Segmentation fault when running testKimeraVIO

[ruffsl]

Description:

Attempting to run testKimeraVIO will result in a segmentation fault.
This can be reproduced using the provided branch and Dockerfile

git clone https://github.com/ruffsl/Kimera-VIO.git -b focal
cd Kimera-VIO

export DOCKER_BUILDKIT=1
docker build \
  --tag spark/kimera_vio:focal \
  --progress=plain \
  --file focal.Dockerfile  .

Note the .repos files use for the workspace underlays:

https://github.com/ruffsl/Kimera-VIO/tree/focal/install

Command:

docker run -it --rm  spark/kimera_vio:focal bash
ln -s ../src/MIT-SPARK/Kimera-VIO/tests/ build/tests
cd build/kimera_vio/
./testKimeraVIO --gtest_output="xml:testresults.xml"

Console output:

[==========] Running 187 tests from 40 test suites.
[----------] Global test environment set-up.
[----------] 16 tests from VioPipelineFixture
[ RUN      ] VioPipelineFixture.OnlineSequentialStart
Segmentation fault (core dumped)

Additional files:

Same effect, but build with debug instead:

Details

[==========] Running 187 tests from 40 test suites.
[----------] Global test environment set-up.
[----------] 16 tests from VioPipelineFixture
[ RUN      ] VioPipelineFixture.OnlineSequentialStart
I0513 14:57:43.480235    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.480299    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.495240    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.496774    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.496795    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.496800    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.496816    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.496822    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.496830    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.496897    47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.496984    47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.497002    47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.497009    47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.497014    47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.497020    47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.497026    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.497315    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.497490    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.498016    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.498059    47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.498080    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.499624    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.499727    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.499740    47 Pipeline.h:184] Spinning Kimera-VIO.
I0513 14:57:43.499799    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.499809    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.499814    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.499821    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.499828    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.499840    47 MesherModule.cpp:65] Shutting down queues for: Mesher
I0513 14:57:43.499846    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.499886    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.499923    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.500255    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.500270    47 DataProviderInterface.cpp:31] Data provider destructor called.
[       OK ] VioPipelineFixture.OnlineSequentialStart (25 ms)
[ RUN      ] VioPipelineFixture.OnlineSequentialShutdown
I0513 14:57:43.501441    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.501454    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.502830    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.502936    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.502952    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.502957    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.502961    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.502964    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.502970    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.502982    47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.502991    47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.503001    47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.503010    47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.503016    47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.503026    47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.503032    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.503094    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.503129    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.503425    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.503439    47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.503446    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.504812    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.504917    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.505040    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.505049    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.505054    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.505067    47 MesherModule.cpp:65] Shutting down queues for: Mesher
I0513 14:57:43.505074    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.505080    47 Pipeline.h:184] Spinning Kimera-VIO.
I0513 14:57:43.505089    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.505095    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.505100    47 Pipeline.cpp:283] Manual shutdown was requested.
I0513 14:57:43.505131    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.505167    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.505477    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.505491    47 DataProviderInterface.cpp:31] Data provider destructor called.
[       OK ] VioPipelineFixture.OnlineSequentialShutdown (5 ms)
[ RUN      ] VioPipelineFixture.OnlineSequentialSpinOnce
I0513 14:57:43.506578    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.506589    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.507920    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.508038    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.508054    47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.508059    47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.508064    47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.508069    47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.508074    47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.508085    47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.508093    47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.508105    47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.508112    47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.508121    47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.508131    47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.508141    47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.508183    47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.508221    47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.508517    47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.508532    47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.508538    47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.509769    47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.509874    47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.509889    47 EurocDataProvider.cpp:97] Parsing Euroc dataset...
Segmentation fault (core dumped)

Please give also the following information:

• SparkVio version used: ?
• GTSAM version used: https://github.com/borglab/gtsam/tree/develop
• OpenGV version used: https://github.com/ruffsl/opengv/tree/patch-1
  • Same as upstream master branch; fork only fixes the package.xml
• OpenCV version used: 4.2.0
• Operating system: Ubuntu 20.04
• Source code changes:
  • Correct rosdistro keys #32
  • Fix cmake issues with external libraries #74
  • Update from dpericated opencv API #61

[ruffsl]

Stack trace via gdb:

Details

I0513 16:42:32.140525  1740 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 16:42:32.140625  1740 testPipeline.cpp:67] Connecting pipeline.
I0513 16:42:32.140637  1740 EurocDataProvider.cpp:97] Parsing Euroc dataset...

Thread 1 "testKimeraVIO" received signal SIGSEGV, Segmentation fault.
0x00007fdb34ae272d in cv::FileNode::ptr() () from /lib/x86_64-linux-gnu/libopencv_core.so.4.2
(gdb) where
#0  0x00007fdb34ae272d in cv::FileNode::ptr() () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#1  0x00007fdb34ae281d in cv::FileNode::type() const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#2  0x00007fdb34ae288d in cv::FileNode::isMap() const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#3  0x00007fdb34aebd15 in cv::FileNode::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#4  0x00007fdb34aebf39 in cv::FileStorage::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#5  0x00007fdb34aebfe7 in cv::FileStorage::operator[](char const*) const () at /lib/x86_64-linux-gnu/libopencv_core.so.4.2
#6  0x00007fdb35ff5e2c in VIO::EurocDataProvider::parseGtData(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (this=0x56106f08abf0, input_dataset_path="../tests/data/MicroEurocDataset", gtSensorName="state_groundtruth_estimate0")
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:293
#7  0x00007fdb35ff78a9 in VIO::EurocDataProvider::parseDataset() (this=0x56106f08abf0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:429
#8  0x00007fdb35ff4f24 in VIO::EurocDataProvider::parse() (this=0x56106f08abf0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:180
#9  0x00007fdb35ff40cc in VIO::EurocDataProvider::spin() (this=0x56106f08abf0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:98
#10 0x000056106dcac401 in VIO::VioPipelineFixture_OnlineSequentialSpinOnce_Test::TestBody() (this=0x56106f07f6b0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testPipeline.cpp:157
#11 0x000056106df11501 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*)
    (object=0x56106f07f6b0, method=&virtual testing::Test::TestBody(), location=0x56106dfe7773 "the test body") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#12 0x000056106df0aa37 in testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*)
    (object=0x56106f07f6b0, method=&virtual testing::Test::TestBody(), location=0x56106dfe7773 "the test body") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#13 0x000056106dee6734 in testing::Test::Run() (this=0x56106f07f6b0) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2508
#14 0x000056106dee711f in testing::TestInfo::Run() (this=0x56106f064070) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2684
#15 0x000056106dee785a in testing::TestSuite::Run() (this=0x56106f00ee50) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2816
#16 0x000056106def3916 in testing::internal::UnitTestImpl::RunAllTests() (this=0x56106f059340) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:5338
#17 0x000056106df1288c in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*)
    (object=0x56106f059340, method=(bool (testing::internal::UnitTestImpl::*)(testing::internal::UnitTestImpl * const)) 0x56106def350e <testing::internal::UnitTestImpl::RunAllTests()>, location=0x56106dfe81b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#18 0x000056106df0bb0d in testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (object=0x56106f059340, method=(bool (testing::internal::UnitTestImpl::*)(testing::internal::UnitTestImpl * const)) 0x56106def350e <testing::internal::UnitTestImpl::RunAllTests()>, location=0x56106dfe81b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#19 0x000056106def2156 in testing::UnitTest::Run() (this=0x56106e108fa0 <testing::UnitTest::GetInstance()::instance>) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:4925
#20 0x000056106dcab9bb in RUN_ALL_TESTS() () at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/include/gtest/gtest.h:2473
#21 0x000056106dcab70f in main(int, char**) (argc=1, argv=0x7ffec80aaf38) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testKimeraVIO.cpp:16
(gdb) list
1	#include <gflags/gflags.h>
2	#include <glog/logging.h>
3	#include <gtest/gtest.h>
4	
5	DEFINE_string(test_data_path, "../tests/data", "Path to data for unit tests.");
6	
7	int main(int argc, char **argv) {
8	  // Initialize Google's testing library.
9	  ::testing::InitGoogleTest(&argc, argv);
10	  // Initialize Google's flags library.
(gdb) frame 6
#6  0x00007f28be42ae2c in VIO::EurocDataProvider::parseGtData (this=0x5617c32a1af0, input_dataset_path="../tests/data/MicroEurocDataset", gtSensorName="state_groundtruth_estimate0")
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:293
293	  CHECK_EQ(static_cast<int>(fs["T_BS"]["rows"]), 4u);
(gdb) list
288	    return false;
289	  }
290	
291	  // Rows and cols are redundant info, since the pose 4x4, but we parse just
292	  // to check we are all on the same page.
293	  CHECK_EQ(static_cast<int>(fs["T_BS"]["rows"]), 4u);
294	  CHECK_EQ(static_cast<int>(fs["T_BS"]["cols"]), 4u);
295	  std::vector<double> vector_pose;
296	  fs["T_BS"]["data"] >> vector_pose;
297	  gt_data_.body_Pose_cam_ = UtilsOpenCV::poseVectorToGtsamPose3(vector_pose);

[ruffsl]

Ok, seems something may have changed with cv::FileStorage deserializing to vectors, so I fixed EurocDataProvider::parseGtData to use YamlParser like elseware in ImuParams::parseYAML.

ruffsl@f20d50a

Looks like we get a bit further, but still fails when checking we do not have repeated lmk ids:

Details

...
[       OK ] VioPipelineFixture.OnlineSequentialSpinOnce (623 ms)
[ RUN      ] VioPipelineFixture.OnlineSequentialSpin
I0514 01:36:46.101933    41 testPipeline.cpp:121] Destroying pipeline.
I0514 01:36:46.101943    41 testPipeline.cpp:40] Building pipeline.
I0514 01:36:46.103184    41 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0514 01:36:46.103291    41 testPipeline.cpp:67] Connecting pipeline.
I0514 01:36:46.103302    41 testPipeline.cpp:121] Destroying pipeline.
I0514 01:36:46.103312    41 Pipeline.cpp:278] Pipeline destructor called.
I0514 01:36:46.103317    41 Pipeline.cpp:493] Shutting down VIO pipeline.
I0514 01:36:46.103320    41 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0514 01:36:46.103324    41 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0514 01:36:46.103332    41 MesherModule.cpp:65] Shutting down queues for: Mesher
W0514 01:36:46.103340    41 Pipeline.cpp:884] No backend thread, not joining.
W0514 01:36:46.103348    41 Pipeline.cpp:884] No frontend thread, not joining.
W0514 01:36:46.103354    41 Pipeline.cpp:884] No mesher thread, not joining.
W0514 01:36:46.103359    41 Pipeline.cpp:884] No lcd thread, not joining.
W0514 01:36:46.103365    41 Pipeline.cpp:884] No visualizer thread, not joining.
I0514 01:36:46.103370    41 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0514 01:36:46.103399    41 VioBackEnd.h:87] Backend destructor called.
I0514 01:36:46.103426    41 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0514 01:36:46.103451    41 EurocDataProvider.cpp:95] ETHDatasetParser destructor called.
I0514 01:36:46.103458    41 DataProviderInterface.cpp:31] Data provider destructor called.
I0514 01:36:46.103463    41 testPipeline.cpp:40] Building pipeline.
I0514 01:36:46.104708    41 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0514 01:36:46.104789    41 testPipeline.cpp:67] Connecting pipeline.
I0514 01:36:46.104799    41 EurocDataProvider.cpp:104] Parsing Euroc dataset...
I0514 01:36:46.703676    41 Pipeline.h:184] Spinning Kimera-VIO.
I0514 01:36:46.708084    41 Pipeline.h:184] Spinning Kimera-VIO.
I0514 01:36:46.713817    41 Pipeline.cpp:788] Frontend running in sequential mode (parallel_run set to 0).
I0514 01:36:46.713850    41 Pipeline.cpp:580] ------------------- Initialize Pipeline with frame k = 11--------------------
I0514 01:36:46.802433    41 Pipeline.h:184] Spinning Kimera-VIO.
W0514 01:36:46.817224    41 PipelineModule.h:398] Module: VioBackEnd - Input queue: backend_input_queue didn't return an output.
I0514 01:36:46.821652    41 Pipeline.h:184] Spinning Kimera-VIO.
W0514 01:36:46.835650    41 PipelineModule.h:398] Module: VioBackEnd - Input queue: backend_input_queue didn't return an output.
I0514 01:36:46.840306    41 Pipeline.h:184] Spinning Kimera-VIO.
W0514 01:36:46.850548    41 PipelineModule.h:398] Module: VioBackEnd - Input queue: backend_input_queue didn't return an output.
I0514 01:36:46.855231    41 Pipeline.h:184] Spinning Kimera-VIO.
F0514 01:36:46.967811    41 VioBackEnd.cpp:692] Check failed: std::find(landmarks_kf->begin(), landmarks_kf->end(), lmk_id_in_kf_i) == landmarks_kf->end() 
*** Check failure stack trace: ***
    @     0x7f2b34f921c3  google::LogMessage::Fail()
    @     0x7f2b34f9725b  google::LogMessage::SendToLog()
    @     0x7f2b34f91ebf  google::LogMessage::Flush()
    @     0x7f2b34f926ef  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f2b367d414d  VIO::VioBackEnd::addStereoMeasurementsToFeatureTracks()
    @     0x7f2b36936ed2  VIO::RegularVioBackEnd::addVisualInertialStateAndOptimize()
    @     0x7f2b367d109b  VIO::VioBackEnd::addVisualInertialStateAndOptimize()
    @     0x7f2b367cf933  VIO::VioBackEnd::spinOnce()
    @     0x7f2b367ca0af  VIO::VioBackEndModule::spinOnce()
    @     0x7f2b367cbe12  VIO::PipelineModule<>::spin()
    @     0x7f2b36a2a104  VIO::Pipeline::spinSequential()
    @     0x7f2b36a29dc8  VIO::Pipeline::spinOnce()
    @     0x7f2b36a4eb95  std::__invoke_impl<>()
    @     0x7f2b36a4bd8a  std::__invoke<>()
    @     0x7f2b36a48b44  _ZNSt5_BindIFMN3VIO8PipelineEFvSt10unique_ptrINS0_19StereoImuSyncPacketESt14default_deleteIS3_EEEPS1_St12_PlaceholderILi1EEEE6__callIvJOS6_EJLm0ELm1EEEET_OSt5tupleIJDpT0_EESt12_Index_tupleIJXspT1_EEE
    @     0x7f2b36a444d6  std::_Bind<>::operator()<>()
    @     0x7f2b36a3f776  std::_Function_handler<>::_M_invoke()
    @     0x7f2b366fe2d9  std::function<>::operator()()
    @     0x7f2b366fa05f  VIO::DataProviderModule::getInputPacket()
    @     0x7f2b3670717f  VIO::PipelineModule<>::spin()
    @     0x55ba9ad7bcaa  VIO::Pipeline::spin()
    @     0x55ba9ad72841  VIO::VioPipelineFixture_OnlineSequentialSpin_Test::TestBody()
    @     0x55ba9afd7501  testing::internal::HandleSehExceptionsInMethodIfSupported<>()
    @     0x55ba9afd0a37  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @     0x55ba9afac734  testing::Test::Run()
    @     0x55ba9afad11f  testing::TestInfo::Run()
    @     0x55ba9afad85a  testing::TestSuite::Run()
    @     0x55ba9afb9916  testing::internal::UnitTestImpl::RunAllTests()
    @     0x55ba9afd888c  testing::internal::HandleSehExceptionsInMethodIfSupported<>()
    @     0x55ba9afd1b0d  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @     0x55ba9afb8156  testing::UnitTest::Run()
    @     0x55ba9ad719bb  RUN_ALL_TESTS()

Thread 1 "testKimeraVIO" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50	../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) where
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1  0x00007f2b3446c859 in __GI_abort () at abort.c:79
#2  0x00007f2b34f8f90e in ?? () from /lib/x86_64-linux-gnu/libglog.so.0
#3  0x00007f2b34f921c3 in google::LogMessage::Fail() () from /lib/x86_64-linux-gnu/libglog.so.0
#4  0x00007f2b34f9725b in google::LogMessage::SendToLog() () from /lib/x86_64-linux-gnu/libglog.so.0
#5  0x00007f2b34f91ebf in google::LogMessage::Flush() () from /lib/x86_64-linux-gnu/libglog.so.0
#6  0x00007f2b34f926ef in google::LogMessageFatal::~LogMessageFatal() () from /lib/x86_64-linux-gnu/libglog.so.0
#7  0x00007f2b367d414d in VIO::VioBackEnd::addStereoMeasurementsToFeatureTracks (this=0x55ba9ca2af80, frame_num=@0x55ba9ca2b4c4: 1, stereo_meas_kf=std::vector of length 525, capacity 525 = {...}, 
    landmarks_kf=0x7ffedeca8e40) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:692
#8  0x00007f2b36936ed2 in VIO::RegularVioBackEnd::addVisualInertialStateAndOptimize (this=0x55ba9ca2af80, timestamp_kf_nsec=@0x55ba9c024648: 1403715274012143104, status_smart_stereo_measurements_kf={...}, 
    pim=..., stereo_ransac_body_pose=...) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:197
#9  0x00007f2b367d109b in VIO::VioBackEnd::addVisualInertialStateAndOptimize (this=0x55ba9ca2af80, input=...) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:353
#10 0x00007f2b367cf933 in VIO::VioBackEnd::spinOnce (this=0x55ba9ca2af80, input=...) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:141
#11 0x00007f2b367ca0af in VIO::VioBackEndModule::spinOnce (this=0x55ba9ca339e0, input=std::unique_ptr<struct VIO::BackendInput> = {...})
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEndModule.cpp:32
#12 0x00007f2b367cbe12 in VIO::PipelineModule<VIO::BackendInput, VIO::BackendOutput>::spin (this=0x55ba9ca339e0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/include/kimera-vio/pipeline/PipelineModule.h:204
#13 0x00007f2b36a2a104 in VIO::Pipeline::spinSequential (this=0x55ba9c02dd00) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/pipeline/Pipeline.cpp:357
#14 0x00007f2b36a29dc8 in VIO::Pipeline::spinOnce (this=0x55ba9c02dd00, stereo_imu_sync_packet=std::unique_ptr<class VIO::StereoImuSyncPacket> = {...})
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/pipeline/Pipeline.cpp:329
#15 0x00007f2b36a4eb95 in std::__invoke_impl<void, void (VIO::Pipeline::*&)(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >), VIO::Pipeline*&, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> > > (__f=
    @0x55ba9c024fc0: (void (VIO::Pipeline::*)(class VIO::Pipeline * const, class std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)) 0x7f2b36a298fa <VIO::Pipeline::spinOnce(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>, __t=@0x55ba9c024fd0: 0x55ba9c02dd00) at /usr/include/c++/9/bits/invoke.h:73
#16 0x00007f2b36a4bd8a in std::__invoke<void (VIO::Pipeline::*&)(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >), VIO::Pipeline*&, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> > > (__fn=
    @0x55ba9c024fc0: (void (VIO::Pipeline::*)(class VIO::Pipeline * const, class std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)) 0x7f2b36a298fa <VIO::Pipeline::spinOnce(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>) at /usr/include/c++/9/bits/invoke.h:95
#17 0x00007f2b36a48b44 in std::_Bind<void (VIO::Pipeline::*(VIO::Pipeline*, std::_Placeholder<1>))(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>::__call<void, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&, 0ul, 1ul>(std::tuple<std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&>&&, std::_Index_tuple<0ul, 1ul>) (this=0x55ba9c024fc0, __args=...) at /usr/include/c++/9/functional:400
#18 0x00007f2b36a444d6 in std::_Bind<void (VIO::Pipeline::*(VIO::Pipeline*, std::_Placeholder<1>))(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>::operator()<std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >, void>(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&) (this=0x55ba9c024fc0)
    at /usr/include/c++/9/functional:484
#19 0x00007f2b36a3f776 in std::_Function_handler<void (std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >), std::_Bind<void (VIO::Pipeline::*(VIO::Pipeline*, std::_Placeholder<1>))(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)> >::_M_invoke(std::_Any_data const&, std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >&&) (__functor=..., __args#0=...) at /usr/include/c++/9/bits/std_function.h:300
#20 0x00007f2b366fe2d9 in std::function<void (std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >)>::operator()(std::unique_ptr<VIO::StereoImuSyncPacket, std::default_delete<VIO::StereoImuSyncPacket> >) const (this=0x55ba9c026c70, __args#0=std::unique_ptr<class VIO::StereoImuSyncPacket> = {...}) at /usr/include/c++/9/bits/std_function.h:688
#21 0x00007f2b366fa05f in VIO::DataProviderModule::getInputPacket (this=0x55ba9c0268e0) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/dataprovider/DataProviderModule.cpp:155
#22 0x00007f2b3670717f in VIO::PipelineModule<VIO::StereoImuSyncPacket, VIO::StereoImuSyncPacket>::spin (this=0x55ba9c0268e0)
    at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/include/kimera-vio/pipeline/PipelineModule.h:198
#23 0x000055ba9ad7bcaa in VIO::Pipeline::spin (this=0x55ba9c02dd00) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/include/kimera-vio/pipeline/Pipeline.h:185
#24 0x000055ba9ad72841 in VIO::VioPipelineFixture_OnlineSequentialSpin_Test::TestBody (this=0x55ba9c01e630) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testPipeline.cpp:169
#25 0x000055ba9afd7501 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void> (object=0x55ba9c01e630, method=&virtual testing::Test::TestBody(), 
    location=0x55ba9b0ad773 "the test body") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#26 0x000055ba9afd0a37 in testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=0x55ba9c01e630, method=&virtual testing::Test::TestBody(), location=0x55ba9b0ad773 "the test body")
    at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#27 0x000055ba9afac734 in testing::Test::Run (this=0x55ba9c01e630) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2508
#28 0x000055ba9afad11f in testing::TestInfo::Run (this=0x55ba9c0031b0) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2684
#29 0x000055ba9afad85a in testing::TestSuite::Run (this=0x55ba9bfade40) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2816
#30 0x000055ba9afb9916 in testing::internal::UnitTestImpl::RunAllTests (this=0x55ba9bff8330) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:5338
#31 0x000055ba9afd888c in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x55ba9bff8330, 
    method=(bool (testing::internal::UnitTestImpl::*)(class testing::internal::UnitTestImpl * const)) 0x55ba9afb950e <testing::internal::UnitTestImpl::RunAllTests()>, 
    location=0x55ba9b0ae1b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2433
#32 0x000055ba9afd1b0d in testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x55ba9bff8330, 
    method=(bool (testing::internal::UnitTestImpl::*)(class testing::internal::UnitTestImpl * const)) 0x55ba9afb950e <testing::internal::UnitTestImpl::RunAllTests()>, 
    location=0x55ba9b0ae1b0 "auxiliary test code (environments or event listeners)") at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:2469
#33 0x000055ba9afb8156 in testing::UnitTest::Run (this=0x55ba9b1cefa0 <testing::UnitTest::GetInstance()::instance>) at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/src/gtest.cc:4925
#34 0x000055ba9ad719bb in RUN_ALL_TESTS () at /opt/kimera_ws/build/kimera_vio/external/googletest-src/googletest/include/gtest/gtest.h:2473
#35 0x000055ba9ad7170f in main (argc=1, argv=0x7ffedecaa9b8) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/tests/testKimeraVIO.cpp:16
(gdb) frame 7
#7  0x00007f2b367d414d in VIO::VioBackEnd::addStereoMeasurementsToFeatureTracks (this=0x55ba9ca2af80, frame_num=@0x55ba9ca2b4c4: 1, stereo_meas_kf=std::vector of length 525, capacity 525 = {...}, 
    landmarks_kf=0x7ffedeca8e40) at /opt/kimera_ws/src/MIT-SPARK/Kimera-VIO/src/backend/VioBackEnd.cpp:692
692	    DCHECK(std::find(landmarks_kf->begin(),
(gdb) list
687	
688	    // Thinner structure that only keeps landmarkIds.
689	    // These landmark ids are only the ones visible in current keyframe,
690	    // with a valid track...
691	    // CHECK that we do not have repeated lmk ids!
692	    DCHECK(std::find(landmarks_kf->begin(),
693	                     landmarks_kf->end(),
694	                     lmk_id_in_kf_i) == landmarks_kf->end());
695	    (*landmarks_kf)[i] = lmk_id_in_kf_i;

Kimera-VIO/src/backend/VioBackEnd.cpp

Lines 688 to 695 in 5f30001

	// Thinner structure that only keeps landmarkIds.
	// These landmark ids are only the ones visible in current keyframe,
	// with a valid track...
	// CHECK that we do not have repeated lmk ids!
	DCHECK(std::find(landmarks_kf->begin(),
	landmarks_kf->end(),
	lmk_id_in_kf_i) == landmarks_kf->end());
	(*landmarks_kf)[i] = lmk_id_in_kf_i;