when use pcl.1.8.0 to show some sample, but make error when run the code of "triangulationGreedyProjection " and crash in “Memory.h”

Question

environment：

• ubuntu18
• pcl 1.8.0

some code as follow:

// Greedy Projection triangulation
pcl::PolygonMesh triangulationGreedyProjection(pcl::PointCloud<pcl::PointXYZ>::Ptr xyzCloud) {
    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normalEstimation;
    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
    tree->setInputCloud(xyzCloud);
    normalEstimation.setInputCloud(xyzCloud);
    normalEstimation.setSearchMethod(tree);
    normalEstimation.setKSearch(20);
    normalEstimation.compute(*normals);

    pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointNormal>);
    // 将已获得的点数据和法向数据拼接
    pcl::concatenateFields(*xyzCloud, *normals, *cloudWithNormals);

    // another kd-tree for reconstruction
    pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
    tree2->setInputCloud(cloudWithNormals);

    // reconstruction
    pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
    pcl::PolygonMesh mesh;
    // options
    gp3.setSearchRadius(25);
    gp3.setMu(2.5);
    gp3.setMaximumNearestNeighbors(100);
    gp3.setMaximumSurfaceAngle(M_PI / 2);
    gp3.setMinimumAngle(M_PI / 18);
    gp3.setMaximumAngle(2 * M_PI / 3);
    gp3.setNormalConsistency(false);
    gp3.setInputCloud(cloudWithNormals);
    gp3.setSearchMethod(tree2);
    gp3.reconstruct(mesh);

    return mesh;
}

However, when implement “gp3.reconstruct(mesh);”， the code crash and the break point show "std::free(ptr)" in "Memory.h" as fllow

:

EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
{
  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
    std::free(ptr);
  #else
    handmade_aligned_free(ptr);
  #endif
}

result as fllows:

Answer 1

You can set gp3 as a global pointer and let programa free it when finally quit.

It's not a wise method but can solve your problem.

auto* gp3 = new pcl::GreedyProjectionTriangulation<pcl::PointNormal>;

gp3->reconstruct(mesh);

// don't use delete
// delete gp3;