Crash after normal work. Exit code -11.

[leonks117]

svo_ros crashes after some time of normal work without any reasons, but more often after loosing key points:

[ WARN] [1418586423.032571586]: Not enough matched features.
[ WARN] [1418586423.154933626]: Relocalizing frame
[svo-1] process has died [pid 3367, exit code -11, cmd /home/lev/WORK/ros_package/svo/svo_cat/devel/lib/svo_ros/vo __name:=svo __log:=/home/lev/.ros/log/3e2184e8-83c9-11e4-a54c-74e5434b8949/svo-1.log].
log file: /home/lev/.ros/log/3e2184e8-83c9-11e4-a54c-74e5434b8949/svo-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

You can find the same problem when playing

rosbag airground_rig_s3.bag -l

and

roslaunch svo_ros test_rig3.launch 

and after 1-st loop SVO will die with exit code -11

I'm using lenovo laptop with Intel® Celeron(R) CPU B820 @ 1.70GHz × 2 and GeForce 610M/PCIe/SSE2. Ubuntu 14.04 with ROS Indigo. 64-bits

How can i solve this problem?

[GhisHD]

Hi Leonks117,
This is interesting, this issue seems to be similar with the issue #58.
In the issue 58 when no feature is find the system go in "Relocalizing" state, in this state if the system didn't find any "closest key frame" the process can crash.
Are you able to compile SVO in RelWithDebInfo, and launch the application with gdb to have the call stack ? (launch "gdb MyApp" run in gdb and get the call stack with "bt" or "where") to check if the 2 issue is similar. In #58 the crash append in the "getClosestKeyframe" method.
For the #58 issue I did this modification in the code to unblock the situation (new lines end with // NEW CODE):

In map.cpp
FramePtr Map::getClosestKeyframe(const FramePtr& frame) const
{
list< pair<FramePtr,double> > close_kfs;
getCloseKeyframes(frame, close_kfs);
if(close_kfs.empty()) // NEW CODE
{ // NEW CODE
return nullptr; // NEW CODE
} // NEW CODE

      // Sort KFs with overlap according to their closeness
      close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <
                     boost::bind(&std::pair<FramePtr, double>::second, _2));

      if(close_kfs.front().first != frame)
        return close_kfs.front().first;
      close_kfs.pop_front();
      if(close_kfs.empty() == true)    // NEW CODE
          return nullptr;              // NEW CODE
      return close_kfs.front().first;
    }

In frame_handler_mono.cpp
FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame(
const SE3& T_cur_ref,
FramePtr ref_keyframe)
{
SVO_WARN_STREAM_THROTTLE(1.0, "Relocalizing frame");
if(ref_keyframe == nullptr) // NEW CODE
{ // NEW CODE
SVO_INFO_STREAM("Relocalization successful."); // NEW CODE
return RESULT_FAILURE; // NEW CODE
} // NEW CODE
SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),
30, SparseImgAlign::LevenbergMarquardt, false, false);
size_t img_align_n_tracked = img_align.run(ref_keyframe, new_frame_);
if(img_align_n_tracked > 30)
{
........

[leonks117]

Hi! You was right about getClosestKeyframe, I have got the same result from gdb:

Program received signal SIGSEGV, Segmentation fault.
svo::Map::getClosestKeyframe (this=this@entry=0x8a08d0, frame=...) at /home/lev/WORK/ros_package/svo/svo_cat/src/rpg_svo/svo/src/map.cpp:150

And after modification code, this problem was solved. Thanks for the quick support!