PCL 可视化工具 - 退出可视化工具时从 Eigen 抛出异常 window

Question

我尝试了几个 PCL 可视化工具教程并尝试将它们结合起来。基本上，它会生成 3D 点云并使用 PCL 可视化工具进行显示。该项目构建成功并且有效。但是，当我按'e'、'q'或按右上角的关闭按钮退出程序时，Eigen/src/Core/util/Memory.h第241行抛出异常。任何帮助或解释将不胜感激。谢谢

我正在使用 msvc-12.0、64 位、Boost 版本 1.61、PCL 版本 1.8、VTK 版本 7.1、Eigen 3.2.8

这是来自 Memory.h

的片段

/** \internal Frees memory allocated with aligned_malloc. */
inline void aligned_free(void *ptr)
{
  #if !EIGEN_ALIGN
    std::free(ptr);
  #elif EIGEN_MALLOC_ALREADY_ALIGNED
    std::free(ptr);  // Line 241, exception from here
  #elif EIGEN_HAS_POSIX_MEMALIGN
    std::free(ptr);
  #elif EIGEN_HAS_MM_MALLOC
    _mm_free(ptr);
  #elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
    _aligned_free(ptr);
  #else
    handmade_aligned_free(ptr);
  #endif
}

这会不会是某种内存位置被释放了两次？

这是我的 "hello world" 代码：

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>


int main(int argc, char** argv) {

    pcl::PointCloud<pcl::PointXYZRGB> cloud;

    // Fill in the cloud data
    cloud.width = 10000;
    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 + 1.0f);
        cloud.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud.points[i].r = 256 * rand() / (RAND_MAX + 1.0f);
        cloud.points[i].g = 256 * rand() / (RAND_MAX + 1.0f);
        cloud.points[i].b = 256 * rand() / (RAND_MAX + 1.0f);

    }

    //pcl::io::savePCDFileASCII("testpcd.pcd", cloud);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr(&cloud);

    //visualiser
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

    viewer->setBackgroundColor(0, 0, 0);
    viewer->addPointCloud<pcl::PointXYZRGB>(cloud_ptr, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
    viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();

    //viewer->resetCameraViewpoint("sample cloud");

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }

    return (0);
}

Answer 1

你的问题本质上是这一行：

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr(&cloud);

您正在获取指向堆栈上对象的指针，并将其传递给共享指针。在范围的末尾，共享指针析构函数然后尝试释放该内存（它不能这样做，因为它在堆栈上，而不是在堆上）。尝试这样的事情：

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);

// Fill in the cloud data
cloud_ptr->width = 10000;
cloud_ptr->height = 1;
cloud_ptr->is_dense = false;
cloud_ptr->points.resize(cloud_ptr->width * cloud_ptr->height);

for (size_t i = 0; i < cloud_ptr->points.size(); ++i) {
    cloud_ptr->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
    cloud_ptr->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
    cloud_ptr->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    cloud_ptr->points[i].r = 256 * rand() / (RAND_MAX + 1.0f);
    cloud_ptr->points[i].g = 256 * rand() / (RAND_MAX + 1.0f);
    cloud_ptr->points[i].b = 256 * rand() / (RAND_MAX + 1.0f);
}

PCL 可视化工具 - 退出可视化工具时从 Eigen 抛出异常 window

PCL visualizer - exception thrown from Eigen when exit visualizer window

c++

free

point-cloud-library

eigen3