Expressions cause segfault on Windows (MSVC 2019 v16) #1336
Description
Description
Expressions seem to cause a segfault on Windows 2019 v16 (potentially others as well). None of the examples with expressions work. According to the debugger, the following line causes the crash (ExpressionNode.h, L279):
Record(const Values& values, const ExpressionNode<A1>& expression1, ExecutionTraceStorage* ptr)
: value1(expression1.traceExecution(values, trace1, ptr + upAligned(sizeof(Record)))) {}Stacktrace:
SFMExampleExpressions.exe!gtsam::internal::CallRecord<2>::CallRecord<2>() C++
SFMExampleExpressions.exe!gtsam::internal::CallRecordImplementor<gtsam::internal::UnaryExpression<Eigen::Matrix<double,2,1,0,2,1>,Eigen::Matrix<double,3,1,0,3,1>>::Record,2>::CallRecordImplementor<gtsam::internal::UnaryExpression<Eigen::Matrix<double,2,1,0,2,1>,Eigen::Matrix<double,3,1,0,3,1>>::Record,2>() C++
> SFMExampleExpressions.exe!gtsam::internal::UnaryExpression<Eigen::Matrix<double,2,1,0,2,1>,Eigen::Matrix<double,3,1,0,3,1>>::Record::Record(const gtsam::Values & values, const gtsam::internal::ExpressionNode<Eigen::Matrix<double,3,1,0,3,1>> & expression1, boost::detail::aligned_storage::aligned_storage_imp<1,32> * ptr) Line 280 C++
SFMExampleExpressions.exe!gtsam::internal::UnaryExpression<Eigen::Matrix<double,2,1,0,2,1>,Eigen::Matrix<double,3,1,0,3,1>>::traceExecution(const gtsam::Values & values, gtsam::internal::ExecutionTrace<Eigen::Matrix<double,2,1,0,2,1>> & trace, boost::detail::aligned_storage::aligned_storage_imp<1,32> * ptr) Line 322 C++
SFMExampleExpressions.exe!gtsam::internal::BinaryExpression<Eigen::Matrix<double,2,1,0,2,1>,gtsam::Cal3_S2,Eigen::Matrix<double,2,1,0,2,1>>::Record::Record(const gtsam::Values & values, const gtsam::internal::ExpressionNode<gtsam::Cal3_S2> & expression1, const gtsam::internal::ExpressionNode<Eigen::Matrix<double,2,1,0,2,1>> & expression2, boost::detail::aligned_storage::aligned_storage_imp<1,32> * ptr) Line 404 C++
SFMExampleExpressions.exe!gtsam::internal::BinaryExpression<Eigen::Matrix<double,2,1,0,2,1>,gtsam::Cal3_S2,Eigen::Matrix<double,2,1,0,2,1>>::traceExecution(const gtsam::Values & values, gtsam::internal::ExecutionTrace<Eigen::Matrix<double,2,1,0,2,1>> & trace, boost::detail::aligned_storage::aligned_storage_imp<1,32> * ptr) Line 432 C++
SFMExampleExpressions.exe!gtsam::Expression<Eigen::Matrix<double,2,1,0,2,1>>::traceExecution(const gtsam::Values & values, gtsam::internal::ExecutionTrace<Eigen::Matrix<double,2,1,0,2,1>> & trace, void * traceStorage) Line 193 C++
SFMExampleExpressions.exe!gtsam::Expression<Eigen::Matrix<double,2,1,0,2,1>>::valueAndJacobianMap(const gtsam::Values & values, gtsam::internal::JacobianMap & jacobians) Line 218 C++
SFMExampleExpressions.exe!gtsam::ExpressionFactor<Eigen::Matrix<double,2,1,0,2,1>>::linearize(const gtsam::Values & x) Line 139 C++
gtsamDebug.dll!gtsam::NonlinearFactorGraph::linearize(const gtsam::Values & linearizationPoint) Line 270 C++
gtsamDebug.dll!gtsam::DoglegOptimizer::iterate() Line 87 C++
gtsamDebug.dll!gtsam::NonlinearOptimizer::defaultOptimize() Line 95 C++
gtsamDebug.dll!gtsam::NonlinearOptimizer::optimize() Line 98 C++
SFMExampleExpressions.exe!main(int argc, char * * argv) Line 95 C++Steps to reproduce
CMake configuration is with GTSAM_BUILD_UNSTABLE=OFF and GTSAM_BUILD_PYTHON=OFF. Compiler used is MSVC2019 v16 with Boost 1.72 and GTSAM version of Eigen3.
D:\Workspace\spear\spear\3rd\gtsam\cmake-build>cmake --build . --config debug
CMake is re-running because D:/Workspace/spear/spear/3rd/gtsam/cmake-build/examples/CMakeFiles/generate.stamp is out-of-date.
the file 'D:/Workspace/spear/spear/3rd/gtsam/examples/CMakeLists.txt'
is newer than 'D:/Workspace/spear/spear/3rd/gtsam/cmake-build/examples/CMakeFiles/generate.stamp.depend'
result='-1'
-- Selecting Windows SDK version 10.0.19041.0 to target Windows 10.0.19044.
-- GTSAM Version: 4.2a7
-- GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well
-- Found Eigen version: 3.3.7
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES)
-- Could NOT find TBB (missing: TBB_INCLUDE_DIRS TBB_LIBRARIES tbb tbbmalloc) (Required is at least version "4.4")
-- Building 3rdparty
-- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
-- Building base
-- Building basis
-- Building geometry
-- Building inference
-- Building symbolic
-- Building discrete
-- Building hybrid
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building navigation
-- Adding precompiled header for MSVC
-- GTSAM Version: 4.2.0
-- Install prefix: D:/Workspace/spear/spear/3rd/gtsam/install
-- Building GTSAM - shared: ON
-- Wrote D:/Workspace/spear/spear/3rd/gtsam/cmake-build/GTSAMConfig.cmake
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
-- ===============================================================
-- ================ Configuration Options ======================
-- CMAKE_CXX_COMPILER_ID type : MSVC
-- CMAKE_CXX_COMPILER_VERSION : 19.29.30146.0
-- CMake version : 3.23.1
-- CMake generator : Visual Studio 16 2019
-- CMake build tool : C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/MSBuild/Current/Bin/MSBuild.exe
-- Build flags
-- Build Tests : Enabled
-- Build examples with 'make all' : Enabled
-- Build timing scripts with 'make all' : Disabled
-- Build shared GTSAM libraries : Enabled
-- Put build type in library name : Enabled
-- Build libgtsam_unstable : Disabled
-- Build GTSAM unstable Python : Enabled
-- Build MATLAB Toolbox for unstable : Disabled
-- GTSAM_COMPILE_FEATURES_PUBLIC : cxx_std_11
-- GTSAM_COMPILE_OPTIONS_PUBLIC : /wd4267
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC : EIGEN_NO_STATIC_ASSERT;EIGEN_NO_STATIC_ASSERT
-- GTSAM_COMPILE_OPTIONS_PUBLIC_DEBUG :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_DEBUG :
-- GTSAM_COMPILE_OPTIONS_PUBLIC_RELEASE :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELEASE :
-- GTSAM_COMPILE_OPTIONS_PUBLIC_TIMING :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_TIMING :
-- GTSAM_COMPILE_OPTIONS_PUBLIC_PROFILING :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_PROFILING :
-- GTSAM_COMPILE_OPTIONS_PUBLIC_RELWITHDEBINFO :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELWITHDEBINFO :
-- GTSAM_COMPILE_OPTIONS_PUBLIC_MINSIZEREL :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_MINSIZEREL :
-- Use System Eigen : OFF (Using version: 3.3.7)
-- Use System Metis : OFF
-- Using Boost version : 107200
-- Use Intel TBB : TBB not found
-- Eigen will use MKL : MKL not found
-- Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
-- Default allocator : STL
-- Cheirality exceptions enabled : YES
-- Packaging flags
-- CPack Source Generator : TGZ
-- CPack Generator : TGZ
-- GTSAM flags
-- Quaternions as default Rot3 : Disabled
-- Runtime consistency checking : Disabled
-- Rot3 retract is full ExpMap : Enabled
-- Pose3 retract is full ExpMap : Enabled
-- Allow features deprecated in GTSAM 4.1 : Enabled
-- Metis-based Nested Dissection : Enabled
-- Use tangent-space preintegration : Enabled
-- MATLAB toolbox flags
-- Install MATLAB toolbox : Disabled
-- Python toolbox flags
-- Build Python module with pybind : Disabled
-- ===============================================================
CMake Warning at cmake/HandleFinalChecks.cmake:3 (message):
TBB 4.4 or newer was not found - this is ok, but note that GTSAM
parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid
this warning.
Expected behavior
It should not segfault.
Environment
MSVC2019 v16, CMake 3.23, Boost 1.72, no TBB, Eigen3 shipped with GTSAM
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