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Fix segmentation fault during destruction

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This commit is contained in:
Lu Junjie
2024-11-04 23:15:18 +08:00
parent 84bfe2e761
commit 361e57fc2b
6 changed files with 24 additions and 18 deletions
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6
flightlib/src/envs/quadrotor_env.cpp
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@@ -24,10 +24,10 @@ QuadrotorEnv::QuadrotorEnv(const std::string &cfg_path) : EnvBase() {
rew_dim_ = 1;
// 3、define planner
traj_opt_bridge = new TrajOptimizationBridge();
traj_opt_bridge = std::make_shared<TrajOptimizationBridge>();
// 5、add camera
sgm_.reset(new sgm_gpu::SgmGpu(width_, height_));
sgm_ = std::make_shared<sgm_gpu::SgmGpu>(width_, height_);
if (!configCamera(cfg_)) {
logger_.error("Cannot config RGB Camera. Something wrong with the config file");
@@ -39,7 +39,7 @@ QuadrotorEnv::QuadrotorEnv(const std::string &cfg_path) : EnvBase() {
steps_ = 0;
}
QuadrotorEnv::~QuadrotorEnv() { delete traj_opt_bridge; }
QuadrotorEnv::~QuadrotorEnv() {}
bool QuadrotorEnv::reset(Ref<Vector<>> obs, const bool random) {
quad_state_.setZero();

6
flightlib/src/envs/vec_env.cpp
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@@ -295,18 +295,18 @@ bool VecEnv<EnvBase>::spawnTreesAndSavePointcloud(int ply_id_in, float spacing)
usleep(1 * 1e6); // waitting 1s for generating completely
// KDtree, for collision detection
pcl::search::KdTree<pcl::PointXYZ> kdtree;
std::shared_ptr<pcl::search::KdTree<pcl::PointXYZ>> kdtree = std::make_shared<pcl::search::KdTree<pcl::PointXYZ>>();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
std::cout << "Map Path: " << ply_path_ + "pointcloud-" + std::to_string(ply_id) + ".ply" << std::endl;
pcl::io::loadPLYFile<pcl::PointXYZ>(ply_path_ + "pointcloud-" + std::to_string(ply_id) + ".ply", *cloud);
kdtree.setInputCloud(cloud); // 0.3s
kdtree->setInputCloud(cloud); // 0.3s
// ESDF, for gradient calculation (map_id is required)
Eigen::Vector3d map_boundary_min, map_boundary_max;
std::shared_ptr<sdf_tools::SignedDistanceField> esdf_map = traj_opt::SdfConstruction(cloud, map_boundary_min, map_boundary_max);
for (int i = 0; i < num_envs_; i++) {
envs_[i]->addKdtree(std::make_shared<pcl::search::KdTree<pcl::PointXYZ>>(kdtree));
envs_[i]->addKdtree(kdtree);
envs_[i]->addESDFMap(esdf_map);
envs_[i]->addMapSize(map_boundary_min, map_boundary_max);
}