target_link_libraries， torch， segmentation fault (core dumped)

[zwl995]

Hello, why does this happen when I link Torch library in SLAM? I haven't even changed the code yet, just chained the library in CMakeLists

[zm0612]

There is only this line of log, it is impossible to judge

[zwl995]

I just linked to the torch library in cmakelist, the code is not used, and commenting out the link to the torch library works fine

[zm0612]

If possible, please provide detailed information on compilation and running, otherwise it is impossible to judge.

[zwl995]

cmake -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF -DBUILD_TESTS=OFF ��]1;cmake�-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
�[0mCMake Deprecation Warning at CMakeLists.txt:12 (cmake_policy):
The OLD behavior for policy CMP0074 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.

�[0m
-- Build type: Release
-- ccache: Disabled
-- Address/Memory sanitizer: DISABLED
-- Architecture-aware optimization: DISABLED
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Found Eigen3: /usr/local/include/eigen3 (Required is at least version "3.3")
-- Use OpenCV 4.6.0
-- Found CUDA: /usr/local/cuda (found version "11.3")
-- The CUDA compiler identification is NVIDIA 11.3.58
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc - skipped
-- Detecting CUDA compile features
-- Detecting CUDA compile features - done
-- Caffe2: CUDA detected: 11.3
-- Caffe2: CUDA nvcc is: /usr/local/cuda/bin/nvcc
-- Caffe2: CUDA toolkit directory: /usr/local/cuda
-- Caffe2: Header version is: 11.3
-- Found CUDNN: /usr/local/cuda/lib64/libcudnn.so
-- Found cuDNN: v8.4.0 (include: /usr/local/cuda/include, library: /usr/local/cuda/lib64/libcudnn.so)
-- /usr/local/cuda/lib64/libnvrtc.so shorthash is 8aa72235
-- Autodetected CUDA architecture(s): 6.1 6.1 6.1 6.1
-- Added CUDA NVCC flags for: -gencode;arch=compute_61,code=sm_61
-- Found Torch: /zwj/pro/zwl/3rdparty/libtorch_cuda/lib/libtorch.so
-- Pytorch status:
-- libraries: torch;torch_library;/zwj/pro/zwl/3rdparty/libtorch_cuda/lib/libc10.so;/zwj/pro/zwl/3rdparty/libtorch_cuda/lib/libkineto.a;/usr/local/cuda/lib64/stubs/libcuda.so;/usr/local/cuda/lib64/libnvrtc.so;/usr/local/cuda/lib64/libnvToolsExt.so;/usr/local/cuda/lib64/libcudart.so;/zwj/pro/zwl/3rdparty/libtorch_cuda/lib/libc10_cuda.so
-- aruco: enabled (Found in /usr/include/opencv2)
-- Found OpenCV: /zwj/pro/03_third/opencv/build (found version "4.6.0") found components: opencv_calib3d opencv_core opencv_dnn opencv_features2d opencv_flann opencv_gapi opencv_highgui opencv_imgcodecs opencv_imgproc opencv_ml opencv_objdetect opencv_photo opencv_stitching opencv_video opencv_videoio opencv_alphamat opencv_aruco opencv_barcode opencv_bgsegm opencv_bioinspired opencv_ccalib opencv_datasets opencv_dnn_objdetect opencv_dnn_superres opencv_dpm opencv_face opencv_freetype opencv_fuzzy opencv_hdf opencv_hfs opencv_img_hash opencv_intensity_transform opencv_line_descriptor opencv_mcc opencv_optflow opencv_phase_unwrapping opencv_plot opencv_quality opencv_rapid opencv_reg opencv_rgbd opencv_saliency opencv_sfm opencv_shape opencv_stereo opencv_structured_light opencv_superres opencv_surface_matching opencv_text opencv_tracking opencv_videostab opencv_viz opencv_wechat_qrcode opencv_xfeatures2d opencv_ximgproc opencv_xobjdetect opencv_xphoto
-- Found SQLite3: /usr/include (found version "3.22.0")
�[33mCMake Warning (dev) at /usr/local/share/cmake-3.24/Modules/FindOpenGL.cmake:315 (message):
Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
available. Run "cmake --help-policy CMP0072" for policy details. Use the
cmake_policy command to set the policy and suppress this warning.

FindOpenGL found both a legacy GL library:

OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

and GLVND libraries for OpenGL and GLX:

OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
/usr/local/share/cmake-3.24/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
/usr/local/lib/cmake/g2o/g2oConfig.cmake:4 (find_dependency)
src/stella_vslam/CMakeLists.txt:18 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
�[0m
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so
-- Found CXSparse: /usr/include/suitesparse (found version "3.1.9")
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found AMD header in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found CAMD header in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Found COLAMD header in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found CCOLAMD header in: /usr/include/suitesparse
-- Found SuiteSparse_config library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
-- Found SuiteSparse_config header in: /usr/include/suitesparse
-- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Found METIS library: /usr/lib/x86_64-linux-gnu/libmetis.so.
-- Found SuiteSparse: TRUE (found version "5.1.2")
-- OpenMP: DISABLED
-- SSE3 for ORB extraction: DISABLED
-- SSE for floating-point operation: DISABLED
-- BoW framework: FBoW (found in /usr/local/include)
-- trace level log: DISABLED
-- Determinism: DISABLED
-- Stack trace logger: DISABLED
-- Google Perftools: DISABLED
-- Viewer for examples: PangolinViewer
-- Configuring done
-- Generating done

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�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/global_optimization_module.cc:�[m�[K In member function '�[01m�[Kstella_vslam::module::keyframe_Sim3_pairs_t stella_vslam::global_optimization_module::get_Sim3s_after_loop_correction(const Mat44_t&, const g2o::Sim3&, const std::vector<std::shared_ptr<stella_vslam::data::keyframe> >&) const�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/global_optimization_module.cc:336:26:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
if(�[01;35m�[Kneighbor->id_ <= load_map_max_id�[m�[K){
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�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/global_optimization_module.cc:�[m�[K In member function '�[01m�[Kvoid stella_vslam::global_optimization_module::correct_covisibility_keyframes(const keyframe_Sim3_pairs_t&) const�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/global_optimization_module.cc:394:26:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
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�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/data/map_database.cc:�[m�[K In member function '�[01m�[Kvoid stella_vslam::data::map_database::from_json(stella_vslam::data::camera_database*, stella_vslam::data::orb_params_database*, stella_vslam::data::bow_vocabulary*, const json&, const json&)�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/data/map_database.cc:256:14:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
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�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/data/map_database.cc:�[m�[K In member function '�[01m�[Kbool stella_vslam::data::map_database::load_keyframes_from_db(sqlite3*, stella_vslam::data::camera_database*, stella_vslam::data::orb_params_database*, stella_vslam::data::bow_vocabulary*)�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/data/map_database.cc:639:23:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
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�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/io/map_database_io_sqlite3.cc:�[m�[K In member function '�[01m�[Kvirtual void stella_vslam::io::map_database_io_sqlite3::save(const string&, const stella_vslam::data::camera_database*, const stella_vslam::data::orb_params_database*, const stella_vslam::data::map_database*)�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/io/map_database_io_sqlite3.cc:20:75:�[m�[K �[01;35m�[Kwarning: �[m�[Kunused parameter '�[01m�[Korb_params_db�[m�[K' [�[01;35m�[K-Wunused-parameter�[m�[K]
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�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/relocalizer.cc:308:14:�[m�[K �[01;35m�[Kwarning: �[m�[Kunused variable '�[01m�[Knum_additional_matches�[m�[K' [�[01;35m�[K-Wunused-variable�[m�[K]
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In file included from �[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.cc:7:0�[m�[K:
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.h:�[m�[K In constructor '�[01m�[Kstella_vslam::module::loop_detector::loop_detector(stella_vslam::data::bow_database*, stella_vslam::data::bow_vocabulary*, const YAML::Node&, bool)�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.h:155:37:�[m�[K �[01;35m�[Kwarning: �[m�[K'�[01m�[Kstella_vslam::module::loop_detector::reject_by_graph_distance_�[m�[K' will be initialized after [�[01;35m�[K-Wreorder�[m�[K]
int reject_by_graph_distance_ = �[01;35m�[Kfalse�[m�[K;
�[01;35m�[K^~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.h:150:46:�[m�[K �[01;35m�[Kwarning: �[m�[K '�[01m�[Kint stella_vslam::module::loop_detector::detect_loop_candidates_by_nearest_�[m�[K' [�[01;35m�[K-Wreorder�[m�[K]
int detect_loop_candidates_by_nearest_ = �[01;35m�[Kfalse�[m�[K;
�[01;35m�[K^~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.cc:17:1:�[m�[K �[01;35m�[Kwarning: �[m�[K when initialized here [�[01;35m�[K-Wreorder�[m�[K]
�[01;35m�[Kloop_detector�[m�[K::loop_detector(data::bow_database* bow_db, data::bow_vocabulary* bow_vocab, const YAML::Node& yaml_node, const bool fix_scale_in_Sim3_estimation)
�[01;35m�[K^~~~~~~~~~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.cc:�[m�[K In member function '�[01m�[Kbool stella_vslam::module::loop_detector::detect_loop_candidates_impl_nearest()�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/module/loop_detector.cc:243:18:�[m�[K �[01;35m�[Kwarning: �[m�[Kunused variable '�[01m�[Kcos_angle_threshold�[m�[K' [�[01;35m�[K-Wunused-variable�[m�[K]
const double �[01;35m�[Kcos_angle_threshold�[m�[K = 0.5;
�[01;35m�[K^~~~~~~~~~~~~~~~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/graph_optimizer.cc:�[m�[K In member function '�[01m�[Kvoid stella_vslam::optimize::graph_optimizer::optimize(const std::shared_ptr<stella_vslam::data::keyframe>&, const std::shared_ptr<stella_vslam::data::keyframe>&, const keyframe_Sim3_pairs_t&, const keyframe_Sim3_pairs_t&, const std::map<std::shared_ptr<stella_vslam::data::keyframe>, std::set<std::shared_ptr<stella_vslam::data::keyframe> > >&, std::unordered_map<unsigned int, unsigned int>&) const�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/graph_optimizer.cc:98:94:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
if (keyfrm == loop_keyfrm || keyfrm->graph_node_->is_spanning_root() || �[01;35m�[Kkeyfrm->id_<=load_map_max_id�[m�[K) {
�[01;35m�[K~~~~~~~~~~~^~~~~~~~~~~~~~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/global_bundle_adjuster.cc:�[m�[K In function '�[01m�[Kvoid stella_vslam::optimize::optimize_impl(g2o::SparseOptimizer&, const std::vector<std::shared_ptr<stella_vslam::data::keyframe> >&, const std::vector<std::shared_ptr<stella_vslam::data::landmark> >&, const std::vector<std::shared_ptr<stella_vslam::data::marker> >&, std::vector&, stella_vslam::optimize::internal::se3::shot_vertex_container&, stella_vslam::optimize::internal::landmark_vertex_container&, stella_vslam::optimize::internal::marker_vertex_container&, unsigned int, bool, bool, const stella_vslam::data::map_database)�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/global_bundle_adjuster.cc:72:24:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
if(�[01;35m�[Kkeyfrm->id_ <= load_map_max_id�[m�[K){
�[01;35m�[K~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/global_bundle_adjuster.cc:76:64:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
keyfrm_vtx_container.create_vertex(keyfrm, �[01;35m�[Kkeyfrm->id_ <= load_map_max_id�[m�[K)
�[01;35m�[K~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~�[m�[K
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/local_bundle_adjuster.cc:�[m�[K In member function '�[01m�[Kvoid stella_vslam::optimize::local_bundle_adjuster::optimize(stella_vslam::data::map_database*, const std::shared_ptr<stella_vslam::data::keyframe>&, bool*) const�[m�[K':
�[01m�[K/zwj/pro/zwl/openvslam_mg/src/stella_vslam/optimize/local_bundle_adjuster.cc:188:76:�[m�[K �[01;35m�[Kwarning: �[m�[Kcomparison between signed and unsigned integer expressions [�[01;35m�[K-Wsign-compare�[m�[K]
keyfrm_vtx_container.create_vertex(local_keyfrm, �[01;35m�[Klocal_keyfrm->id_ <= load_map_max_id�[m�[K)
�[01;35m�[K~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~�[m�[K
[ 77%] �[32m�[1mLinking CXX shared library ../../lib/libstella_vslam.so�[0m
[ 77%] Built target stella_vslam
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[ 79%] �[32mBuilding CXX object src/pangolin_viewer/CMakeFiles/pangolin_viewer.dir/color_scheme.cc.o�[0m
[ 80%] �[32m�[1mLinking CXX shared library ../../lib/libpangolin_viewer.so�[0m
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[ 82%] �[32mBuilding CXX object example/CMakeFiles/run_euroc_slam.dir/run_euroc_slam.cc.o�[0m
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[ 93%] �[32m�[1mLinking CXX executable ../run_loop_closure�[0m
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[ 94%] �[32m�[1mLinking CXX executable ../run_tum_rgbd_slam�[0m
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[ 96%] �[32m�[1mLinking CXX executable ../run_kitti_slam�[0m
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[ 97%] �[32m�[1mLinking CXX executable ../run_image_slam�[0m
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[ 98%] �[32m�[1mLinking CXX executable ../run_euroc_slam�[0m
[ 98%] Built target run_kitti_slam
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[100%] �[32m�[1mLinking CXX executable ../run_video_slam�[0m
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[100%] Built target run_video_slam

Pass 'Combine redundant instructions' is not initialized.
Verify if there is a pass dependency cycle.
Required Passes:
[1] 49149 segmentation fault (core dumped) ./run_euroc_slam -d

[zwl995]

Can compile through and crash only when running