Got Segmentation Fault

[xieKKKi]

Hi, when I run

./bin/demo_reg configs/hit_ms/gem_pagor.yaml examples/data/livox/source.pcd examples/data/livox/target.pcd

I get the following error:

Stack trace (most recent call last): 
#11   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#10   Object "/home/xjp/G3Reg/bin/demo_reg", at 0x563100343e2d, in 
#9    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2c0726082, in __libc_start_main
#8    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x5631003425f4, in 
#7    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x5631003568a2, in 
#6    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x56310043d695, in 
#5    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x563100447d88, in 
#4    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x563100441ebc, in 
#3    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x5631004632ca, in 
#2    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x563100475de9, in 
#1    Object "/home/xjp/G3Reg/bin/demo_reg", at 0x56310047409a, in 
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2c079c6f0, in cfree
Segmentation fault (Address not mapped to object [0x49])

But running this command works fine:

./bin/demo_reg configs/hit_ms/gem_3dmac.yaml examples/data/livox/source.pcd examples/data/livox/target.pcd

It seems there is something wrong with pagor?

[xieKKKi]

The program seems to go wrong here:

G3Reg/src/utils/opt_utils.cpp

Line 74 in 755d3f3

auto gnc = GncOptimizer<GncParams<LevenbergMarquardtParams>>(graph, initial, gncParams);

The GTSAM version I installed is the latest 4.2.

[qiaozhijian]

Me too. Mine is 4.2a9.

The program seems to go wrong here:

G3Reg/src/utils/opt_utils.cpp

Line 74 in 755d3f3

auto gnc = GncOptimizer<GncParams<LevenbergMarquardtParams>>(graph, initial, gncParams);

The GTSAM version I installed is the latest 4.2.