double free or corruption (out)

[shuoyuanxu]

#include <clipper/clipper.h>
#include <clipper/utils.h>
#include <clipper/invariants/euclidean_distance.h>
#include <ros/ros.h>
#include <ros/package.h>

void runClipperMatching(
Eigen::Matrix3Xd model,
Eigen::Matrix3Xd data) {
clipper::invariants::EuclideanDistance::Params iparams;
clipper::invariants::EuclideanDistancePtr invariant =
std::make_sharedclipper::invariants::EuclideanDistance(iparams);

clipper::Params params;
clipper::CLIPPER clipper(invariant, params);

clipper.scorePairwiseConsistency(model, data);

clipper.solve();

// check that the select clique was correct
clipper::Association Ainliers = clipper.getSelectedAssociations();

// Output associations
clipper::Association inliers = clipper.getSelectedAssociations();

for (int i = 0; i < inliers.rows(); ++i) {
    int model_idx = inliers(i, 0);
    int data_idx = inliers(i, 1);
    ROS_INFO_STREAM(" Model[" << model_idx << "] (" << model.col(model_idx).transpose()
                    << ") <-> Data[" << data_idx << "] (" << data.col(data_idx).transpose() << ")");
}

// // return matches;
}

int main(int argc, char **argv) {
// Initialize the ROS system and specify the name of the node
ros::init(argc, argv, "april_slam_cpp");

ROS_INFO("[CLIPPER TEST] Running object graph matching test...");

// create a target/model point cloud of data
// Eigen::Matrix3Xd model(3, 4);
// model.col(0) << 1.0, 2.0, 0.0;
// model.col(1) << 3.0, 1.5, 0.0;
// model.col(2) << 2.0, 4.0, 0.0;
// model.col(3) << 0.0, 0.0, 0.0;

// Eigen::Matrix3Xd data(3, 4);
// data.col(0) << 0.1, -0.1, 0.0;
// data.col(1) << 1.05, 2.1, 0.0;
// data.col(2) << 2.95, 1.6, 0.0;
// data.col(3) << 2.1, 3.95, 0.0;

// create a target/model point cloud of data
Eigen::Matrix3Xd model(3, 4);
model.col(0) << 0, 0, 0;
model.col(1) << 2, 0, 0;
model.col(2) << 0, 3, 0;
model.col(3) << 2, 2, 0;

// transform of data w.r.t model
Eigen::Affine3d T_MD;
T_MD = Eigen::AngleAxisd(M_PI/8, Eigen::Vector3d::UnitZ());
T_MD.translation() << 5, 3, 0;
Eigen::Matrix3Xd data = T_MD.inverse() * model;
runClipperMatching(model, data);

// // an empty association set will be assumed to be all-to-all
// clipper.scorePairwiseConsistency(model, data);

// clipper::invariants::EuclideanDistance::Params iparams;
// clipper::invariants::EuclideanDistancePtr invariant =
//             std::make_shared<clipper::invariants::EuclideanDistance>(iparams);

// clipper::Params params;
// clipper::CLIPPER clipper(invariant, params);
// clipper.solve();

// // check that the select clique was correct
// clipper::Association Ainliers = clipper.getSelectedAssociations();

// // Output associations
// clipper::Association inliers = clipper.getSelectedAssociations();
// ROS_INFO_STREAM("[CLIPPER TEST] Inlier Matches:");
// for (int i = 0; i < inliers.rows(); ++i) {
//     int model_idx = inliers(i, 0);
//     int data_idx = inliers(i, 1);
//     ROS_INFO_STREAM(" Model[" << model_idx << "] (" << model.col(model_idx).transpose()
//                     << ") <-> Data[" << data_idx << "] (" << data.col(data_idx).transpose() << ")");
// }

ROS_INFO("[CLIPPER TEST] Matching test complete.");

// Create a handle to this process' node
ros::NodeHandle nh;

// ROS enters a loop, pumping callbacks. Internally, it will call all the callbacks waiting to be called at that point in time.
ros::spin();

return 0;

}

Dear developers of clipper,

I am trying to implement clipper into my ros1 cpp project (see the simple test code i posted). I copied it directly from your unit test script and this error keeps showing up:

process[dagnn-2]: started with pid [231643]
[INFO] [1755533940.195183810]: [CLIPPER TEST] Running object graph matching test...
[INFO] [1755533940.195794904]: Model[1] (2 0 0) <-> Data[1] (-3.91969 -1.62359 0)
[INFO] [1755533940.195878481]: Model[3] (2 2 0) <-> Data[3] (-3.15432 0.224171 0)
[INFO] [1755533940.195937045]: Model[2] (0 3 0) <-> Data[2] (-4.6194 1.91342 0)
[INFO] [1755533940.195994181]: Model[0] (0 0 0) <-> Data[0] ( -5.76745 -0.858221 0)
double free or corruption (out)
[dagnn-2] process has died [pid 231643, exit code -6, cmd /home/shuoyuan/catkin_oldslam_ws/devel/lib/dagnn/dagnn __name:=dagnn __log:=/home/shuoyuan/.ros/log/0c06eda6-7c4f-11f0-8c6e-2752ba58e0c7/dagnn-2.log].
log file: /home/shuoyuan/.ros/log/0c06eda6-7c4f-11f0-8c6e-2752ba58e0c7/dagnn-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The eigen version i used to compile clipper is 3.3.7 and system ubuntu 20. I really appreciate your kind reply. Please let me know if anything else i can provide from my side.

Regards
Shuoyuan

[plusk01]

Hi, does it work when you run the tests directly from the clipper repo? i.e., following the build steps in the README

it may be that eigen 3.4.x is required

[shuoyuanxu]

OK this is more complicated than i thought it would be, i cant replicated it everytime. When i run ./tests executable, it fails 9/10 times, yet when i run ctest --output-on-failure -j$(nproc) it is almost always correct. When I run ./tests --gtest_filter=CLIPPER.EuclideanDistance alone it works 9/10 times.

Error log:

shuoyuan@shuoyuan-HP:~/drivers/clipper/build/test$ ./tests 
[==========] Running 7 tests from 4 test suites.
[----------] Global test environment set-up.
[----------] 1 test from Affinity
[ RUN      ] Affinity.EuclideanDistance
[       OK ] Affinity.EuclideanDistance (15 ms)
[----------] 1 test from Affinity (15 ms total)

[----------] 3 tests from CLIPPER
[ RUN      ] CLIPPER.EuclideanDistance
/home/shuoyuan/drivers/clipper/test/clipper_test.cpp:63: Failure
Expected equality of these values:
  Ainliers.rows()
    Which is: 2
  3
[  FAILED  ] CLIPPER.EuclideanDistance (4 ms)
[ RUN      ] CLIPPER.EuclideanDistance_UseGetSet
[       OK ] CLIPPER.EuclideanDistance_UseGetSet (6 ms)
[ RUN      ] CLIPPER.EuclideanDistance_UseSparseGetSet
[       OK ] CLIPPER.EuclideanDistance_UseSparseGetSet (4 ms)
[----------] 3 tests from CLIPPER (14 ms total)

[----------] 1 test from CLIPPERSDR
[ RUN      ] CLIPPERSDR.FindGlobalMax
[       OK ] CLIPPERSDR.FindGlobalMax (18 ms)
[----------] 1 test from CLIPPERSDR (18 ms total)

[----------] 2 tests from DSD
[ RUN      ] DSD.Solve
[       OK ] DSD.Solve (0 ms)
[ RUN      ] DSD.SolveRestrictedGraph
[       OK ] DSD.SolveRestrictedGraph (0 ms)
[----------] 2 tests from DSD (0 ms total)

[----------] Global test environment tear-down
[==========] 7 tests from 4 test suites ran. (47 ms total)
[  PASSED  ] 6 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] CLIPPER.EuclideanDistance

 1 FAILED TEST

I tried 3.4 and similiar issue still persist with your tests. As for my code, same double free or corruption issue after updating eigen to 3.4. Here is the simpliest version of my code if you need to test it:

#include <clipper/clipper.h>
#include <clipper/utils.h>
#include <clipper/invariants/euclidean_distance.h>
#include <ros/ros.h>
#include <ros/package.h>

void runClipperMatching(
    Eigen::Matrix3Xd model,
    Eigen::Matrix3Xd data) {
    clipper::invariants::EuclideanDistance::Params iparams;
    clipper::invariants::EuclideanDistancePtr invariant =
                std::make_shared<clipper::invariants::EuclideanDistance>(iparams);

    clipper::Params params;
    clipper::CLIPPER clipper(invariant, params);

    clipper.scorePairwiseConsistency(model, data);

    clipper.solve();

    // Output associations
    clipper::Association inliers = clipper.getSelectedAssociations();

    for (int i = 0; i < inliers.rows(); ++i) {
        int model_idx = inliers(i, 0);
        int data_idx = inliers(i, 1);
        ROS_INFO_STREAM(" Model1[" << model_idx << "] (" << model.col(model_idx).transpose()
                        << ") <-> Data1[" << data_idx << "] (" << data.col(data_idx).transpose() << ")");
    }
//     // return matches;
}

int main(int argc, char **argv) {
    // Initialize the ROS system and specify the name of the node
    ros::init(argc, argv, "april_slam_cpp");

    ROS_INFO("[CLIPPER TEST] Running object graph matching test...");

    // create a target/model point cloud of data
    Eigen::Matrix3Xd model(3, 4);
    model.col(0) << 0, 0, 0;
    model.col(1) << 2, 0, 0;
    model.col(2) << 0, 3, 0;
    model.col(3) << 2, 2, 0;

    // transform of data w.r.t model
    Eigen::Affine3d T_MD;
    T_MD = Eigen::AngleAxisd(M_PI/8, Eigen::Vector3d::UnitZ());
    T_MD.translation() << 5, 3, 0;
    Eigen::Matrix3Xd data = T_MD.inverse() * model;
    runClipperMatching(model, data);

    ROS_INFO("[CLIPPER TEST] Matching test complete.");

    ros::NodeHandle nh;

    // ROS enters a loop, pumping callbacks. Internally, it will call all the callbacks waiting to be called at that point in time.
    ros::spin();

    return 0;
}