXfixes.so.3.1.0
7f4f06194000-7f4f06195000 rw-p 00005000 08:03 5381486 /usr/lib/x86_64-linux-gnu/libXfixes.so.3.1.0
7f4f06195000-7f4f06197000 r-xp 00000000 08:03 5381480 /usr/lib/x86_64-linux-gnu/libXdamage.so.1.1.0
7f4f06197000-7f4f06396000 ---p 00002000 08:03 5381480 /usr/lib/x86_64-linux-gnu/libXdamage.so.1.1.0
7f4f06396000-7f4f06397000 r--p 00001000 08:03 5381480 /usr/lib/x86_64-linux-gnu/libXdamage.so.1.1.0
7f4f06397000-7f4f06398000 rw-p 00002000 08:03 5381480 /usr/lib/x86_64-linux-gnu/libXdamage.so.1.1.0
7f4f06398000-7f4f063a9000 r-xp 00000000 08:03 5381484 /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f4f063a9000-7f4f065a8000 ---p 00011000 08:03 5381484 /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f4f065a8000-7f4f065a9000 r--p 00010000 08:03 5381484 /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f4f065a9000-7f4f065aa000 rw-p 00011000 08:03 5381484 /usr/lib/x86_64-linux-gnu/libXext.so.6.4.0
7f4f065aa000-7f4f065d6000 r-xp 00000000 08:03 5383820 /usr/lib/x86_64-linux-gnu/libglapi.so.0.0.0
7f4f065d6000-7f4f067d5000 ---p 0002c000 08:03 5383820 /usr/lib/x86_64-linux-gnu/libglapi.so.0.0.0
7f4f067d5000-7f4f067d9000 r--p 0002b000 08:03 5383820 /usr/lib/x86_64-linux-gnu/libglapi.so.0.0.0
7f4f067d9000-7f4f067da000 rw-p 0002f000 08:03 5383820 /usr/lib/x86_64-linux-gnu/libglapi.so.0.0.0
7f4f067da000-7f4f067db000 rw-p 00000000 00:00 0
7f4f067db000-7f4f067dc000 r-xp 00000000 08:03 5382925 /usr/lib/x86_64-linux-gnu/libxshmfence.so.1.0.0
7f4f067dc000-7f4f069dc000 ---p 00001000 08:03 5382925 /usr/lib/x86_64-linux-gnu/libxshmfence.so.1.0.0
7f4f069dc000-7f4f069dd000 r--p 00001000 08:03 5382925 /usr/lib/x86_64-linux-gnu/libxshmfence.so.1.0.0
7f4f069dd000-7f4f069de000 rw-p 00002000 08:03 5382925 /usr/lib/x86_64-linux-gnu/libxshmfence.so.1.0.0
7f4f069de000-7f4f069e3000 r-xp 00000000 08:03 5382899 /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1.0.0
7f4f069e3000-7f4f06be3000 ---p 00005000 08:03 5382899 /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1.0.0
7f4f06be3000-7f4f06be4000 r--p 00005000 08:03 5382899 /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1.0.0
7f4f06be4000-7f4f06be5000 rw-p 00006000 08:03 5382899 /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1.0.0
7f4f06be5000-7f4f06be7000 r-xp 00000000 08:03 5382887 /usr/lib/x86_64-linux-gnu/libxcb-present.so.0.0.0
7f4f06be7000-7f4f06de6000 ---p 00002000 08:03 5382887 /usr/lib/x86_64-linux-gnu/libxcb-present.so.0.0.0
7f4f06de6000-7f4f06de7000 r--p 00001000 08:03 5382887 /usr/lib/x86_64-linux-gnu/libxcb-present.so.0.0.0
7f4f06de7000-7f4f06de8000 rw-p 00002000 08:03 5382887 /usr/lib/x86_64-linux-gnu/libxcb-present.so.0.0.0
7f4f06de8000-7f4f06dea000 r-xp 00000000 08:03 5382877 /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0.0.0
7f4f06dea000-7f4f06fe9000 ---p 00002000 08:03 5382877 /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0.0.0
7f4f06fe9000-7f4f06fea000 r--p 00001000 08:03 5382877 /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0.0.0
7f4f06fea000-7f4f06feb000 rw-p 00002000 08:03 5382877 /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0.0.0
7f4f06feb000-7f4f07011000 r-xp 00000000 08:03 3150562 /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f4f07011000-7f4f07211000 ---p 00026000 08:03 3150562 /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f4f07211000-7f4f07213000 r--p 00026000 08:03 3150562 /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f4f07213000-7f4f07214000 rw-p 00028000 08:03 3150562 /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7f4f07214000-7f4f0722d000 r-xp 00000000 08:03 3150722 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4f0722d000-7f4f0742c000 ---p 00019000 08:03 3150722 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4f0742c000-7f4f0742d000 r--p 00018000 08:03 3150722 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4f0742d000-7f4f0742e000 rw-p 00019000 08:03 3150722 /lib/x86_64-linux-gnu/libz.so.1.2.8
7f4f0742e000-7f4f0749b000 r-xp 00000000 08:03 5381318 /usr/lib/x86_64-linux-gnu/libGLU.so.1.3.1
7f4f0749b000-7f4f0769b000 ---p 0006d000 08:03 5381318 /usr/lib/x86_64-linux-gnu/libGLU.so.1.3.1
7f4f0769b000-7f4f0769c000 r--p 0006d000 08:03 5381318 /usr/lib/x86_64-linux-gnu/libGLU.so.1.3.1
7f4f0769c000-7f4f0769d000 rw-p 0006e000 08:03 5381318 /usr/lib/x86_64-linux-gnu/libGLU.so.1.3.1
7f4f0769d000-7f4f076b5000 r-xp 00000000 08:03 3150653 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f4f076b5000-7f4f078b4000 ---p 00018000 08:03 3150653 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f4f078b4000-7f4f078b5000 r--p 00017000 08:03 3150653 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f4f078b5000-7f4f078b6000 rw-p 00018000 08:03 3150653 /lib/x86_64-linux-gnu/libpthread-2.23.so
7f4f078b6000-7f4f078ba000 rw-p 00000000 00:00 0
7f4f078ba000-7f4f078bd000 r-xp 00000000 08:03 3150834 /lib/x86_64-linux-gnu/libdl-2.23.so
7f4f078bd000-7f4f07abc000 ---p 00003000 08:03 3150834 /lib/x86_64-linux-gnu/libdl-2.23.so
7f4f07abc000-7f4f07abd000 r--p 00002000 08:03 3150834 /lib/x86_64-linux-gnu/libdl-2.23.so
7f4f07abd000-7f4f07abe000 rw-p 00003000 08:03 3150834 /lib/x86_64-linux-gnu/libdl-2.23.so
7f4f07abe000-7f4f07b2e000 r-xp 00000000 08:03 5771645 /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1.2.0
7f4f07b2e000-7f4f07d2d000 ---p 00070000 08:03 5771645 /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1.2.0
7f4f07d2d000-7f4f07d30000 r--p 0006f000 08:03 5771645 /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1.2.0
7f4f07d30000-7f4f07d31000 rw-p 00072000 08:03 5771645 /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1.2.0
7f4f07d31000-7f4f07d32000 rw-p 00000000 00:00 0
7f4f07d32000-7f4f07d35000 r-xp 00000000 00:33 1056295 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_opengl_helper.so
7f4f07d35000-7f4f07f35000 ---p 00003000 00:33 1056295 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_opengl_helper.so
7f4f07f35000-7f4f07f36000 r--p 00003000 00:33 1056295 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_opengl_helper.so
7f4f07f36000-7f4f07f37000 rw-p 00004000 00:33 1056295 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_opengl_helper.so
7f4f07f37000-7f4f0803f000 r-xp 00000000 08:03 3145754 /lib/x86_64-linux-gnu/libm-2.23.so
7f4f0803f000-7f4f0823e000 ---p 00108000 08:03 3145754 /lib/x86_64-linux-gnu/libm-2.23.so
7f4f0823e000-7f4f0823f000 r--p 00107000 08:03 3145754 /lib/x86_64-linux-gnu/libm-2.23.so
7f4f0823f000-7f4f08240000 rw-p 00108000 08:03 3145754 /lib/x86_64-linux-gnu/libm-2.23.so
7f4f08240000-7f4f08400000 r-xp 00000000 08:03 3150832 /lib/x86_64-linux-gnu/libc-2.23.so
7f4f08400000-7f4f08600000 ---p 001c0000 08:03 3150832 /lib/x86_64-linux-gnu/libc-2.23.so
7f4f08600000-7f4f08604000 r--p 001c0000 08:03 3150832 /lib/x86_64-linux-gnu/libc-2.23.so
7f4f08604000-7f4f08606000 rw-p 001c4000 08:03 3150832 /lib/x86_64-linux-gnu/libc-2.23.so
7f4f08606000-7f4f0860a000 rw-p 00000000 00:00 0
7f4f0860a000-7f4f08620000 r-xp 00000000 08:03 3150569 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f4f08620000-7f4f0881f000 ---p 00016000 08:03 3150569 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f4f0881f000-7f4f08820000 rw-p 00015000 08:03 3150569 /lib/x86_64-linux-gnu/libgcc_s.so.1
7f4f08820000-7f4f08841000 r-xp 00000000 08:03 5375590 /usr/lib/x86_64-linux-gnu/libgomp.so.1.0.0
7f4f08841000-7f4f08a40000 ---p 00021000 08:03 5375590 /usr/lib/x86_64-linux-gnu/libgomp.so.1.0.0
7f4f08a40000-7f4f08a41000 r--p 00020000 08:03 5375590 /usr/lib/x86_64-linux-gnu/libgomp.so.1.0.0
7f4f08a41000-7f4f08a42000 rw-p 00021000 08:03 5375590 /usr/lib/x86_64-linux-gnu/libgomp.so.1.0.0
7f4f08a42000-7f4f08bb4000 r-xp 00000000 08:03 5375587 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4f08bb4000-7f4f08db4000 ---p 00172000 08:03 5375587 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4f08db4000-7f4f08dbe000 r--p 00172000 08:03 5375587 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4f08dbe000-7f4f08dc0000 rw-p 0017c000 08:03 5375587 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f4f08dc0000-7f4f08dc4000 rw-p 00000000 00:00 0
7f4f08dc4000-7f4f08ded000 r-xp 00000000 08:03 5382392 /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.4
7f4f08ded000-7f4f08fec000 ---p 00029000 08:03 5382392 /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.4
7f4f08fec000-7f4f08fed000 r--p 00028000 08:03 5382392 /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.4
7f4f08fed000-7f4f08fee000 rw-p 00029000 08:03 5382392 /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.4
7f4f08fee000-7f4f08ff3000 r-xp 00000000 00:33 1069194 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_csparse_extension.so
7f4f08ff3000-7f4f091f2000 ---p 00005000 00:33 1069194 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_csparse_extension.so
7f4f091f2000-7f4f091f3000 r--p 00004000 00:33 1069194 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_csparse_extension.so
7f4f091f3000-7f4f091f4000 rw-p 00005000 00:33 1069194 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_csparse_extension.so
7f4f091f4000-7f4f09210000 r-xp 00000000 00:33 1056292 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_stuff.so
7f4f09210000-7f4f0940f000 ---p 0001c000 00:33 1056292 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_stuff.so
7f4f0940f000-7f4f09410000 r--p 0001b000 00:33 1056292 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_stuff.so
7f4f09410000-7f4f09411000 rw-p 0001c000 00:33 1056292 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_stuff.so
7f4f09411000-7f4f09412000 rw-p 00000000 00:00 0
7f4f09412000-7f4f0947f000 r-xp 00000000 00:33 1069120 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_types_slam3d.so
7f4f0947f000-7f4f0967f000 ---p 0006d000 00:33 1069120 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_types_slam3d.so
7f4f0967f000-7f4f09682000 r--p 0006d000 00:33 1069120 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_types_slam3d.so
7f4f09682000-7f4f09683000 rw-p 00070000 00:33 1069120 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_types_slam3d.so
7f4f09683000-7f4f096e1000 r-xp 00000000 00:33 1066238 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so
7f4f096e1000-7f4f098e0000 ---p 0005e000 00:33 1066238 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so
7f4f098e0000-7f4f098e2000 r--p 0005d000 00:33 1066238 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so
7f4f098e2000-7f4f098e3000 rw-p 0005f000 00:33 1066238 /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_core.so
7f4f098e3000-7f4f09909000 r-xp 00000000 08:03 3150652 /lib/x86_64-linux-gnu/ld-2.23.so
7f4f09aae000-7f4f09abf000 rw-p 00000000 00:00 0
7f4f09b05000-7f4f09b08000 rw-p 00000000 00:00 0
7f4f09b08000-7f4f09b09000 r--p 00025000 08:03 3150652 /lib/x86_64-linux-gnu/ld-2.23.so
7f4f09b09000-7f4f09b0a000 rw-p 00026000 08:03 3150652 /lib/x86_64-linux-gnu/ld-2.23.so
7f4f09b0a000-7f4f09b0b000 rw-p 00000000 00:00 0
7ffcd4e5f000-7ffcd4e81000 rw-p 00000000 00:00 0 [stack]Aborted (core dumped)
```
```gdb``` returns the following backtrace:
```
(gdb) bt
#0 0x00007f81aef43425 in g2o::EdgeSE3::setMeasurement(Eigen::Transform<double, 3, 1, 0> const&) () from /home/fabian/develop/calib_ws/src/sensor_calibration/external/install/lib/libg2o_types_slam3d.so
#1 0x00000000004d7d29 in main (argc=7, argv=0x7fffcf22ae38) at /home/fabian/develop/calib_ws/src/sensor_calibration/src/calibrate_sensors.cpp:40
```04 / LABELS
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