received signal SIGSEGV, Segmentation fault

[MasterY0416]

Ｔhank you very much for your work. I have this problem when using libpointmatcher. I spent a long time to solve this problem, but there is still no result.
Thread 1 "localizer_node" received signal SIGSEGV, Segmentation fault. 0x00007ffff7bb0515 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op<float, float> const&) () from /home/yuan/icp_localization_ws/devel/.private/icp_localization/lib/libicp_localization.so (gdb) [icp_node-2] killing on exit Quit (gdb) bt #0 0x00007ffff7bb0515 in void Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::Matrix<float, -1, -1, 0, -1, -1>, Eigen::internal::assign_op<float, float> >(Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, Eigen::internal::assign_op<float, float> const&) () from /home/yuan/icp_localization_ws/devel/.private/icp_localization/lib/libicp_localization.so #1 0x00007ffff5947b15 in SamplingSurfaceNormalDataPointsFilter<float>::fuseRange(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #2 0x00007ffff5949e15 in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #3 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #4 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #5 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #6 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #7 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #8 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #9 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #10 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #11 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #12 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #13 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #14 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #15 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #16 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #17 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #18 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #19 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #20 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so #21 0x00007ffff594a2ba in SamplingSurfaceNormalDataPointsFilter<float>::buildNew(SamplingSurfaceNormalDataPointsFilter<float>::BuildData&, int, int, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&, Eigen::Matrix<float, -1, 1, 0, -1, 1>&&) const () from /home/yuan/icp_localization_ws/devel/.private/libpointmatcher/lib/libpointmatcher.so

[pomerlef]

Could you report more information on your system. Some thing along: https://github.com/ethz-asl/libpointmatcher/blob/master/utest/listVersionsUbuntu.sh

[MasterY0416]

Shocked by your efficiency, this is the information of the system：

Name	Version
./listVersionsUbuntu.sh: line 7: lsb_release: command not found
ubuntu:
architecture:	64-bit
gcc:	gcc (Ubuntu 7.5.0-3ubuntu1~16.04) 7.5.0
git:	git version 2.7.4
cmake:	cmake version 3.20.5 CMake suite maintained and supported by Kitware (kitware.com/cmake).
boost:	Version: 1.58.0.1ubuntu1
eigen3:	Version: 3.3~beta1-2
doxygen:	Version: 1.8.11-1ubuntu0.1

[pomerlef]

and do you have a minimum code example that trigger this segfault? I don't understand why you have a long list of buildNew(SamplingSurfaceNormalDataPointsFilter [...] in the backtrace.