{"id":118,"date":"2024-03-11T23:52:33","date_gmt":"2024-03-11T15:52:33","guid":{"rendered":"https:\/\/ultserver.com\/blog\/?p=118"},"modified":"2024-03-20T17:31:59","modified_gmt":"2024-03-20T09:31:59","slug":"%e5%90%8c%e6%97%b6%e9%93%be%e6%8e%a5-ipopt-%e4%b8%8e-open3d-%e5%af%bc%e8%87%b4-segment-fault-%e7%9a%84%e5%8e%9f%e5%9b%a0%e5%88%86%e6%9e%90%e4%b8%8e%e8%a7%a3%e5%86%b3%e6%96%b9%e6%a1%88","status":"publish","type":"post","link":"https:\/\/ultserver.com\/blog\/cpp\/%e5%90%8c%e6%97%b6%e9%93%be%e6%8e%a5-ipopt-%e4%b8%8e-open3d-%e5%af%bc%e8%87%b4-segment-fault-%e7%9a%84%e5%8e%9f%e5%9b%a0%e5%88%86%e6%9e%90%e4%b8%8e%e8%a7%a3%e5%86%b3%e6%96%b9%e6%a1%88\/","title":{"rendered":"\u540c\u65f6\u94fe\u63a5 Ipopt \u4e0e Open3D \u5bfc\u81f4 Segment Fault \u7684\u539f\u56e0\u5206\u6790\u4e0e\u89e3\u51b3\u65b9\u6848"},"content":{"rendered":"\n

\u4ee5\u4e0b\u5185\u5bb9\u603b\u7ed3\u81ea\u672c\u4eba\u4e0e Ipopt \u5f00\u53d1\u8005\u7684\u8ba8\u8bba<\/a>\u3002<\/p>\n\n\n\n

\u95ee\u9898\u63cf\u8ff0<\/h2>\n\n\n\n

\u5728\u5f00\u53d1\u9879\u76ee\u65f6\uff0c\u628a Ipopt \u548c Open3D \u94fe\u63a5\u5230\u4e86\u540c\u4e00\u4e2a C++ \u9879\u76ee\u4e2d\uff0c\u4f7f\u7528\u7684CMake\u4ee3\u7801\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n

CMake<\/span><\/path><\/path><\/svg><\/span>
cmake_minimum_required<\/span>(VERSION 3.26)<\/span><\/span>\nproject<\/span>(link_test)<\/span><\/span>\n<\/span>\nset<\/span>(CMAKE_CXX_STANDARD 17)<\/span><\/span>\n<\/span>\nfind_package<\/span>(Open3D REQUIRED)<\/span><\/span>\n<\/span>\nadd_executable<\/span>(link_test main.cpp myTNLP.cpp myTNLP.h)<\/span><\/span>\n<\/span>\ntarget_link_libraries<\/span>(link_test PRIVATE ipopt Open3D::Open3D)   <\/span># Segment fault occurs<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u7f16\u8bd1\u4e00\u5207\u6b63\u5e38\uff0c\u4f46\u662f\u5728\u8fd0\u884c\u65f6\u7a0b\u5e8f\u7ed9\u51fa\u4e86 Segment Fault\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff08\u63a5\u53d6\u81eaClion Debugger\uff09\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4f46\u662f Ipopt \u4e0e Open3D \u90fd\u80fd\u591f\u6b63\u5e38\u72ec\u7acb\u8fd0\u884c\uff0c\u53ea\u6709\u5728\u5c06\u4e24\u4e2a\u5e93\u94fe\u63a5\u5728\u4e00\u4e2a\u9879\u76ee\u65f6\uff0c\u4f1a\u51fa\u73b0\u8be5\u95ee\u9898\u3002<\/p>\n\n\n\n
\u539f\u56e0<\/h2>\n\n\n\n
\u5728\u54a8\u8be2 Ipopt \u5f00\u53d1\u8005\u540e\uff0c\u4ed6\u63d0\u5230\u7531\u4e8e Segment Fault \u662f MKL \u5e93\u6267\u884c\u65f6\u4ea7\u751f\u7684\uff0c\u6240\u4ee5\u95ee\u9898\u5f88\u6709\u53ef\u80fd\u662f\u7531\u4e8e Open3D \u4f7f\u7528\u7684 MKL \u5e93\u4e0e Ipopt \u4f7f\u7528\u7684 BLAS \u5e93\u51b2\u7a81\u5bfc\u81f4\u7684\uff0c\u4f8b\u5982 Ipopt \u4f7f\u752832\u4f4d\u6574\u578b\u63a5\u53e3\uff0c\u5982\u679c Open3D \u4f7f\u7528\u7684 MKL \u5e93\u662f64\u4f4d\u6574\u578b\u7684\uff0c\u5c31\u4f1a\u5bfc\u81f4\u51b2\u7a81\uff08MKL \u4e2d\u5305\u542b BLAS \u7684\u5b9e\u73b0\uff09\u3002\u56e0\u6b64\u4f7f\u7528\u9759\u6001 BLAS \u5e93\u6784\u5efa Ipopt \u5e94\u8be5\u80fd\u591f\u89e3\u51b3\u8be5\u95ee\u9898\u3002<\/p>\n\n\n\n
\u6211\u6309\u7167 Ipopt \u5f00\u53d1\u8005\u7ed9\u51fa\u7684\u601d\u8def\uff0c\u901a\u8fc7\u9605\u8bfb Open3D \u7684 CMake \u4ee3\u7801<\/a> \uff0c\u53d1\u73b0 Open3D \u786e\u5b9e\u4f7f\u7528\u4e8664\u4f4d\u6574\u578b\u7684MKL\u5e93\uff08libmkl_intel_ilp64.a\uff09\u3002<\/p>\n\n\n\n
\u89e3\u51b3\u65b9\u6848<\/h2>\n\n\n\n
OpenBLAS<\/h3>\n\n\n\n
\u5728\u914d\u7f6eIpopt\u65f6\u4f7f\u7528\u4e0b\u8ff0\u6807\u5fd7\uff1a<\/p>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
--with-lapack-lflags<\/span>=<\/span>"-Wl,--no-as-needed \/opt\/OpenBLAS\/lib\/libopenblas.so -lm"<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u5373\u53ef\u5f97\u5230\u4f7f\u7528\u9759\u6001 OpenBLAS \u5e93\u4f5c\u4e3a BLAS \u7684 Ipopt \u7248\u672c\u3002\u5c06\u8be5\u7248\u672c\u7684 Ipopt \u4e0e Open3D \u94fe\u63a5\u5230\u540c\u4e00\u4e2a\u9879\u76ee\u4e0d\u4f1a\u51fa\u73b0 Segment Fault\u3002<\/p>\n\n\n\n
MKL<\/h3>\n\n\n\n
\u5728\u914d\u7f6eIpopt\u65f6\u4f7f\u7528\u4ece MKL link line advisor<\/a> \u5de5\u5177\u4e2d\u5f97\u5230\u7684\u6807\u5fd7\uff1a<\/p>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
--with-lapack-lflags<\/span>=<\/span>"-Wl,--start-group <\/span>\\<\/span><\/span>\n${<\/span>MKLROOT<\/span>}\/lib\/intel64\/libmkl_intel_lp64.a <\/span>\\<\/span><\/span>\n${<\/span>MKLROOT<\/span>}\/lib\/intel64\/libmkl_gnu_thread.a <\/span>\\<\/span><\/span>\n${<\/span>MKLROOT<\/span>}\/lib\/intel64\/libmkl_core.a -Wl,--end-group -lgomp -lpthread -lm -ldl"<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u7136\u800c\u4f7f\u7528\u4e0a\u8ff0\u6807\u5fd7\u867d\u7136\u80fd\u591f\u6b63\u5e38\u7f16\u8bd1\u51fa Ipopt \u5e93\uff0c\u4f46\u662f\u5728\u7f16\u8bd1 Ipopt \u7684\u6d4b\u8bd5\u4ee3\u7801\u65f6\uff0c\u94fe\u63a5\u5668\u629b\u51fa\u4e86\u5927\u91cf\u7684 Undefined Reference \u62a5\u9519\uff1a<\/p>\n\n\n\n
ShellSession<\/span><\/path><\/path><\/svg><\/span>
\/usr\/bin\/ld: ..\/src\/.libs\/libipopt.so: undefined reference to `mkl_pds_lp64_ch_blkldlslvs_ooc_pardiso'<\/span><\/span>\n\/usr\/bin\/ld: ..\/src\/.libs\/libipopt.so: undefined reference to `mkl_blas_lp64_zscal'<\/span><\/span>\n...<\/span><\/span>\n\/usr\/bin\/ld: ..\/src\/.libs\/libipopt.so: undefined reference to `mkl_pds_pds_her_indef_bk_fct_slv_cmplx'<\/span><\/span>\n\/usr\/bin\/ld: ..\/src\/.libs\/libipopt.so: undefined reference to `mkl_pds_lp64_sp_pds_copy_a2l_value_omp_cmplx'<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
ar<\/span> <\/span>x<\/span> <\/span>\/usr\/lib\/x86_64-linux-gnu\/libmkl_intel_lp64.a<\/span><\/span>\nar<\/span> <\/span>x<\/span> <\/span>\/usr\/lib\/x86_64-linux-gnu\/libmkl_gnu_thread.a<\/span><\/span>\nar<\/span> <\/span>x<\/span> <\/span>\/usr\/lib\/x86_64-linux-gnu\/libmkl_core.a<\/span><\/span>\n<\/span>\nfind<\/span> <\/span>-name<\/span> <\/span>"*.o"<\/span> | <\/span>xargs<\/span> <\/span>ar<\/span> <\/span>-qc<\/span> <\/span>.\/lib\/libmkl_merged.a<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u4f7f\u7528\u4e0b\u8ff0\u6807\u5fd7\u5373\u53ef\u4f7f\u7528\u5408\u5e76\u540e\u7684\u9759\u6001\u5e93\u6784\u5efaIpopt\uff1a<\/p>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
--with-lapack-lflags<\/span>=<\/span>"-Wl,--no-as-needed \/path\/to\/merged\/lib\/libmkl_merged.a -lgomp -lpthread -lm -ldl"<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u6784\u5efa\u5f97\u5230\u7684\u65b0 Ipopt \u5e93\uff0c\u53ef\u4ee5\u6b63\u5e38\u7684\u4e0e Open3D \u8fdb\u884c\u94fe\u63a5\uff0c\u80fd\u591f\u6b63\u5e38\u4f7f\u7528\u3002<\/p>\n\n\n\n
\u4f46\u662f\uff0c\u4e0a\u8ff0\u8fc7\u7a0b\u65e0\u6cd5\u89e3\u91ca\u4e3a\u4ec0\u4e48\u901a\u8fc7 MKL link line advisor \u751f\u6210\u7684\u6307\u4ee4\u6784\u5efa\u7684 Ipopt \u5e93\u4f1a\u51fa\u73b0 Undefined Reference \u7684\u95ee\u9898\u3002<\/p>\n\n\n\n
\u5728\u8c03\u67e5\u4e00\u6bb5\u65f6\u95f4\u4f46\u662f\u6ca1\u6709\u7ed3\u679c\u540e\uff0c\u6211\u518d\u6b21\u8be2\u95ee\u4e86 Ipopt \u5f00\u53d1\u8005\uff0c\u4ed6\u6307\u51fa\uff0c\u8be5\u95ee\u9898\u662f\u7531\u4e8e libtool \u4f1a\u91cd\u6784\u94fe\u63a5\u6807\u5fd7\u7684\u6b21\u5e8f\uff0c\u4f7f\u5f97\u9759\u6001\u5e93\u4e0d\u518d\u4f4d\u4e8e --start-group<\/code> \u4e0e --end-group<\/code> \u4e4b\u95f4\uff0c\u4ece\u800c\u5bfc\u81f4\u5faa\u73af\u4f9d\u8d56\u65e0\u6cd5\u88ab\u89e3\u51b3\u3002\u800c\u5c06\u9759\u6001\u5e93\u5408\u5e76\u6210\u4e00\u4e2a\uff0c\u5728\u89e3\u51b3\u4e86\u5faa\u73af\u4f9d\u8d56\u7684\u540c\u65f6\u7ed5\u5f00\u4e86\u8be5\u95ee\u9898\uff0c\u56e0\u6b64\u751f\u6210\u7684 Ipopt \u5e93\u80fd\u591f\u6b63\u5e38\u4f7f\u7528\u3002<\/p>\n\n\n\n
\u6309\u7167 Ipopt \u5f00\u53d1\u8005\u7ed9\u51fa\u7684\u601d\u8def\uff0c\u6211\u901a\u8fc7\u4e0b\u8ff0\u6307\u4ee4\u67e5\u770b\u4e86 libtool \u5b9e\u9645\u751f\u6210\u7684\u94fe\u63a5\u6307\u4ee4\uff1a<\/p>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
make<\/span> <\/span>V=<\/span>1<\/span> | <\/span>grep<\/span> <\/span>link<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u53d1\u73b0\u4f7f\u7528 MKL link line advisor \u7ed9\u51fa\u7684\u6307\u4ee4\u6784\u5efa Ipopt \u65f6\u7684\u5b9e\u9645\u94fe\u63a5\u6307\u4ee4\u4e3a\uff1a<\/p>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
g++<\/span> <\/span>...<\/span> <\/span>libmkl_intel_lp64.a<\/span> <\/span>libmkl_gnu_thread.a<\/span> <\/span>libmkl_core.a<\/span> <\/span>-lgomp<\/span> <\/span>-lpthread<\/span> <\/span>-lm<\/span> <\/span>-ldl<\/span> <\/span>\\<\/span><\/span>\n-Wl,--no-as-needed <\/span>-Wl,--start-group<\/span> <\/span>-Wl,--end-group<\/span> <\/span>...<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u53ef\u4ee5\u770b\u5230\uff0c\u9759\u6001\u5e93\u88ab\u8c03\u6574\u5230 --start-group<\/code> \u4e0e --end-group<\/code> \u4e4b\u5916\uff0c\u56e0\u6b64 --start-group<\/code> \u4e0e --end-group<\/code> \u6ca1\u6709\u8d77\u5230\u5b9e\u9645\u4f5c\u7528\uff0c\u65e0\u6cd5\u89e3\u51b3\u5faa\u73af\u4f9d\u8d56\u3002<\/p>\n\n\n\n
\u5728\u9605\u8bfb\u6b64 Debian \u7684 Bug \u53cd\u9988\u7f51\u9875<\/a>(\u8be5\u7f51\u9875\u540c\u6837\u7ed9\u51fa\u4e86 libtool \u8c03\u6574\u6807\u5fd7\u6b21\u5e8f\u505a\u6cd5\u7684\u5408\u7406\u6027)\u540e\uff0c\u6211\u4e86\u89e3\u5230\u4e86\u89e3\u51b3\u8be5\u65b9\u6cd5\u7684\u4e00\u79cdheck\uff08\u4f7f\u7528\u9017\u53f7\u8fde\u63a5\u5404\u4e2a\u94fe\u63a5\u5668\u6807\u5fd7\uff09\uff1a<\/p>\n\n\n\n
ShellScript<\/span><\/path><\/path><\/svg><\/span>
--with-lapack-lflags<\/span>=<\/span>"-Wl,--no-as-needed -Wl,--start-group,<\/span>\\<\/span><\/span>\n${<\/span>MKLROOT<\/span>}\/lib\/intel64\/libmkl_intel_lp64.a,<\/span>\\<\/span><\/span>\n${<\/span>MKLROOT<\/span>}\/lib\/intel64\/libmkl_gnu_thread.a,<\/span>\\<\/span><\/span>\n${<\/span>MKLROOT<\/span>}\/lib\/intel64\/libmkl_core.a,--end-group <\/span>\\<\/span><\/span>\n-lgomp -lpthread -lm -ldl"<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u4f7f\u7528\u4e0a\u8ff0\u6807\u5fd7\uff0clibtool\u5c31\u80fd\u591f\u5c06\u6b63\u786e\u7684\u6807\u5fd7\u6b21\u5e8f\u4f20\u8f93\u7ed9\u94fe\u63a5\u5668\uff0c\u4ece\u800c\u89e3\u51b3\u5faa\u73af\u4f9d\u8d56\u7684\u95ee\u9898\uff0c\u751f\u6210\u80fd\u591f\u6b63\u5e38\u4f7f\u7528\u7684 Ipopt \u5e93\u3002<\/p>\n\n\n\n
\u603b\u7ed3<\/h2>\n\n\n\n
    \n
  1. \u89e3\u51b3\u94fe\u63a5\u76f8\u5173\u95ee\u9898\u65f6\uff0c\u9700\u8981\u4ece\u5b9e\u9645\u7684\u94fe\u63a5\u547d\u4ee4\u5165\u624b\uff0c\u4e0a\u5c42\u5c01\u88c5\u5f88\u96be\u53d1\u73b0\u95ee\u9898\u672c\u8d28\u3002<\/li>\n\n\n\n
  2. \u5728\u96be\u4ee5\u63a8\u8fdb\u65f6\u8fdb\u884c\u6c42\u52a9\uff0c\u53ef\u80fd\u80fd\u591f\u83b7\u5f97\u5f88\u597d\u7684\u601d\u8def\uff0c\u4ece\u800c\u5feb\u901f\u89e3\u51b3\u95ee\u9898\uff08\u5f53\u7136\u4e0d\u80fd\u8fc7\u4e8e\u4f9d\u8d56\u6c42\u52a9\uff09\u3002<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"
    \u5f00\u53d1\u9879\u76ee\u65f6\u53d1\u73b0\uff0c\u540c\u65f6\u94fe\u63a5  coin-or\/Ipopt \u548c Open3D \u4f1a\u5728\u8fd0\u884c\u65f6\u629b\u51fa Segment Fault\uff0c\u5728 Ipopt \u5f00\u53d1\u8005\u7684\u6307\u70b9\u4e0b\uff0c\u53d1\u73b0\u5bfc\u81f4\u95ee\u9898\u7684\u539f\u56e0\u662f\u4e24\u8005\u4f9d\u8d56\u7684 BLAS \u5e93\u51b2\u7a81\uff0c\u9700\u8981\u4f7f\u7528\u9759\u6001 BLAS \u5e93\u7f16\u8bd1 Ipopt\u3002\u672c\u6587\u5bf9\u5bfc\u81f4\u8be5\u95ee\u9898\u7684\u539f\u56e0\u8fdb\u884c\u4e86\u8bb0\u5f55\uff0c\u5e76\u5bf9\u4f7f\u7528\u9759\u6001 BLAS \u5e93\u7f16\u8bd1 Ipopt \u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u63a2\u7d22\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_uag_custom_page_level_css":"","wikipediapreview_detectlinks":true,"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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