Crash in Ogre::AxisAlignedBox triggered by invalid camera clip planes (extreme near) #584
Description
Environment
- OS Version: Ubuntu noble
- Source or binary build?
Source , gz-sensors10
Description
- Expected behavior: not crash but warning or error msg
- Actual behavior: crash
build option : Coverage
Steps to reproduce
- gz sim -r crash.sdf
- crash
caused by
<clip>
<near>1e308</near>
<far>10.0</far>
</clip>Output
gz-sim-main: ./OgreMain/include/OgreAxisAlignedBox.h:250: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Stack trace (most recent call last) in thread 1142219:
#31 Object "", at 0xffffffffffffffff, in
#30 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x738ab8129c6b]
#29 Source "./nptl/pthread_create.c", line 447, in start_thread [0x738ab809caa3]
#28 Source "../../../../../src/libstdc++-v3/src/c++11/thread.cc", line 104, in execute_native_thread_routine [0x738ab84ecdb3]
#27 Source "/usr/include/c++/13/bits/std_thread.h", line 244, in _M_run [0x738aa43f7caf]
241: { }
242:
243: void
> 244: _M_run() { _M_func(); }
245: };
246:
247: void
#26 Source "/usr/include/c++/13/bits/std_thread.h", line 299, in operator() [0x738aa43fcd6d]
296: {
297: using _Indices
298: = typename _Build_index_tuple<tuple_size<_Tuple>::value>::__type;
> 299: return _M_invoke(_Indices());
300: }
301: };
#25 Source "/usr/include/c++/13/bits/std_thread.h", line 292, in _M_invoke<0, 1> [0x738aa4401d8a]
289: template<size_t... _Ind>
290: typename __result<_Tuple>::type
291: _M_invoke(_Index_tuple<_Ind...>)
> 292: { return std::__invoke(std::get<_Ind>(std::move(_M_t))...); }
293:
294: typename __result<_Tuple>::type
295: operator()()
#24 Source "/usr/include/c++/13/bits/invoke.h", line 96, in __invoke<void (gz::sim::v10::systems::SensorsPrivate::*)(), gz::sim::v10::systems::SensorsPrivate*> [0x738aa44062be]
93: using __result = __invoke_result<_Callable, _Args...>;
94: using __type = typename __result::type;
95: using __tag = typename __result::__invoke_type;
> 96: return std::__invoke_impl<__type>(__tag{}, std::forward<_Callable>(__fn),
97: std::forward<_Args>(__args)...);
98: }
#23 Source "/usr/include/c++/13/bits/invoke.h", line 74, in __invoke_impl<void, void (gz::sim::v10::systems::SensorsPrivate::*)(), gz::sim::v10::systems::SensorsPrivate*> [0x738aa440a047]
71: __invoke_impl(__invoke_memfun_deref, _MemFun&& __f, _Tp&& __t,
72: _Args&&... __args)
73: {
> 74: return ((*std::forward<_Tp>(__t)).*__f)(std::forward<_Args>(__args)...);
75: }
76:
77: template<typename _Res, typename _MemPtr, typename _Tp>
#22 Source "/home/momo/gz_jetty/src/gz-sim/src/systems/sensors/Sensors.cc", line 539, in RenderThread [0x738aa43363c9]
537: while (this->running)
538: {
> 539: this->RunOnce();
540: }
541:
542: this->eventManager->Emit<events::RenderTeardown>();
#21 Source "/home/momo/gz_jetty/src/gz-sim/src/systems/sensors/Sensors.cc", line 418, in RunOnce [0x738aa433518a]
415: {
416: GZ_PROFILE("Update");
417: std::unique_lock<std::mutex> timeLock(this->renderUtilMutex);
> 418: this->renderUtil.Update();
419: this->updateTimeApplied = this->updateTime;
420: this->updateTimeCv.notify_one();
421: }
#20 Source "/home/momo/gz_jetty/src/gz-sim/src/rendering/RenderUtil.cc", line 1323, in Update [0x738a9ef42cb9]
1320: }
1321:
1322: std::string sensorName =
>1323: this->dataPtr->createSensorCb(entity, dataSdf, parentNode->Name());
1324: // Add to the system's scene manager
1325: if (!this->dataPtr->sceneManager.AddSensor(entity, sensorName, parent))
1326: {
#19 Source "/usr/include/c++/13/bits/std_function.h", line 591, in operator() [0x738a9efe1eb8]
588: {
589: if (_M_empty())
590: __throw_bad_function_call();
> 591: return _M_invoker(_M_functor, std::forward<_ArgTypes>(__args)...);
592: }
593:
594: #if __cpp_rtti
#18 Source "/usr/include/c++/13/bits/std_function.h", line 291, in _M_invoke [0x738aa437137c]
288: _M_invoke(const _Any_data& __functor, _ArgTypes&&... __args)
289: {
290: return std::__invoke_r<_Res>(*_Base::_M_get_pointer(__functor),
> 291: std::forward<_ArgTypes>(__args)...);
292: }
293:
294: template<typename _Fn>
#17 Source "/usr/include/c++/13/bits/invoke.h", line 116, in __invoke_r<std::__cxx11::basic_string<char>, std::_Bind<std::__cxx11::basic_string<char> (gz::sim::v10::systems::Sensors::*(gz::sim::v10::systems::Sensors*, std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>))(long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char>&)>&, long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> [0x738aa438e877]
113: else
114: return std::__invoke_impl<__type>(__tag{},
115: std::forward<_Callable>(__fn),
> 116: std::forward<_Args>(__args)...);
117: }
118: #else // C++11 or C++14
119: // This is a non-SFINAE-friendly std::invoke_r<R>(fn, args...) for C++11/14.
#16 Source "/usr/include/c++/13/bits/invoke.h", line 61, in __invoke_impl<std::__cxx11::basic_string<char>, std::_Bind<std::__cxx11::basic_string<char> (gz::sim::v10::systems::Sensors::*(gz::sim::v10::systems::Sensors*, std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>))(long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char>&)>&, long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> [0x738aa43a5a95]
58: template<typename _Res, typename _Fn, typename... _Args>
59: constexpr _Res
60: __invoke_impl(__invoke_other, _Fn&& __f, _Args&&... __args)
> 61: { return std::forward<_Fn>(__f)(std::forward<_Args>(__args)...); }
62:
63: template<typename _Res, typename _MemFun, typename _Tp, typename... _Args>
64: constexpr _Res
#15 Source "/usr/include/c++/13/functional", line 593, in operator()<long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> [0x738aa43bbad1]
590: {
591: return this->__call<_Result>(
592: std::forward_as_tuple(std::forward<_Args>(__args)...),
> 593: _Bound_indexes());
594: }
595:
596: // Call as const
#14 Source "/usr/include/c++/13/functional", line 508, in __call<std::__cxx11::basic_string<char>, long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, 0, 1, 2, 3> [0x738aa43ce67a]
505: {
506: return std::__invoke(_M_f,
507: _Mu<_Bound_args>()(std::get<_Indexes>(_M_bound_args), __args)...
> 508: );
509: }
510:
511: // Call as const
#13 Source "/usr/include/c++/13/bits/invoke.h", line 97, in __invoke<std::__cxx11::basic_string<char> (gz::sim::v10::systems::Sensors::*&)(long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char>&), gz::sim::v10::systems::Sensors*&, long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> [0x738aa43dbc35]
94: using __type = typename __result::type;
95: using __tag = typename __result::__invoke_type;
96: return std::__invoke_impl<__type>(__tag{}, std::forward<_Callable>(__fn),
> 97: std::forward<_Args>(__args)...);
98: }
99:
100: #if __cplusplus >= 201703L
#12 Source "/usr/include/c++/13/bits/invoke.h", line 74, in __invoke_impl<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char> (gz::sim::v10::systems::Sensors::*&)(long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char>&), gz::sim::v10::systems::Sensors*&, long unsigned int const&, const sdf::v16::Sensor&, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> [0x738aa43e6178]
71: __invoke_impl(__invoke_memfun_deref, _MemFun&& __f, _Tp&& __t,
72: _Args&&... __args)
73: {
> 74: return ((*std::forward<_Tp>(__t)).*__f)(std::forward<_Args>(__args)...);
75: }
76:
77: template<typename _Res, typename _MemPtr, typename _Tp>
#11 Source "/home/momo/gz_jetty/src/gz-sim/src/systems/sensors/Sensors.cc", line 1185, in CreateSensor [0x738aa433fbaa]
1183: // Set the scene so it can create the rendering sensor
1184: auto renderingSensor = dynamic_cast<sensors::RenderingSensor *>(sensor);
>1185: renderingSensor->SetScene(this->dataPtr->scene);
1186: renderingSensor->SetParent(_parentName);
1187: renderingSensor->SetManualSceneUpdate(true);
#10 Source "/home/momo/gz_jetty/src/gz-sensors/src/DepthCameraSensor.cc", line 531, in SetScene [0x738aad6a8ee5]
528: RenderingSensor::SetScene(_scene);
529:
530: if (this->dataPtr->initialized)
> 531: this->CreateCamera();
532: }
533: }
#9 Source "/home/momo/gz_jetty/src/gz-sensors/src/DepthCameraSensor.cc", line 423, in CreateCamera [0x738aad6a7365]
421: this->Scene()->RootVisual()->AddChild(this->dataPtr->depthCamera);
422:
> 423: this->UpdateLensIntrinsicsAndProjection(this->dataPtr->depthCamera,
424: *cameraSdf);
425:
426: // Create the directory to store frames
#8 Source "/home/momo/gz_jetty/src/gz-sensors/src/CameraSensor.cc", line 770, in UpdateLensIntrinsicsAndProjection [0x738aac323d65]
767: {
768: auto intrinsicMatrix =
769: gz::rendering::projectionToCameraIntrinsic(
> 770: _camera->ProjectionMatrix(),
771: _camera->ImageWidth(),
772: _camera->ImageHeight()
773: );
#7 Source "/home/momo/gz_jetty/src/gz-rendering/ogre2/src/Ogre2DepthCamera.cc", line 1018, in ProjectionMatrix [0x738a8d23947d]
1015: /////////////////////////////////////////////////
1016: math::Matrix4d Ogre2DepthCamera::ProjectionMatrix() const
1017: {
>1018: return Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix());
1019: }
1020:
1021: /////////////////////////////////////////////////
#6 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x738a8c5bb208, in Ogre::Frustum::getProjectionMatrix() const
#5 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x738a8c5c50dc, in Ogre::Frustum::updateFrustumImpl() const
#4 Source "./assert/assert.c", line 105, in __assert_fail [0x738ab803b516]
#3 Source "./assert/assert.c", line 96, in __assert_fail_base [0x738ab802881a]
#2 Source "./stdlib/abort.c", line 79, in abort [0x738ab80288fe]
#1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x738ab804527d]
#0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
| Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x738ab809eb2c]
Aborted (Signal sent by tkill() 1142168 1000)