cpp - valgrind - 读取大小 8 无效

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:

1. 6 正确吗?数组应该包含 6 个元素吗?

2. 在 Matrix.h 的第 285 行，它可能在 for 循环内，不是在这里:

1. Is 6 correct? Should the array contain 6 elements?

2. 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.

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