Fix segmentation fault in AVX2 builds
Enabling the AVX2 instruction set causes a segmentation fault in mocked
manifold tests. This is due to Eigen vectors stored in a std::shared_ptr
for which the memory allocated by gmock is not aligned even though it is
expected to be by Eigen for correct use of packet math.
The problem does not occur if Ceres is compiled with C++17 (or later)
enabled due to the support for aligned new allocations.
Change-Id: I711abe9439cc411bd7a8b4936f3b93af07b7fbd6
diff --git a/internal/ceres/manifold_test.cc b/internal/ceres/manifold_test.cc
index 24c7b43..52821b9 100644
--- a/internal/ceres/manifold_test.cc
+++ b/internal/ceres/manifold_test.cc
@@ -37,6 +37,7 @@
#include "Eigen/Geometry"
#include "ceres/dynamic_numeric_diff_cost_function.h"
#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
#include "ceres/manifold_test_utils.h"
#include "ceres/numeric_diff_options.h"
#include "ceres/rotation.h"
@@ -451,10 +452,26 @@
}
}
+using Eigen::Vector2d;
+using Eigen::Vector3d;
+using Vector6d = Eigen::Matrix<double, 6, 1>;
+
+// Ensure memory allocated using new in AVX2 builds is correctly aligned which
+// is only guaranteed starting with C++17. Otherwise, use unaligned memory.
+// This avoids a segmentation fault in tests that use
+// EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD and fixed-size Eigen vectors.
+#ifdef CERES_HAS_CPP17
+using Eigen::Vector4d;
+using Vector8d = Eigen::Matrix<double, 8, 1>;
+#else
+using Vector4d = Eigen::Matrix<double, 4, 1, Eigen::DontAlign>;
+using Vector8d = Eigen::Matrix<double, 8, 1, Eigen::DontAlign>;
+#endif
+
TEST(SphereManifold, ZeroTest) {
- Eigen::Vector4d x{0.0, 0.0, 0.0, 1.0};
- Eigen::Vector3d delta = Eigen::Vector3d::Zero();
- Eigen::Vector4d y = Eigen::Vector4d::Zero();
+ Vector4d x{0.0, 0.0, 0.0, 1.0};
+ Vector3d delta = Vector3d::Zero();
+ Vector4d y = Vector4d::Zero();
SphereManifold<4> manifold;
manifold.Plus(x.data(), delta.data(), y.data());
@@ -462,10 +479,10 @@
}
TEST(SphereManifold, NearZeroTest1) {
- Eigen::Vector4d x{1e-5, 1e-5, 1e-5, 1.0};
+ Vector4d x{1e-5, 1e-5, 1e-5, 1.0};
x.normalize();
- Eigen::Vector3d delta{0.0, 1.0, 0.0};
- Eigen::Vector4d y = Eigen::Vector4d::Zero();
+ Vector3d delta{0.0, 1.0, 0.0};
+ Vector4d y = Vector4d::Zero();
SphereManifold<4> manifold;
manifold.Plus(x.data(), delta.data(), y.data());
@@ -473,9 +490,9 @@
}
TEST(SphereManifold, NearZeroTest2) {
- Eigen::Vector4d x{0.001, 0.0, 0.0, 0.0};
- Eigen::Vector3d delta{0.0, 1.0, 0.0};
- Eigen::Vector4d y = Eigen::Vector4d::Zero();
+ Vector4d x{0.001, 0.0, 0.0, 0.0};
+ Vector3d delta{0.0, 1.0, 0.0};
+ Vector4d y = Vector4d::Zero();
SphereManifold<4> manifold;
manifold.Plus(x.data(), delta.data(), y.data());
EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
@@ -559,12 +576,9 @@
}
TEST(LineManifold, ZeroTest3D) {
- using Vec4 = Eigen::Matrix<double, 4, 1>;
- using Vec6 = Eigen::Matrix<double, 6, 1>;
-
- const Vec6 x = Vec6::Unit(5);
- const Vec4 delta = Vec4::Zero();
- Vec6 y = Vec6::Zero();
+ const Vector6d x = Vector6d::Unit(5);
+ const Vector4d delta = Vector4d::Zero();
+ Vector6d y = Vector6d::Zero();
LineManifold<3> manifold;
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
@@ -572,12 +586,9 @@
}
TEST(LineManifold, ZeroTest4D) {
- using Vec6 = Eigen::Matrix<double, 6, 1>;
- using Vec8 = Eigen::Matrix<double, 8, 1>;
-
- const Vec8 x = Vec8::Unit(7);
- const Vec6 delta = Vec6::Zero();
- Vec8 y = Vec8::Zero();
+ const Vector8d x = Vector8d::Unit(7);
+ const Vector6d delta = Vector6d::Zero();
+ Vector8d y = Vector8d::Zero();
LineManifold<4> manifold;
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
@@ -585,13 +596,10 @@
}
TEST(LineManifold, ZeroOriginPointTest3D) {
- using Vec4 = Eigen::Matrix<double, 4, 1>;
- using Vec6 = Eigen::Matrix<double, 6, 1>;
-
- const Vec6 x = Vec6::Unit(5);
- Vec4 delta;
+ const Vector6d x = Vector6d::Unit(5);
+ Vector4d delta;
delta << 0.0, 0.0, 1.0, 2.0;
- Vec6 y = Vec6::Zero();
+ Vector6d y = Vector6d::Zero();
LineManifold<3> manifold;
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
@@ -599,13 +607,10 @@
}
TEST(LineManifold, ZeroOriginPointTest4D) {
- using Vec6 = Eigen::Matrix<double, 6, 1>;
- using Vec8 = Eigen::Matrix<double, 8, 1>;
-
- const Vec8 x = Vec8::Unit(7);
- Vec6 delta;
+ const Vector8d x = Vector8d::Unit(7);
+ Vector6d delta;
delta << 0.0, 0.0, 0.0, 1.0, 2.0, 3.0;
- Vec8 y = Vec8::Zero();
+ Vector8d y = Vector8d::Zero();
LineManifold<4> manifold;
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
@@ -613,13 +618,10 @@
}
TEST(LineManifold, ZeroDirTest3D) {
- using Vec4 = Eigen::Matrix<double, 4, 1>;
- using Vec6 = Eigen::Matrix<double, 6, 1>;
-
- Vec6 x = Vec6::Unit(5);
- Vec4 delta;
+ Vector6d x = Vector6d::Unit(5);
+ Vector4d delta;
delta << 3.0, 2.0, 0.0, 0.0;
- Vec6 y = Vec6::Zero();
+ Vector6d y = Vector6d::Zero();
LineManifold<3> manifold;
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
@@ -627,13 +629,10 @@
}
TEST(LineManifold, ZeroDirTest4D) {
- using Vec6 = Eigen::Matrix<double, 6, 1>;
- using Vec8 = Eigen::Matrix<double, 8, 1>;
-
- Vec8 x = Vec8::Unit(7);
- Vec6 delta;
+ Vector8d x = Vector8d::Unit(7);
+ Vector6d delta;
delta << 3.0, 2.0, 1.0, 0.0, 0.0, 0.0;
- Vec8 y = Vec8::Zero();
+ Vector8d y = Vector8d::Zero();
LineManifold<4> manifold;
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
@@ -641,40 +640,35 @@
}
TEST(LineManifold, Plus) {
- using Vec2 = Eigen::Matrix<double, 2, 1>;
- using Vec3 = Eigen::Matrix<double, 3, 1>;
- using Vec4 = Eigen::Matrix<double, 4, 1>;
- using Vec6 = Eigen::Matrix<double, 6, 1>;
-
- Vec6 x = Vec6::Unit(5);
+ Vector6d x = Vector6d::Unit(5);
LineManifold<3> manifold;
{
- Vec4 delta{0.0, 4.0, M_PI, 0.0};
- Vec6 y = Vec6::Random();
+ Vector4d delta{0.0, 4.0, M_PI, 0.0};
+ Vector6d y = Vector6d::Random();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
- Vec6 gtY;
- gtY << 2.0 * Vec3::UnitY(), Vec3::UnitX();
+ Vector6d gtY;
+ gtY << 2.0 * Vector3d::UnitY(), Vector3d::UnitX();
EXPECT_LT((y - gtY).norm(), kTolerance);
}
{
- Vec4 delta{6.0, 0.0, 0.0, M_PI};
- Vec6 y = Vec6::Zero();
+ Vector4d delta{6.0, 0.0, 0.0, M_PI};
+ Vector6d y = Vector6d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
- Vec6 gtY;
- gtY << 3.0 * Vec3::UnitX(), Vec3::UnitY();
+ Vector6d gtY;
+ gtY << 3.0 * Vector3d::UnitX(), Vector3d::UnitY();
EXPECT_LT((y - gtY).norm(), kTolerance);
}
{
- Vec4 delta;
- delta << Vec2(2.0, 4.0), Vec2(1, 1).normalized() * M_PI;
- Vec6 y = Vec6::Zero();
+ Vector4d delta;
+ delta << Vector2d(2.0, 4.0), Vector2d(1, 1).normalized() * M_PI;
+ Vector6d y = Vector6d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
- Vec6 gtY;
- gtY << Vec3(1.0, 2.0, 0.0),
- Vec3(std::sqrt(2.0) / 2.0, std::sqrt(2.0) / 2.0, 0.0);
+ Vector6d gtY;
+ gtY << Vector3d(1.0, 2.0, 0.0),
+ Vector3d(std::sqrt(2.0) / 2.0, std::sqrt(2.0) / 2.0, 0.0);
EXPECT_LT((y - gtY).norm(), kTolerance);
}
}
