写点云分割的代码出现问题 exit code -11

Question

改写了一段点云分割的代码 ros包编译通过了 但是跑数据集出现如下问题

[plane_ground_filter_node-2] process has died [pid 10263, exit code -11, cmd /home/dwq/pcl_ws/devel/lib/plane_ground_filter/plane_ground_filter_node __name:=plane_ground_filter_node __log:=/home/dwq/.ros/log/26a667a4-d292-11ed-a2c7-21a65bc7d2e3/plane_ground_filter_node-2.log].
log file: /home/dwq/.ros/log/26a667a4-d292-11ed-a2c7-21a65bc7d2e3/plane_ground_filter_node-2*.log

后来为发现问题出现我加代码的位置

ensure_boundary(laserCloudIn,x_boundary);

只要把这句话在主函数中注释掉就能跑了 函数如下

void PlaneGroundFilter::ensure_boundary(const pcl::PointCloud<VPoint> &p,double &x_boundary)
{
     std::vector<double> z_capaticy;
     std::vector<double> x_capaticy;

    

     int y = 5;
     for ( int i = 0 ; i < p.points.size();i++)
     {
         if ( y == p.points[i].y){
             z_capaticy.push_back(p.points[i].z);
             x_capaticy.push_back(p.points[i].x);
         }
     }

     for(int m = 0; m < z_capaticy.size() - 1; m++){
         int n = m + 1;
         double z_diff = z_capaticy[n] - z_capaticy[m];

         if (0.5 < z_diff < 5){
             x_boundary = (x_capaticy[m] + x_capaticy[n]) / 2;
         }

     }

     

 }

请问如何解决？

Answer 1

有时不将“调用函数名字＋各参数值，进入函数后各参数值，中间变量值，退出函数前准备返回的值，返回函数到调用处后函数名字＋各参数值＋返回值”这些信息写日志到文件中是无论如何也发现不了问题在哪里的，包括捕获各种异常、写日志到屏幕、单步或设断点或生成core或dmp文件、……这些方法都不行！ 写日志到文件参考下面：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef _MSC_VER
    #pragma warning(disable:4996)
    #include <windows.h>
    #include <io.h>
#else
    #include <unistd.h>
    #include <sys/time.h>
    #include <pthread.h>
    #define  CRITICAL_SECTION   pthread_mutex_t
    #define  _vsnprintf         vsnprintf
#endif
//Log{
#define MAXLOGSIZE 20000000
#define MAXLINSIZE 16000
#include <time.h>
#include <sys/timeb.h>
#include <stdarg.h>
char logfilename1[]="MyLog1.log";
char logfilename2[]="MyLog2.log";
static char logstr[MAXLINSIZE+1];
char datestr[16];
char timestr[16];
char mss[4];
CRITICAL_SECTION cs_log;
FILE *flog;
#ifdef _MSC_VER
void Lock(CRITICAL_SECTION *l) {
    EnterCriticalSection(l);
}
void Unlock(CRITICAL_SECTION *l) {
    LeaveCriticalSection(l);
}
#else
void Lock(CRITICAL_SECTION *l) {
    pthread_mutex_lock(l);
}
void Unlock(CRITICAL_SECTION *l) {
    pthread_mutex_unlock(l);
}
#endif
void LogV(const char *pszFmt,va_list argp) {
    struct tm *now;
    struct timeb tb;

    if (NULL==pszFmt||0==pszFmt[0]) return;
    _vsnprintf(logstr,MAXLINSIZE,pszFmt,argp);
    ftime(&tb);
    now=localtime(&tb.time);
    sprintf(datestr,"%04d-%02d-%02d",now->tm_year+1900,now->tm_mon+1,now->tm_mday);
    sprintf(timestr,"%02d:%02d:%02d",now->tm_hour     ,now->tm_min  ,now->tm_sec );
    sprintf(mss,"%03d",tb.millitm);
    printf("%s %s.%s %s",datestr,timestr,mss,logstr);
    flog=fopen(logfilename1,"a");
    if (NULL!=flog) {
        fprintf(flog,"%s %s.%s %s",datestr,timestr,mss,logstr);
        if (ftell(flog)>MAXLOGSIZE) {
            fclose(flog);
            if (rename(logfilename1,logfilename2)) {
                remove(logfilename2);
                rename(logfilename1,logfilename2);
            }
        } else {
            fclose(flog);
        }
    }
}
void Log(const char *pszFmt,...) {
    va_list argp;

    Lock(&cs_log);
    va_start(argp,pszFmt);
    LogV(pszFmt,argp);
    va_end(argp);
    Unlock(&cs_log);
}
//Log}
int main(int argc,char * argv[]) {
    int i;
#ifdef _MSC_VER
    InitializeCriticalSection(&cs_log);
#else
    pthread_mutex_init(&cs_log,NULL);
#endif
    for (i=0;i<10000;i++) {
        Log("This is a Log %04d from FILE:%s LINE:%d\n",i, __FILE__, __LINE__);
    }
#ifdef _MSC_VER
    DeleteCriticalSection(&cs_log);
#else
    pthread_mutex_destroy(&cs_log);
#endif
    return 0;
}
//1-79行添加到你带main的.c或.cpp的那个文件的最前面
//82-86行添加到你的main函数开头
//90-94行添加到你的main函数结束前
//在要写LOG的地方仿照第88行的写法写LOG到文件MyLog1.log中