私たちは、 OpenCV 2.4 を使用するmrpt-1.9を直接使用するフレームワークを開発しています。テストが存在する場合 (クリーンアップ中など) にセグメンテーション違反を起こし、OpenCV エラーが発生する単体テストを作成していました。cv::String::deallocate()
私が試したこと：
valgrind での実行
==26159== Conditional jump or move depends on uninitialised value(s)
==26159== at 0x7DB7F5: cv::String::deallocate() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0xAF9FB0: cv::BmpEncoder::~BmpEncoder() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0xAF9FF8: cv::BmpEncoder::~BmpEncoder() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0x935AF65: cv::ImageCodecInitializer::~ImageCodecInitializer() (in /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.9)
==26159== by 0x807A369: __cxa_finalize (cxa_finalize.c:56)
==26159== by 0x9355B52: ??? (in /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.9)
==26159== by 0x4010DE6: _dl_fini (dl-fini.c:235)
==26159== by 0x8079FF7: __run_exit_handlers (exit.c:82)
==26159== by 0x807A044: exit (exit.c:104)
==26159== by 0x8060836: (below main) (libc-start.c:325)
==26159==
==26159== Invalid read of size 4
==26159== at 0x7DB7FB: cv::String::deallocate() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0xAF9FB9: cv::BmpEncoder::~BmpEncoder() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0xAF9FF8: cv::BmpEncoder::~BmpEncoder() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0x935AF65: cv::ImageCodecInitializer::~ImageCodecInitializer() (in /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.9)
==26159== by 0x807A369: __cxa_finalize (cxa_finalize.c:56)
==26159== by 0x9355B52: ??? (in /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.9)
==26159== by 0x4010DE6: _dl_fini (dl-fini.c:235)
==26159== by 0x8079FF7: __run_exit_handlers (exit.c:82)
==26159== by 0x807A044: exit (exit.c:104)
==26159== by 0x8060836: (below main) (libc-start.c:325)
==26159== Address 0x1a is not stack'd, malloc'd or (recently) free'd
==26159==
==26159==
==26159== Process terminating with default action of signal 11 (SIGSEGV)
==26159== Access not within mapped region at address 0x1A
==26159== at 0x7DB7FB: cv::String::deallocate() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0xAF9FB9: cv::BmpEncoder::~BmpEncoder() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0xAF9FF8: cv::BmpEncoder::~BmpEncoder() (in /home/alex/codez/robot_platform/build/test_slam)
==26159== by 0x935AF65: cv::ImageCodecInitializer::~ImageCodecInitializer() (in /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.9)
==26159== by 0x807A369: __cxa_finalize (cxa_finalize.c:56)
==26159== by 0x9355B52: ??? (in /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.9)
==26159== by 0x4010DE6: _dl_fini (dl-fini.c:235)
==26159== by 0x8079FF7: __run_exit_handlers (exit.c:82)
==26159== by 0x807A044: exit (exit.c:104)
==26159== by 0x8060836: (below main) (libc-start.c:325)
==26159== If you believe this happened as a result of a stack
==26159== overflow in your program's main thread (unlikely but
==26159== possible), you can try to increase the size of the
==26159== main thread stack using the --main-stacksize= flag.
==26159== The main thread stack size used in this run was 8388608.
==26159==
==26159== HEAP SUMMARY:
==26159== in use at exit: 286,067 bytes in 1,147 blocks
==26159== total heap usage: 7,469 allocs, 6,322 frees, 1,912,969 bytes allocated
==26159==
==26159== LEAK SUMMARY:
==26159== definitely lost: 0 bytes in 0 blocks
==26159== indirectly lost: 0 bytes in 0 blocks
==26159== possibly lost: 2,299 bytes in 27 blocks
==26159== still reachable: 283,768 bytes in 1,120 blocks
==26159== of which reachable via heuristic:
==26159== newarray : 1,536 bytes in 16 blocks
==26159== suppressed: 0 bytes in 0 blocks
==26159== Rerun with --leak-check=full to see details of leaked memory
==26159==
==26159== For counts of detected and suppressed errors, rerun with: -v
==26159== Use --track-origins=yes to see where uninitialised values come from
==26159== ERROR SUMMARY: 2 errors from 2 contexts (suppressed: 0 from 0)
私の知る限り、これは MRPT 関数を間違って呼び出しているか、MRPT 自体のバグである可能性があります。
gdbで実行します：
私は gdb でデバッグしようとしていますが、バックトレースを取得することしかできませんが、コードのどの部分が原因であるかはわかりません。メイン出口の後に発生するように見えるので、本当に混乱します。さらに悪いことに、私たちが構築した (実際には何もしていない) クラスには MRPT クラスやオブジェクトが含まれていないため、これはフレームワークではなく MRPT ライブラリにあると推測しています。
Thread 1 "debug" received signal SIGSEGV, Segmentation fault.
0x00000000005b569b in cv::String::deallocate() ()
(gdb) bt
#0 0x00000000005b569b in cv::String::deallocate() ()
#1 0x000000000089969a in cv::BmpEncoder::~BmpEncoder() ()
#2 0x00000000008996d9 in cv::BmpEncoder::~BmpEncoder() [clone .localalias.25] ()
#3 0x00007ffff36a4f66 in cv::ImageCodecInitializer::~ImageCodecInitializer() () from /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4
#4 0x00007ffff484136a in __cxa_finalize (d=0x7ffff38d1000) at cxa_finalize.c:56
#5 0x00007ffff369fb53 in ?? () from /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4
#6 0x00007fffffffd8b0 in ?? ()
#7 0x00007ffff7de7de7 in _dl_fini () at dl-fini.c:235
Backtrace stopped: frame did not save the PC
にブレークポイントを設定しましたbreak cv::ImageCodecInitializer::~ImageCodecInitializer
そして、私は次のようになりました：
Thread 1 "debug" hit Breakpoint 3, 0x0000000000888ad0 in cv::ImageCodecInitializer::~ImageCodecInitializer() ()
(gdb) bt
#0 0x0000000000888ad0 in cv::ImageCodecInitializer::~ImageCodecInitializer() ()
#1 0x00007ffff4840ff8 in __run_exit_handlers (status=0, listp=0x7ffff4bcb5f8 <__exit_funcs>, run_list_atexit=run_list_atexit@entry=true) at exit.c:82
#2 0x00007ffff4841045 in __GI_exit (status=<optimised out>) at exit.c:104
#3 0x00007ffff4827837 in __libc_start_main (main=0x5a4536 <main()>, argc=1, argv=0x7fffffffd9d8, init=<optimised out>, fini=<optimised out>, rtld_fini=<optimised out>, stack_end=0x7fffffffd9c8) at ../csu/libc-start.c:325
#4 0x00000000005a4469 in _start ()
opencv-2.4 デバッグを検索
アプリはデバッグ シンボルを使用してビルドされていますが、システムにはデバッグ シンボルを使用した opencv-2.4 がないように見えるため、最適化されていないという警告が引き続き表示されます。
libopencv-apps-dev - opencv_apps Robot OS package - development files
libopencv-apps0d - opencv_apps Robot OS package - runtime files
libopencv-calib3d2.4v5 - computer vision Camera Calibration library
libopencv-contrib-dev - development files for libopencv-contrib
libopencv-contrib2.4v5 - computer vision contrib library
libopencv-core2.4v5 - computer vision core library
libopencv-dev - development files for opencv
libopencv-features2d2.4v5 - computer vision Feature Detection and Descriptor Extraction library
libopencv-flann2.4v5 - computer vision Clustering and Search in Multi-Dimensional spaces library
libopencv-gpu-dev - development files for libopencv-gpu2.4v5
libopencv-gpu2.4v5 - computer vision GPU library
libopencv-highgui2.4v5 - computer vision High-level GUI and Media I/O library
libopencv-imgproc2.4v5 - computer vision Image Processing library
libopencv-legacy-dev - development files for libopencv-legacy
libopencv-legacy2.4v5 - computer vision legacy library
libopencv-ml2.4v5 - computer vision Machine Learning library
libopencv-objdetect2.4v5 - computer vision Object Detection library
libopencv-ocl-dev - development files for libopencv-ocl2.4v5
libopencv-ocl2.4v5 - computer vision OpenCL support library
libopencv-photo2.4v5 - computer vision computational photography library
libopencv-stitching2.4v5 - computer vision image stitching library
libopencv-superres2.4v5 - computer vision Super Resolution library
libopencv-ts2.4v5 - computer vision ts library
libopencv-video2.4v5 - computer vision Video analysis library
libopencv-videostab2.4v5 - computer vision video stabilization library
libopencv2.4-java - Java bindings for the computer vision library
libopencv2.4-jni - Java jni library for the computer vision library
問題のある関数の実際のポイントを検索しました
問題を特定するために作成した縮小されたデバッグ実行可能ファイルを調べてから、実際の関数を検索してみました。
nm -Ca debug | grep "ImageCodecInitializer"
0000000000889290 W cv::ImageCodecInitializer::ImageCodecInitializer()
0000000000889290 W cv::ImageCodecInitializer::ImageCodecInitializer()
0000000000888ad0 W cv::ImageCodecInitializer::~ImageCodecInitializer()
0000000000888ad0 W cv::ImageCodecInitializer::~ImageCodecInitializer()
次に、これらのアドレスについて GDB が何を言おうとしているのかを見つけようとしました。
(gdb) info line *0x0000000000889290
No line number information available for address 0x889290 <_ZN2cv21ImageCodecInitializerC2Ev>
しかし、私はそこからどこにも行けないので、GDB で検索して、これを構築した人を見つけました。
#0 0x00007ffff36a6240 in cv::ImageCodecInitializer::ImageCodecInitializer() () from /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4
#1 0x00007ffff369f8f6 in ?? () from /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4
#2 0x00007ffff7de76ba in call_init (l=<optimised out>, argc=argc@entry=1, argv=argv@entry=0x7fffffffd9d8, env=env@entry=0x7fffffffd9e8) at dl-init.c:72
#3 0x00007ffff7de77cb in call_init (env=0x7fffffffd9e8, argv=0x7fffffffd9d8, argc=1, l=<optimised out>) at dl-init.c:30
#4 _dl_init (main_map=0x7ffff7ffe168, argc=1, argv=0x7fffffffd9d8, env=0x7fffffffd9e8) at dl-init.c:120
#5 0x00007ffff7dd7c6a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#6 0x0000000000000001 in ?? ()
#7 0x00007fffffffdda0 in ?? ()
#8 0x0000000000000000 in ?? ()
再度最適化します。
問題のある関数を使用するライブラリを検索しました
関数が入ってlibopencv_highgui.so.2.4いるので、MRPT ライブラリの 1 つがそれを使用していると推測しているので、どの MRPT ライブラリに対してリンクしているか、どの MRPT ライブラリがそれを使用しているかを検索し、見つけました。
readelf -d debug
Dynamic section at offset 0x2b49bb0 contains 41 entries:
Tag Type Name/Value
0x0000000000000001 (NEEDED) Shared library: [libboost_system.so.1.58.0]
0x0000000000000001 (NEEDED) Shared library: [libboost_filesystem.so.1.58.0]
0x0000000000000001 (NEEDED) Shared library: [libpthread.so.0]
0x0000000000000001 (NEEDED) Shared library: [libdl.so.2]
0x0000000000000001 (NEEDED) Shared library: [librt.so.1]
0x0000000000000001 (NEEDED) Shared library: [libmrpt-base.so.1.9]
0x0000000000000001 (NEEDED) Shared library: [libstdc++.so.6]
0x0000000000000001 (NEEDED) Shared library: [libjpeg.so.8]
0x0000000000000001 (NEEDED) Shared library: [libpng12.so.0]
0x0000000000000001 (NEEDED) Shared library: [libtiff.so.5]
0x0000000000000001 (NEEDED) Shared library: [libjasper.so.1]
0x0000000000000001 (NEEDED) Shared library: [libz.so.1]
0x0000000000000001 (NEEDED) Shared library: [libIlmImf-2_2.so.22]
0x0000000000000001 (NEEDED) Shared library: [libHalf.so.12]
0x0000000000000001 (NEEDED) Shared library: [libm.so.6]
0x0000000000000001 (NEEDED) Shared library: [libgcc_s.so.1]
0x0000000000000001 (NEEDED) Shared library: [libc.so.6]
だから、私はそれを見つけました：
sudo ldconfig -p | grep "libmrpt-base.so.1.9"
libmrpt-base.so.1.9 (libc6,x86-64) => /usr/lib/x86_64-linux-gnu/libmrpt-base.so.1.9
その後：
readelf -d /usr/lib/x86_64-linux-gnu/libmrpt-base.so.1.9
Dynamic section at offset 0xa5aea8 contains 37 entries:
Tag Type Name/Value
0x0000000000000001 (NEEDED) Shared library: [librt.so.1]
0x0000000000000001 (NEEDED) Shared library: [libcxsparse.so.3.1.4]
0x0000000000000001 (NEEDED) Shared library: [libwx_baseu-3.0.so.0]
0x0000000000000001 (NEEDED) Shared library: [libwx_gtk2u_core-3.0.so.0]
0x0000000000000001 (NEEDED) Shared library: [libz.so.1]
0x0000000000000001 (NEEDED) Shared library: [libjpeg.so.8]
0x0000000000000001 (NEEDED) Shared library: [libopencv_highgui.so.2.4]
0x0000000000000001 (NEEDED) Shared library: [libopencv_imgproc.so.2.4]
0x0000000000000001 (NEEDED) Shared library: [libopencv_core.so.2.4]
0x0000000000000001 (NEEDED) Shared library: [libstdc++.so.6]
0x0000000000000001 (NEEDED) Shared library: [libm.so.6]
0x0000000000000001 (NEEDED) Shared library: [libgcc_s.so.1]
0x0000000000000001 (NEEDED) Shared library: [libpthread.so.0]
0x0000000000000001 (NEEDED) Shared library: [libc.so.6]
0x000000000000000e (SONAME) Library soname: [libmrpt-base.so.1.9]
私たちのプロジェクトでは、それに静的にリンクされたopencv-3.3を使用しているため、これが問題を引き起こしているライブラリであることはわかっています。残念ながら、私たちが使用しているリポジトリには、MRPT のデバッグ シンボルもありません。
libmrpt-base1.9 - Mobile Robot Programming Toolkit - base library
libmrpt-detectors1.9 - Mobile Robot Programming Toolkit - detectors library
libmrpt-graphs1.9 - Mobile Robot Programming Toolkit - graphs library
libmrpt-graphslam1.9 - Mobile Robot Programming Toolkit - graphslam library
libmrpt-gui1.9 - Mobile Robot Programming Toolkit - gui library
libmrpt-hmtslam1.9 - Mobile Robot Programming Toolkit - hmtslam library
libmrpt-hwdrivers1.9 - Mobile Robot Programming Toolkit - hwdrivers library
libmrpt-kinematics1.9 - Mobile Robot Programming Toolkit - kinematics library
libmrpt-maps1.9 - Mobile Robot Programming Toolkit - maps library
libmrpt-nav1.9 - Mobile Robot Programming Toolkit - nav library
libmrpt-obs1.9 - Mobile Robot Programming Toolkit - obs library
libmrpt-opengl1.9 - Mobile Robot Programming Toolkit - opengl library
libmrpt-slam1.9 - Mobile Robot Programming Toolkit - slam library
libmrpt-tfest1.9 - Mobile Robot Programming Toolkit - tfest library
libmrpt-topography1.9 - Mobile Robot Programming Toolkit - topography library
libmrpt-vision1.9 - Mobile Robot Programming Toolkit - vision library
libmrpt-comms1.9 - Mobile Robot Programming Toolkit - comms library
さらに悪いことに:
nm -C libmrpt-base.so
nm: libmrpt-base.so: no symbols
そして、これが旅の終わりです。
私のオプションは何ですか？
- 別のバージョンの mrpt を使用しますか?
- mrpt をデバッグ シンボルでコンパイルしますか?
- デバッグシンボルでopencv-2.4をコンパイルしますか?
ヘルプ、ヒント、またはヒントは大歓迎です。この質問がローカライズされすぎていたり、SO 標準に準拠していない場合は、コメントを残してください。更新します。