gtsam::noiseModel::Diagonal::Sigmas(Eigen::Matrix＜double, -1, 1, 0, -1, 1＞ const&, bool) () from

环境： UBUNTU20.04  GTSAM4.0.3  EIGEN3.4.0  ROS-NOETIC

在项目中链接GTSAM时，编译可以通过，但是每次运行节点都会直接中断，gdb调试信息如下：

Program received signal SIGSEGV, Segmentation fault.
__GI___libc_free (mem=0x20) at malloc.c:3103
3103    malloc.c: No such file or directory.
(gdb) bt
#0  __GI___libc_free (mem=0x20) at malloc.c:3103
#1  0x00007ffff7829d2c in gtsam::noiseModel::Diagonal::Sigmas(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, bool) () from /usr/local/lib/libgtsam.so.4
#2  0x00007ffff7660c34 in _GLOBAL__sub_I_lago.cpp () from /usr/local/lib/libgtsam.so.4
#3  0x00007ffff7de5733 in call_init (env=0x7fffffffd7b8, argv=0x7fffffffd7a8, argc=1, l=<optimized out>) at dl-init.c:72
#4  _dl_init (main_map=0x7ffff7ffe170, argc=1, argv=0x7fffffffd7a8, env=0x7fffffffd7b8) at dl-init.c:119
#5  0x00007ffff7dd60ca in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#6  0x0000000000000001 in ?? ()
#7  0x00007fffffffdc69 in ?? ()
#8  0x0000000000000000 in ?? ()

该类问题由GTSAM编译时配置的“march=native”导致，只需修改GTSAM的cmake文件夹下的GtsamBuildTypes.cmake文件即可，需关闭“march=native”，具体修改如下：

修改前：

if (NOT MSVC)

option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)

if(GTSAM_BUILD_WITH_MARCH_NATIVE)

# Add as public flag so all dependant projects also use it, as required

# by Eigen to avid crashes due to SIMD vectorization:

list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

endif()

endif()

修改后（将ON置为OFF）：

if (NOT MSVC)

option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)

if(GTSAM_BUILD_WITH_MARCH_NATIVE)

# Add as public flag so all dependant projects also use it, as required

# by Eigen to avid crashes due to SIMD vectorization:

list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

endif()

endif()

 然后重新编译安装GTSAM即可：

mkdir build 

cd build

cmake ..

make -j8

sudo make install

 由于关闭了“march=native”，可能会导致GTSAM性能下降，可在本地项目的Cmakelists.txt中添加：

set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -march=native")

 至此，大功告成！

参考链接：GTSAM segfault on noiseModel::Diagonal::Sigmas · Issue #75 · borglab/gtsam · GitHub