Apollo里频繁发生Eigen库相关的崩溃的解决办法

原创已于 2024-11-20 10:17:53 修改 · 758 阅读

5 ·

CC 4.0 BY-SA版权

文章标签：

#Eigen #Affine3d #Transform #Assertion #align #unaligned #address

于 2024-11-19 19:27:17 首次发布

Eigen崩溃的原因多和地址对齐问题有关，常见的几种造成地址对齐问题的原因在Eigen的官方文档这里有说明：Eigen: Explanation of the assertion on unaligned arrays

我使用Apollo9早期版本崩溃的经历里，多次是属于第一种"Structures having Eigen objects as members" 在Structure里加上

public:

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

即可解决问题，少数特殊情况，加上了上面的宏定义也没用，照样崩溃在Structure的构造函数里，例如：

mainboard: external/uuid/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = double; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.

Thread 8 "mainboard" received signal SIGABRT, Aborted.

#0  0x00007fffeb205e87 in raise () at /lib/x86_64-linux-gnu/libc.so.6
#1  0x00007fffeb2077f1 in abort () at /lib/x86_64-linux-gnu/libc.so.6
#2  0x00007fffeb1f73fa in  () at /lib/x86_64-linux-gnu/libc.so.6
#3  0x00007fffeb1f7472 in  () at /lib/x86_64-linux-gnu/libc.so.6
#4  0x00007fffae3ab64f in Eigen::internal::plain_array<double, 16, 0, 32>::plain_array() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#5  0x00007fffae3a23ae in Eigen::DenseStorage<double, 16, 4, 4, 0>::DenseStorage() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#6  0x00007fffae3a4040 in Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 4, 0, 4, 4> >::PlainObjectBase() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#7  0x00007fffae39a8c4 in Eigen::Matrix<double, 4, 4, 0, 4, 4>::Matrix() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#8  0x00007fffae39b16a in Eigen::Transform<double, 3, 2, 0>::Transform<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(Eigen::EigenBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&) ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#9  0x00007fffae3933dd in Eigen::Transform<double, 3, 2, 0>::Identity() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#10 0x00007fffae3d1beb in apollo::perception::onboard::CameraFrame::CameraFrame() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#11 0x00007fffae3d1c76 in void __gnu_cxx::new_allocator<apollo::perception::onboard::CameraFrame>::construct<apollo::perception::onboard::CameraFrame>(apollo::perception::onboard::CameraFrame*) () at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#12 0x00007fffae3cb48f in void std::allocator_traits<std::allocator<apollo::perception::onboard::CameraFrame> >::construct<apollo::perception::onboard::CameraFrame>(std::allocator<apollo::perception::onboard::CameraFrame>&, apollo::perception::onboard::CameraFrame*) ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#13 0x00007fffae3c41ad in std::_Sp_counted_ptr_inplace<apollo::perception::onboard::CameraFrame, std::allocator<apollo::perception::onboard::CameraFrame>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<>(std::allocator<apollo::perception::onboard::CameraFrame>) ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#14 0x00007fffae3bcf3e in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<apollo::perception::onboard::CameraFrame, std::allocator<apollo::perception::onboard::CameraFrame>>(std::_Sp_make_shared_tag, apollo::perception::onboard::CameraFrame*, std::allocator<apollo::perception::onboard::CameraFrame> const&) () at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#15 0x00007fffae3b3a62 in std::__shared_ptr<apollo::perception::onboard::CameraFrame, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<apollo::perception::onboard::CameraFrame>>(std::_Sp_make_shared_tag, std::allocator<apollo::perception::onboard::CameraFrame> const&) ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#16 0x00007fffae3a84bc in std::shared_ptr<apollo::perception::onboard::CameraFrame>::shared_ptr<std::allocator<apollo::perception::onboard::CameraFrame>>(std::_Sp_make_shared_tag, std::allocator<apollo::perception::onboard::CameraFrame> const&) ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#17 0x00007fffae39de77 in std::shared_ptr<apollo::perception::onboard::CameraFrame> std::allocate_shared<apollo::perception::onboard::CameraFrame, std::allocator<apollo::perception::onboard::CameraFrame>>(std::allocator<apollo::perception::onboard::CameraFrame> const&) ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#18 0x00007fffae39560c in std::shared_ptr<apollo::perception::onboard::CameraFrame> std::make_shared<apollo::perception::onboard::CameraFrame>() ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#19 0x00007fffae37ea24 in apollo::perception::camera::CameraDetectionStreamPETRComponent::OnReceiveImage(std::shared_ptr<apollo::drivers::CompressedImage> const&) () at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so
#20 0x00007fffae37d20e in apollo::perception::camera::CameraDetectionStreamPETRComponent::InitListeners(apollo::perception::camera::CameraDetectionStreamPETR const&)::{lambda(std::shared_ptr<apollo::drivers::CompressedImage> const&)#1}::operator()(std::shared_ptr<apollo::drivers::CompressedImage> const&) const ()
    at /apollo/bazel-bin/modules/perception/camera_detection_streampetr/libcamera_detection_streampetr_component.so

上面的崩溃就发生在CameraFrame的构造函数里，但是看Apollo9源码里/apollo/modules/perception/common/onboard/inner_component_messages/camera_detection_component_messages.h里关于CameraFrame的定义似乎没什么问题(Apollo9最新的代码里这个文件的内容仍然没什么变化)：

namespace apollo {
namespace perception {
namespace onboard {

struct CameraFrame {


  // Frame sequence id
  std::uint64_t frame_id;
  // Timestamp
  double timestamp;
  // Image
  std::shared_ptr<camera::DataProvider> data_provider;
  // Detection result
  std::vector<base::ObjectPtr> detected_objects;
  // appearance features for tracking
  std::shared_ptr<base::Blob<float>> feature_blob = nullptr;
  // intrinstic

  Eigen::Matrix3f camera_k_matrix = Eigen::Matrix3f::Identity();
  // camera to world pose
  Eigen::Affine3d camera2world_pose = Eigen::Affine3d::Identity();

  public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};

}  // namespace onboard
}  // namespace perception
}  // namespace apollo

但是运行我自己写的component时总是崩溃在CameraFrame的构造函数里:apollo::perception::onboard::CameraFrame::CameraFrame()

我有同事恰好之前遇到了这个问题并且对代码稍做了点修改，对出错的地方的class定义强制不做地址对齐，就不崩溃了：

也就是把

Eigen::Affine3d camera2world_pose = Eigen::Affine3d::Identity();

改成

Eigen::Transform<double,3,2,Eigen::DontAlign> camera2world_pose = Eigen::Affine3d::Identity();

从上面的出错可以看出

Eigen::Affine3d::Identity()

等同于

Eigen::Transform<double, 3, 2, 0>::Identity()

因此，只需用Eigen::Transform<double,3,2,Eigen::DontAlign>替代掉Eigen::Afine3d即可

为何Structure在加了EIGEN_MAKE_ALIGNED_OPERATOR_NEW声明后仍然崩溃？这种问题表现不符合官网上列出的四种类型中的任何一种，我猜测原因应该是在编译Apollo时为了节省时间只做部分编译造成的或者Apollo所需的支持库造成的地址不对，类似有人调用Open3D时发现的这个问题，也是通过强制不做地址对齐来解决: https://github.com/isl-org/Open3D/issues/653