I'm using the KdTree algorithms from FLANN. Here is the codes that went wrong:
template<typename T>
base_any_policy* get_policy()
{
static typename choose_policy<T>::type policy;
std::cout << "getting typeid..." << std::endl << typeid(policy).name() << "typeid() seemed ok" << std::endl;
return &policy;
}
the program simply crashes. Outputting only getting typeid....
That's only the code I've used for debug purpose. The original issue I encountered crashes at this line (FLANN version 1.9.1)
I'm using the PCL library (on macOS Mojave) to process some point cloud, which in turn uses FLANN. However, every time I create a kdtree and invoke setInputCloud(), the program crashes.
To debug, I modified this line of the source code to the snippet provided above.
It's difficult to reproduce this issue, since when I created a simple testing program, it won't crash. The crashes only happen in one of my large projects.
PS. --fno-rtti flag is not set, or the code above just won't compile.
backtrace:
1 flann::anyimpl::base_any_policy * flann::anyimpl::get_policy<flann::anyimpl::empty_any>() any.h 148 0x104e7252b
2 flann::any::any() any.h 172 0x104e724d9
3 flann::any::any() any.h 173 0x104e724b5
4 std::pair<std::string const, flann::any>::pair<std::string&&, 0ul>(std::piecewise_construct_t, std::tuple<std::string&&>&, std::tuple<>&, std::__tuple_indices<0ul>, std::__tuple_indices<>) tuple 1365 0x104e71ebf
5 std::pair<std::string const, flann::any>::pair<std::string&&, 0ul>(std::piecewise_construct_t, std::tuple<std::string&&>&, std::tuple<>&, std::__tuple_indices<0ul>, std::__tuple_indices<>) tuple 1366 0x104e71dce
6 std::pair<std::string const, flann::any>::pair<std::string&&>(std::piecewise_construct_t, std::tuple<std::string&&>, std::tuple<>) utility 487 0x104e71da4
7 void std::allocator<std::__tree_node<std::__value_type<std::basic_string<char, std::char_traits<char>, std::allocator<char>>, flann::any>, void *>>::construct<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char>> const, flann::any>, std::piecewise_construct_t const&, std::tuple<std::basic_string<char, std::char_traits<char>, std::allocator<char>>&&>, std::tuple<>>(std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char>> const, flann::any> *, std::piecewise_construct_t const&&&, std::tuple<std::basic_string<char, std::char_traits<char>, std::allocator<char>>&&>&&, std::tuple<>&&) memory 1805 0x104e71da4
8 void std::allocator_traits<std::allocator<std::__tree_node<std::__value_type<std::basic_string<char, std::char_traits<char>, std::allocator<char>>, flann::any>, void *>>>::__construct<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char>> const, flann::any>, std::piecewise_construct_t const&, std::tuple<std::basic_string<char, std::char_traits<char>, std::allocator<char>>&&>, std::tuple<>>(std::integral_constant<bool, true>, std::allocator<std::__tree_node<std::__value_type<std::basic_string<char, std::char_traits<char>, std::allocator<char>>, flann::any>, void *>>&, std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char>> const, flann::any> *, std::piecewise_construct_t const&&&, std::tuple<std::basic_string<char, std::char_traits<char>, std::allocator<char>>&&>&&, std::tuple<>&&) memory 1715 0x104e71d33
9 void std::allocator_traits<std::allocator<std::__tree_node<std::__value_type<std::basic_string<char, std::char_traits<char>, std::allocator<char>>, flann::any>, void *>>>::construct<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char>> const, flann::any>, std::piecewise_construct_t const&, std::tuple<std::basic_string<char, std::char_traits<char>, std::allocator<char>>&&>, std::tuple<>>(std::allocator<std::__tree_node<std::__value_type<std::basic_string<char, std::char_traits<char>, std::allocator<char>>, flann::any>, void *>>&, std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char>> const, flann::any> *, std::piecewise_construct_t const&&&, std::tuple<std::basic_string<char, std::char_traits<char>, std::allocator<char>>&&>&&, std::tuple<>&&) memory 1561 0x104e71ccf
10 std::unique_ptr<std::__tree_node<std::__value_type<std::string, flann::any>, void *>, std::__tree_node_destructor<std::allocator<std::__tree_node<std::__value_type<std::string, flann::any>, void *>>>> std::__tree<std::__value_type<std::string, flann::any>, std::__map_value_compare<std::string, std::__value_type<std::string, flann::any>, std::less<std::string>, true>, std::allocator<std::__value_type<std::string, flann::any>>>::__construct_node<std::piecewise_construct_t const&, std::tuple<std::string&&>, std::tuple<>>(std::piecewise_construct_t const&&&, std::tuple<std::string&&>&&, std::tuple<>&&) __tree 2192 0x104e71c6b
11 std::pair<std::__tree_iterator<std::__value_type<std::string, flann::any>, std::__tree_node<std::__value_type<std::string, flann::any>, void *> *, long>, bool> std::__tree<std::__value_type<std::string, flann::any>, std::__map_value_compare<std::string, std::__value_type<std::string, flann::any>, std::less<std::string>, true>, std::allocator<std::__value_type<std::string, flann::any>>>::__emplace_unique_key_args<std::string, std::piecewise_construct_t const&, std::tuple<std::string&&>, std::tuple<>>(std::string const&, std::piecewise_construct_t const&&&, std::tuple<std::string&&>&&, std::tuple<>&&) __tree 2137 0x104e702b1
12 std::map<std::string, flann::any>::operator[](std::string&&) map 1329 0x104e700b2
13 flann::KDTreeSingleIndexParams::KDTreeSingleIndexParams(int, bool) kdtree_single_index.h 55 0x104e6fcde
14 flann::KDTreeSingleIndexParams::KDTreeSingleIndexParams(int, bool) kdtree_single_index.h 54 0x104e6ef8a
15 pcl::KdTreeFLANN<pcl::PointXY, flann::L2_Simple<float>>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXY> const> const&, boost::shared_ptr<std::vector<int> const> const&) kdtree_flann.hpp 126 0x104e6897e
16 MergeMatcher::match(std::vector<std::shared_ptr<GeometryModel>>&, std::vector<std::shared_ptr<Tracklet>>&, double) merge_matcher.cc 102 0x104f4280f
17 SingleModelTracker::compute() single_model_tracker.cc 146 0x104ff9dc2
18 TrackingCenter::tracking_callback(boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&) tracking_center.cc 252 0x104db343d
19 boost::_mfi::mf1<void, TrackingCenter, boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&>::operator()(TrackingCenter *, boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&) const mem_fn_template.hpp 165 0x104df8c81
20 void boost::_bi::list2<boost::_bi::value<TrackingCenter *>, boost::arg<1>>::operator()<boost::_mfi::mf1<void, TrackingCenter, boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&>, boost::_bi::rrlist1<boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&>>(boost::_bi::type<void>, boost::_mfi::mf1<void, TrackingCenter, boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&>&, boost::_bi::rrlist1<boost::shared_ptr<perception_msgs::seg2trackMsg_<std::allocator<void>> const> const&>&, int) bind.hpp 319 0x104df8bdb
... <More> (the rest are irrelevant)
