Question

我发现了问题。我在一个包含旧文件的更大项目中使用了此代码，其中一个是链接到的ceres.dll。我猜想Summary结构的大小在版本之间有所变化，这浪费了内存。

使用ceres Solver遇到了一个非常奇怪的问题。尝试运行曲线拟合样本（https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/curve_fitting.cc）

1-按原样运行代码，即将所有内容放入main（）

#include "ceres/ceres.h"
#include "glog/logging.h"
using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::Problem;
using ceres::Solve;
using ceres::Solver;

const int kNumObservations = 67;
// clang-format off
const double my_data[] = {
  0.000000e+00, 1.133898e+00,
  7.500000e-02, 1.334902e+00,
  1.500000e-01, 1.213546e+00,
  2.250000e-01, 1.252016e+00,
  3.000000e-01, 1.392265e+00,
  3.750000e-01, 1.314458e+00,
  4.500000e-01, 1.472541e+00,
  5.250000e-01, 1.536218e+00,
  6.000000e-01, 1.355679e+00,
  6.750000e-01, 1.463566e+00,
  7.500000e-01, 1.490201e+00,
  8.250000e-01, 1.658699e+00,
  9.000000e-01, 1.067574e+00,
  9.750000e-01, 1.464629e+00,
  1.050000e+00, 1.402653e+00,
  1.125000e+00, 1.713141e+00,
  1.200000e+00, 1.527021e+00,
  1.275000e+00, 1.702632e+00,
  1.350000e+00, 1.423899e+00,
  1.425000e+00, 1.543078e+00,
  1.500000e+00, 1.664015e+00,
  1.575000e+00, 1.732484e+00,
  1.650000e+00, 1.543296e+00,
  1.725000e+00, 1.959523e+00,
  1.800000e+00, 1.685132e+00,
  1.875000e+00, 1.951791e+00,
  1.950000e+00, 2.095346e+00,
  2.025000e+00, 2.361460e+00,
  2.100000e+00, 2.169119e+00,
  2.175000e+00, 2.061745e+00,
  2.250000e+00, 2.178641e+00,
  2.325000e+00, 2.104346e+00,
  2.400000e+00, 2.584470e+00,
  2.475000e+00, 1.914158e+00,
  2.550000e+00, 2.368375e+00,
  2.625000e+00, 2.686125e+00,
  2.700000e+00, 2.712395e+00,
  2.775000e+00, 2.499511e+00,
  2.850000e+00, 2.558897e+00,
  2.925000e+00, 2.309154e+00,
  3.000000e+00, 2.869503e+00,
  3.075000e+00, 3.116645e+00,
  3.150000e+00, 3.094907e+00,
  3.225000e+00, 2.471759e+00,
  3.300000e+00, 3.017131e+00,
  3.375000e+00, 3.232381e+00,
  3.450000e+00, 2.944596e+00,
  3.525000e+00, 3.385343e+00,
  3.600000e+00, 3.199826e+00,
  3.675000e+00, 3.423039e+00,
  3.750000e+00, 3.621552e+00,
  3.825000e+00, 3.559255e+00,
  3.900000e+00, 3.530713e+00,
  3.975000e+00, 3.561766e+00,
  4.050000e+00, 3.544574e+00,
  4.125000e+00, 3.867945e+00,
  4.200000e+00, 4.049776e+00,
  4.275000e+00, 3.885601e+00,
  4.350000e+00, 4.110505e+00,
  4.425000e+00, 4.345320e+00,
  4.500000e+00, 4.161241e+00,
  4.575000e+00, 4.363407e+00,
  4.650000e+00, 4.161576e+00,
  4.725000e+00, 4.619728e+00,
  4.800000e+00, 4.737410e+00,
  4.875000e+00, 4.727863e+00,
  4.950000e+00, 4.669206e+00,
};
// clang-format on
struct ExponentialResidual {
    ExponentialResidual(double x, double y) : x_(x), y_(y) {}
    template <typename T>
    bool operator()(const T* const m, const T* const c, T* residual) const {
        residual[0] = y_ - exp(m[0] * x_ + c[0]);
        return true;
    }
private:
    const double x_;
    const double y_;
};
int main(int argc, char* argv[]){
   google::InitGoogleLogging(argv[0]);
   double m = 0.0;
   double c = 0.0;
   Problem problem;
   for (int i = 0; i < kNumObservations; ++i) {
       problem.AddResidualBlock(
           new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
               new ExponentialResidual(my_data[2 * i], my_data[2 * i + 1])),
           NULL,
           &m,
           &c);
   }
   Solver::Options options;
   options.max_num_iterations = 25;
   options.linear_solver_type = ceres::DENSE_QR;
   options.minimizer_progress_to_stdout = true;
   Solver::Summary summary;
   Solve(options, &problem, &summary);
   std::cout << summary.BriefReport() << "\n";
   std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
   std::cout << "Final   m: " << m << " c: " << c << "\n";
    system("pause");
    return 0;

2-如果我将其移至单独的函数，则求解器完成，但返回以下错误时：“堆栈cookie工具代码检测到基于堆栈的缓冲区溢出”

void test_solver(char* argv[]) {
    google::InitGoogleLogging(argv[0]);
    double m = 0.0;
    double c = 0.0;
    Problem problem;
    for (int i = 0; i < kNumObservations; ++i) {
        problem.AddResidualBlock(
            new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
                new ExponentialResidual(my_data[2 * i], my_data[2 * i + 1])),
            NULL,
            &m,
            &c);
    }
    Solver::Options options;
    options.max_num_iterations = 25;
    options.linear_solver_type = ceres::DENSE_QR;
    options.minimizer_progress_to_stdout = true;
    Solver::Summary summary;
    Solve(options, &problem, &summary);
    std::cout << summary.BriefReport() << "\n";
    std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
    std::cout << "Final   m: " << m << " c: " << c << "\n";
    system("pause"); 
// exception here : Stack cookie instrumentation code detected a stack-based buffer overrun"
}

int main(int argc, char* argv[]){
    test_solver(argv);
     return 0;
}

3-尝试缩小范围以找出可能导致堆栈/堆损坏的部分它似乎来自摘要对象。

void test_solver(char* argv[]) {
   
    Solver::Summary summary;
   
} // exceptionon return  here : Stack cookie instrumentation code detected a stack-based buffer overrun"

int main(int argc, char* argv[]){
    test_solver(argv);
return 0;
}

版本：在Windows VS2019 x64版本上运行最新的ceres版本

关于下一步探索的任何提示将非常有帮助！谢谢

Ceres Solver :: Summary导致“堆栈cookie工具代码检测到基于堆栈的缓冲区溢出”

0 个答案: