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问题描述
我对这个 valgrind 错误感到非常生气.我有一个名为 Matrix 的模板类，它有一些重载的运算符等......来做一些数学运算.矩阵在称为 ExtendedKalmanFilter 的类中使用.
I'm getting mad understanding that valgrind error. I've got a template class called Matrix that has some overloaded operators etc... to do some mathematical operations. Matrixes are used inside a class called ExtendedKalmanFilter.
这是 valgrind 跟踪:
Here is the valgrind trace:
==3352== Invalid read of size 8
==3352== at 0x804CC8F: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:285)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352== Address 0x6a8b3c0 is 0 bytes after a block of size 48 alloc'd
==3352== at 0x402B454: operator new[](unsigned int) (in /usr/lib/valgrind/vgpreload_memcheck-x86-linux.so)
==3352== by 0x804C986: BOViL::math::Matrix<double>::operator=(BOViL::math::Matrix<double> const&) (Matrix.h:224)
==3352== by 0x8051C62: BOViL::algorithms::ExtendedKalmanFilter::setUpEKF(BOViL::math::Matrix<double>, BOViL::math::Matrix<double>, BOViL::math::Matrix<double>) (ExtendedKalmanFilter.cpp:23)
==3352== by 0x804B74F: testSegmentation() (TestSegmentation.cpp:37)
==3352== by 0x805266D: main (main.cpp:16)
==3352==
==3352== Invalid write of size 8
==3352== at 0x804CC12: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:283)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352== Address 0x6a8d210 is 0 bytes after a block of size 48 alloc'd
==3352== at 0x402B454: operator new[](unsigned int) (in /usr/lib/valgrind/vgpreload_memcheck-x86-linux.so)
==3352== by 0x804CBD8: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:279)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352==
==3352== Invalid read of size 8
==3352== at 0x804CC55: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:285)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352== Address 0x6a8d210 is 0 bytes after a block of size 48 alloc'd
==3352== at 0x402B454: operator new[](unsigned int) (in /usr/lib/valgrind/vgpreload_memcheck-x86-linux.so)
==3352== by 0x804CBD8: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:279)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352==
==3352== Invalid write of size 8
==3352== at 0x804CC95: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:285)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352== Address 0x6a8d210 is 0 bytes after a block of size 48 alloc'd
==3352== at 0x402B454: operator new[](unsigned int) (in /usr/lib/valgrind/vgpreload_memcheck-x86-linux.so)
==3352== by 0x804CBD8: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:279)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352==
--3352-- VALGRIND INTERNAL ERROR: Valgrind received a signal 11 (SIGSEGV) - exiting
--3352-- si_code=1; Faulting address: 0x6F666562; sp: 0x6800fa88
valgrind: the 'impossible' happened:
Killed by fatal signal
==3352== at 0x380C0AD4: ??? (in /usr/lib/valgrind/memcheck-x86-linux)
==3352== by 0x380C12C5: ??? (in /usr/lib/valgrind/memcheck-x86-linux)
==3352== by 0x38040A63: ??? (in /usr/lib/valgrind/memcheck-x86-linux)
==3352== by 0x38040B36: ??? (in /usr/lib/valgrind/memcheck-x86-linux)
==3352== by 0x3803EA4B: ??? (in /usr/lib/valgrind/memcheck-x86-linux)
==3352== by 0x74206572: ???
sched status:
running_tid=1
Thread 1: status = VgTs_Runnable
==3352== at 0x402B454: operator new[](unsigned int) (in /usr/lib/valgrind/vgpreload_memcheck-x86-linux.so)
==3352== by 0x804BD52: BOViL::math::Matrix<double>::Matrix(double const*, int, int) (Matrix.h:118)
==3352== by 0x804CCF3: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:290)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
这里是代码片段:
--> 矩阵界面
template <typename type_>
class Matrix{
public: // Main interface
Matrix(); // Default constructor
Matrix(int _cols, int _rows); // Empty matrix constructor
Matrix(const type_* _mat, int _rows, int _cols); // Full-defined matrix constructor
Matrix(const Matrix& _mat); // Copy constructor
Matrix(Matrix&& _mat); // Move constructor c++11
~Matrix(); // De-constructor
type_* getMatrixPtr() const;
int getWidth() const;
int getHeight() const;
void showMatrix() const;
public: // Overloaded Operators
std::string operator<<(const Matrix<type_>& _mat) const; // Operator for cout 666 TODO:
type_& operator[](int _index);
Matrix operator=(const Matrix& _mat); // Assignement operator
Matrix operator+(const Matrix& _mat) const; // Add operator
Matrix operator-(const Matrix& _mat) const; // Sub operator
Matrix operator*(const Matrix& _mat) const; // Mul operator
Matrix operator*(const type_ _scalar) const; // Scalar operator
Matrix operator^(const double _exp) const; // Pow operator 666 TODO:
public: // Other operations 666 TODO: Change names
Matrix operator&(const Matrix& _mat) const; // Projection operator._mat is projected to this
Matrix transpose(); // Transpose operator
type_ determinant(); // Determinant operator
public: // Various algorithms
double norm();
bool decompositionLU(Matrix& _L, Matrix& _U);
bool decompositionCholesky(Matrix& _L, Matrix& _Lt);
bool decompositionLDL(Matrix& _L, Matrix& _D, Matrix& _Lt);
bool decompositionQR_GR(Matrix& _Q, Matrix& _R); // QR decomposition using Householder reflexions algorithm.
Matrix inverse(); // Using QR algorithm
private: // Private interface
int mCols, mRows;
type_* mPtr;
};
-->这里是矩阵崩溃的地方:
-->And here is where matrix crash:
void ExtendedKalmanFilter::forecastStep(const double _incT){
updateJf(_incT);
mXfk = mJf * mXak; <<<----- HERE CRASH, inside operator*
mP = mJf * mP * mJf.transpose() + mQ;
}
准确地说，它在构造函数矩阵内崩溃(type_* ptr, int _cols, int _rows);初始化指针时
To be precise, it crash inside the constructor matrix(type_* ptr, int _cols, int _rows); while initializing the pointer
template<typename type_>
Matrix<type_> Matrix<type_>::operator* (const Matrix<type_>& _mat) const{
if(mCols !=_mat.mRows)
assert(false);
type_* ptr = new type_[mRows*_mat.mCols];
for(int i = 0; i < mRows ; i ++ ){
for(int j = 0 ; j < mCols ; j ++){
ptr[_mat.mCols * i + j] = 0;
for(int k = 0 ; k < _mat.mRows ; k ++){
ptr[_mat.mCols * i + j] += mPtr[mCols * i + k] * _mat.mPtr[_mat.mCols * k + j];
}
}
}
Matrix<type_> mat(ptr, mRows, _mat.mCols); <<< ----- HERE
delete[] ptr;
return mat;
}
template<typename type_>
Matrix<type_>::Matrix(const type_* _matPtr, int _rows, int _cols): mPtr(new type_[_cols*_rows]),
mCols(_cols),
mRows(_rows)
{ <<<---- CRASH before getting into (So I suppose that crash in the new type_[_cols*_rows]
for(int i = 0; i < _cols*_rows ; i ++){
mPtr[i] = _matPtr[i];
}
}
最后，类的析构函数是:
Finally, the destructor of the class is:
template<typename type_>
Matrix<type_>::~Matrix(){
if(mPtr)
delete[] mPtr;
}
谁能帮帮我?我在 Windows 中使用 Visual Studio 和 linux 中使用 valgrind 尝试调试时找不到问题.
Can anyone help me? I cant find the trouble I tryed debugging with Visual Studio in windows and with valgrind in linux.
提前致谢
推荐答案
你的第一个错误说:
==3352== Invalid read of size 8
==3352== at 0x804CC8F: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:285)
==3352== by 0x8051F91: BOViL::algorithms::ExtendedKalmanFilter::forecastStep(double) (ExtendedKalmanFilter.cpp:48)
==3352== by 0x8051F25: BOViL::algorithms::ExtendedKalmanFilter::stepEKF(BOViL::math::Matrix<double> const&, double) (ExtendedKalmanFilter.cpp:39)
==3352== by 0x804B98F: testSegmentation() (TestSegmentation.cpp:53)
==3352== by 0x805266D: main (main.cpp:16)
==3352== Address 0x6a8b3c0 is 0 bytes after a block of size 48 alloc'd
==3352== at 0x402B454: operator new[](unsigned int) (in /usr/lib/valgrind/vgpreload_memcheck-x86-linux.so)
==3352== by 0x804C986: BOViL::math::Matrix<double>::operator=(BOViL::math::Matrix<double> const&) (Matrix.h:224)
==3352== by 0x8051C62: BOViL::algorithms::ExtendedKalmanFilter::setUpEKF(BOViL::math::Matrix<double>, BOViL::math::Matrix<double>, BOViL::math::Matrix<double>) (ExtendedKalmanFilter.cpp:23)
==3352== by 0x804B74F: testSegmentation() (TestSegmentation.cpp:37)
==3352== by 0x805266D: main (main.cpp:16)
简而言之:
==3352== Invalid read of size 8
==3352== at 0x804CC8F: BOViL::math::Matrix<double>::operator*(BOViL::math::Matrix<double> const&) const (Matrix.h:285)
==3352== Address 0x6a8b3c0 is 0 bytes after a block of size 48 alloc'd
知道你的矩阵是double，这意味着矩阵内部的数组被分配为包含6个元素(48/sizeof double).但是，您正在访问块后的 0 个字节，这意味着您正在访问元素索引 6.
Knowing that your matrix is of double, that means the array inside the matrix is allocated to contain 6 elements (48/sizeof double). However, you are accessing 0 bytes after the block, which means you are accessing exactly element index 6.
因此，您需要验证两件事:
So there are two things that you need to verify:
- 6 正确吗?数组应该包含 6 个元素吗?
在
Matrix.h的第 285 行，它可能在for循环内，不是在这里:
- Is 6 correct? Should the array contain 6 elements?
At line 285 of
Matrix.h, which is likely inside theforloops, not here:
Matrix<type_> mat(ptr, mRows, _mat.mCols); <<< ----- HERE
您需要检查您为数组提供的索引.很可能，您会发现数组的索引为 6，这就是您应该找出为什么的地方.
you need to examine what indices you are giving to the array. Likely, you will find the array being indexed at 6 and that's where you should figure out why.
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