segementation fault while running

[steven2281]

Hi, thanks for your work! While running your code, I came up with a segmentation fault, and after some debugging I found that it seems to be a memory alignment problem, here is the detail:
Firstly, I found that the fx, fy, cx, cy of sensor.model are all zero values. Then I added some output in the code to debug it, see below lines in main.cpp:

// ========= Sensor INITIALIZATION  =========
        // Create a pinhole camera
        const se::PinholeCamera sensor(config.sensor);
        std::cout << "sensor intrinsics: " << sensor.model.focalLengthU() << " " << sensor.model.focalLengthV() << " " << sensor.model.imageCenterU() << " " << sensor.model.imageCenterV()
                  << std::endl;
        std::cout << "model address: " << &(sensor.model) << std::endl;

and then in pinhole_camera.cpp

se::PinholeCamera::PinholeCamera(const PinholeCameraConfig& c) : se::SensorBase<se::PinholeCamera>(c), model(c.width, c.height, c.fx, c.fy, c.cx, c.cy, _distortion), scaled_pixel(1 / c.fx)
{
    left_hand_frame = (c.fx < 0.0f) ^ (c.fy < 0.0f);

    computeFrustumVertices();
    computeFrustumNormals();

    assert(c.width > 0);
    assert(c.height > 0);
    assert(c.near_plane > 0.0f);
    assert(c.far_plane > c.near_plane);
    assert(!std::isnan(c.fx));
    assert(!std::isnan(c.fy));
    assert(!std::isnan(c.cx));
    assert(!std::isnan(c.cy));

    horizontal_fov = 2.0f * atanf(c.width / (2.0f * c.fx));
    vertical_fov = 2.0f * atanf(c.height / (2.0f * c.fy));
    std::cout<<"model fx: "<<model.focalLengthU()<<" model fy: "<<model.focalLengthV()<<std::endl;
    std::cout<<"model address: "<<&model<<std::endl;
}

The two outputs should be same, but actually they are:

`./build/app/gsfusion config/replica_room0.yaml
model fx: 600 model fy: 600
model address: 0x7fffeaf55990
sensor intrinsics: 0 0 0 0
model address: 0x7fffeaf559c0`

it can be found that the memory address shifted by 30bytes, which I believe is not normal. My system env are Ubuntu22.04 and cuda11.8, with GCC. I've tried the method mentioned in https://github.com/smartroboticslab/GSFusion/issues/8 but it did not work. Again, any suggestions will be helpful!

[goldoak]

Hi, if you encounter a segmentation fault while running GSFusion, I recommend disabling the GUI thread (Lines 118-120 and 254-255) in main.cpp during debugging.

[steven2281]

Thanks for your reply! I've already disabled the GUI thread as you instructed, but the problem was still there, the same memory error. Any other suggestions?

[steven2281]

Now I've fixed the problem, by simply adding set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native") to the project cmakelists.txt (although the GUI still reported a segmentation fault, so I just disabled it).