Segmentation Fault on Ubuntu 18.04

[Sudhanshu Gupta]

On Ubuntu 18.04, CIWTApp crashes with a segmentation fault. The output is:

Hello from CIWT!
Tracking mode: detection.
Run tracker: YES.
Loading KITTI detections for the whole sequence ...
Could not load ground-plane parameters, fitting plane of-the-fly ...
Segmentation fault (core dumped)

Running it in GDB produces the following backtrace:

Program received signal SIGSEGV, Segmentation fault.
__GI___libc_free (mem=0x21) at malloc.c:3103
3103	malloc.c: No such file or directory.
(gdb) bt
#0  __GI___libc_free (mem=0x21) at malloc.c:3103
#1  0x00007fffe7379332 in Eigen::internal::handmade_aligned_free (ptr=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
#2  Eigen::internal::aligned_free (ptr=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:179
#3  Eigen::internal::conditional_aligned_free<true> (ptr=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:230
#4  Eigen::internal::conditional_aligned_delete_auto<float, true> (size=<optimized out>, ptr=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:416
#5  Eigen::DenseStorage<float, -1, -1, 1, 0>::~DenseStorage (this=0x7fffffffb6c0, __in_chrg=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:542
#6  Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::~PlainObjectBase (this=0x7fffffffb6c0, __in_chrg=<optimized out>)
    at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:98
#7  Eigen::Matrix<float, -1, 1, 0, -1, 1>::~Matrix (this=0x7fffffffb6c0, __in_chrg=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/Matrix.h:178
#8  pcl::RandomSampleConsensus<pcl::PointXYZRGBA>::computeModel (this=<optimized out>)
    at /home/sacusa/sd-apps/pcl-pcl-1.8.1/sample_consensus/include/pcl/sample_consensus/impl/ransac.hpp:62
#9  0x00007ffff3b825ef in pcl::SACSegmentation<pcl::PointXYZRGBA>::segment (this=0x7fffffffb870, inliers=..., model_coefficients=...)
    at /home/sacusa/sd-apps/pcl-pcl-1.8.1/segmentation/include/pcl/segmentation/impl/sac_segmentation.hpp:97
#10 0x0000000000b1a62d in SUN::utils::PlanarGroundModel::FitModel (this=0x25787c0, point_cloud_in=..., height_threshold=1.3999999999999999)
    at /home/sacusa/sd-apps/ciwt/src/sun_utils/ground_model.cpp:158
#11 0x0000000000b02d2f in SUN::utils::dirty::DatasetAssitantDirty::LoadData__KITTI (this=0x7fffffffd310, current_frame=0)
    at /home/sacusa/sd-apps/ciwt/src/sun_utils/datasets_dirty_utils.cpp:394
#12 0x0000000000b01c97 in SUN::utils::dirty::DatasetAssitantDirty::LoadData (this=0x7fffffffd310, current_frame=0, dataset_string="kitti")
    at /home/sacusa/sd-apps/ciwt/src/sun_utils/datasets_dirty_utils.cpp:263
#13 0x0000000000c37d49 in main (argc=7, argv=0x7fffffffde08) at /home/sacusa/sd-apps/ciwt/apps/CIWT.cpp:503

For reference, it was compiled with GCC 4.8.5 and the exact versions of the dependencies written in the README.