[d2vins_node-1] Segmentation fault (Address not mapped to object [0x7ffe67c8aff8])

[DavidNY123]

Hey, I meet an error:

[d2vins_node-1] Stack trace (most recent call last): [d2vins_node-1] 31 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 30 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 29 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 28 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 27 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 26 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 25 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 24 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 23 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 22 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 21 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 20 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 19 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 18 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 17 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 16 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 15 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 14 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 13 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 12 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 11 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 10 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 9 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 8 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 7 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 6 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 5 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 4 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 3 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 2 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 1 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 32, in searchClosest [0x7f89ab2fe6fb] [d2vins_node-1] 29: return i0; [d2vins_node-1] 30: } [d2vins_node-1] 31: if (buf[i].t > t - eps) { [d2vins_node-1] > 32: return searchClosest(t, i0, i); [d2vins_node-1] 33: } else { [d2vins_node-1] 34: return searchClosest(t, i, i1); [d2vins_node-1] 35: } [d2vins_node-1] 0 Source "/root/D2SLAM/src/D2SLAM/d2common/src/d2imu.cpp", line 20, in searchClosest [0x7f89ab2fe651] [d2vins_node-1] 17: return searchClosest(t, 0, buf.size()); [d2vins_node-1] 18: } [d2vins_node-1] 19: [d2vins_node-1] > 20: size_t IMUBuffer::searchClosest(double t, int i0, int i1) const { [d2vins_node-1] 21: const double eps = 5e-4; [d2vins_node-1] 22: const Guard lock(buf_lock); [d2vins_node-1] 23: // printf("IMUBuffer::searchClosest: t=%f, i0=%d, i1=%d\n", t, i0, i1); [d2vins_node-1] Segmentation fault (Address not mapped to object [0x7ffe67c8aff8])

** it seems to occur randomly on the TUM dataset.**

[xuhao1]

Please take a trial on the develop branch