Question

我尝试了几个PCL可视化工具教程并尝试将它们组合在一起。基本上，它生成3D点云并使用PCL可视化器进行显示。该项目建立成功并且有效。但是，只要按“＆＃39;”，或按右上角的关闭按钮退出程序，就会从Eigen / src / Core中抛出异常/util/Memory.h第241行。非常感谢任何帮助或解释。感谢。

我正在构建使用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
}

这可能是某种内存位置被释放两次吗？

这是我的＆＃34;你好世界＆＃34;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

你的问题基本上就是这一行：

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

您正在指向堆栈上的对象，并将其交给共享指针。在作用域的末尾，共享指针析构函数然后尝试释放该内存（由于它位于堆栈而不是堆中，因此无法执行该内存）。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可视化器 - 退出可视化器窗口时从Eigen抛出的异常

1 个答案: