cpp - valgrind - 读取大小 8 无效

2021-12-30 00:00:00 memory-leaks c++ valgrind

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 the for loops, 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.

相关文章