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Memory problem in the sdk example code #7

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Tianqi-correctai opened this issue Mar 15, 2024 · 0 comments
Open

Memory problem in the sdk example code #7

Tianqi-correctai opened this issue Mar 15, 2024 · 0 comments

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@Tianqi-correctai
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We tried to integrate the SDK into our product, but the source codes seem to have bugs.

$ valgrind ./sample

==12504== Memcheck, a memory error detector
==12504== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==12504== Using Valgrind-3.15.0 and LibVEX; rerun with -h for copyright info
==12504== Command: /home/correct-ai/HesaiLidar_SDK_2.0/build/sample
==12504== 
[sudo] password for correct-ai: 
-------- Hesai Lidar SDK V2.0.5 --------
logger start to run
PtcClient::PtcClient()192.168.1.2019347
virtual bool hesai::lidar::TcpClient::Open(std::string, uint16_t, bool, const char*, const char*, const char*)IP192.168.1.201port9347
TcpClient::Close()
==12504== Warning: invalid file descriptor -1 in syscall close()
Open succeed, IP192.168.1.201port9347
OS current udp socket recv buff size is: 800000000
SocketSource::Open succeed, sock:5
Lidar::Recieve Udp Thread start to run
set thread 453927232, tid 12530, policy 1 and priority 70
get thead 453927232, tid 12530, policy 0 and priority 0
Lidar::ParserThread start to run
set thread 462319936, tid 12531, policy 1 and priority 70
get thead 462319936, tid 12531, policy 0 and priority 0
==12504== Thread 4:
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x12D260: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
PtcClient::QueryCommand, warning, nPayLoadLen too large:153641
exec time: 2369.426025ms
Open firetime file failed
==12504== Thread 5:
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x127D8C: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x127DD4: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Thread 4:
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50635EC: sincosf (s_sincosf.c:45)
==12504==    by 0x12D153: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50635F8: sincosf (s_sincosf.c:49)
==12504==    by 0x12D153: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50637F8: sincosf (s_sincosf.c:52)
==12504==    by 0x12D153: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50635EC: sincosf (s_sincosf.c:45)
==12504==    by 0x12D167: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50635F8: sincosf (s_sincosf.c:49)
==12504==    by 0x12D167: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50637F8: sincosf (s_sincosf.c:52)
==12504==    by 0x12D167: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50635EC: sincosf (s_sincosf.c:45)
==12504==    by 0x12D17B: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50635F8: sincosf (s_sincosf.c:49)
==12504==    by 0x12D17B: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x50637F8: sincosf (s_sincosf.c:52)
==12504==    by 0x12D17B: hesai::lidar::GeneralParser<hesai::lidar::LidarPointXYZIRT>::TransformPoint(float&, float&, float&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x12D33F: hesai::lidar::Udp7_2Parser<hesai::lidar::LidarPointXYZIRT>::ComputeXYZI(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT>&, hesai::lidar::LidarDecodedPacket<hesai::lidar::LidarPointXYZIRT>&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125D03: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::ParserThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Thread 5:
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x127DE8: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
Time between last frame and cur frame is: -211 us
==12504== Use of uninitialised value of size 8
==12504==    at 0x118E74: lidarCallback(hesai::lidar::LidarDecodedFrame<hesai::lidar::LidarPointXYZIRT> const&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x127E03: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Use of uninitialised value of size 8
==12504==    at 0x512E310: _itoa_word (_itoa.c:179)
==12504==    by 0x51433E3: __vfprintf_internal (vfprintf-internal.c:1687)
==12504==    by 0x51C79AF: __printf_chk (printf_chk.c:33)
==12504==    by 0x127E03: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x512E318: _itoa_word (_itoa.c:179)
==12504==    by 0x51433E3: __vfprintf_internal (vfprintf-internal.c:1687)
==12504==    by 0x51C79AF: __printf_chk (printf_chk.c:33)
==12504==    by 0x127E03: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x5143FE8: __vfprintf_internal (vfprintf-internal.c:1687)
==12504==    by 0x51C79AF: __printf_chk (printf_chk.c:33)
==12504==    by 0x127E03: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== Conditional jump or move depends on uninitialised value(s)
==12504==    at 0x51434B0: __vfprintf_internal (vfprintf-internal.c:1687)
==12504==    by 0x51C79AF: __printf_chk (printf_chk.c:33)
==12504==    by 0x127E03: hesai::lidar::HesaiLidarSdk<hesai::lidar::LidarPointXYZIRT>::Run() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
frame:0 points:13320 packet:110 start time:24747.176999 end time:24747.246599
Time between last frame and cur frame is: 157937 us
frame:1 points:19200 packet:159 start time:24747.247899 end time:24747.346599
frame:2 points:19200 packet:159 start time:24747.347899 end time:24747.446599
frame:3 points:19200 packet:159 start time:24747.447899 end time:24747.546599
frame:4 points:19200 packet:159 start time:24747.547899 end time:24747.646599
frame:5 points:19680 packet:163 start time:24747.647899 end time:24747.746599
frame:6 points:19680 packet:163 start time:24747.747899 end time:24747.846599
frame:7 points:19680 packet:163 start time:24747.847899 end time:24747.946599
frame:8 points:19680 packet:163 start time:24747.947899 end time:24748.046599
frame:9 points:19680 packet:163 start time:24748.047899 end time:24748.146599
frame:10 points:19680 packet:163 start time:24748.147899 end time:24748.246598
frame:11 points:19680 packet:163 start time:24748.247898 end time:24748.346598
frame:12 points:19680 packet:163 start time:24748.347898 end time:24748.446598
frame:13 points:19680 packet:163 start time:24748.447898 end time:24748.546598
frame:14 points:19680 packet:163 start time:24748.547898 end time:24748.646598
frame:15 points:19680 packet:163 start time:24748.647898 end time:24748.746598
frame:16 points:19680 packet:163 start time:24748.747898 end time:24748.846598
frame:17 points:19680 packet:163 start time:24748.847898 end time:24748.946598
frame:18 points:19680 packet:163 start time:24748.947898 end time:24749.046598
frame:19 points:19680 packet:163 start time:24749.047898 end time:24749.146598
frame:20 points:19800 packet:164 start time:24749.147898 end time:24749.246598
frame:21 points:19680 packet:163 start time:24749.247898 end time:24749.346598
frame:22 points:19800 packet:164 start time:24749.347898 end time:24749.446598
frame:23 points:19680 packet:163 start time:24749.447898 end time:24749.546598
frame:24 points:19800 packet:164 start time:24749.547898 end time:24749.646598
frame:25 points:19800 packet:164 start time:24749.647898 end time:24749.746598
frame:26 points:19680 packet:163 start time:24749.747898 end time:24749.846598
frame:27 points:19680 packet:163 start time:24749.847898 end time:24749.946598
frame:28 points:19200 packet:159 start time:24749.947898 end time:24750.046598
Time between last frame and cur frame is: 152129 us
frame:29 points:19200 packet:159 start time:24750.047898 end time:24750.146597
Time between last frame and cur frame is: 164200 us
frame:30 points:19200 packet:159 start time:24750.147897 end time:24750.246597
Time between last frame and cur frame is: 169864 us
frame:31 points:19200 packet:159 start time:24750.247897 end time:24750.346597
Time between last frame and cur frame is: 150180 us
frame:32 points:19200 packet:159 start time:24750.347897 end time:24750.446597
Time between last frame and cur frame is: 153033 us
frame:33 points:19200 packet:159 start time:24750.447897 end time:24750.546597
Time between last frame and cur frame is: 161839 us
frame:34 points:19200 packet:159 start time:24750.547897 end time:24750.646597
Time between last frame and cur frame is: 158222 us
frame:35 points:19200 packet:159 start time:24750.647897 end time:24750.746597
Time between last frame and cur frame is: 156854 us
frame:36 points:19200 packet:159 start time:24750.747897 end time:24750.846597
Time between last frame and cur frame is: 152732 us
frame:37 points:19200 packet:159 start time:24750.847897 end time:24750.946597
Time between last frame and cur frame is: 158051 us
frame:38 points:19200 packet:159 start time:24750.947897 end time:24751.046597
Time between last frame and cur frame is: 158314 us
frame:39 points:19200 packet:159 start time:24751.047897 end time:24751.146597
Time between last frame and cur frame is: 159394 us
frame:40 points:19200 packet:159 start time:24751.147897 end time:24751.246597
Time between last frame and cur frame is: 159979 us
frame:41 points:19200 packet:159 start time:24751.247897 end time:24751.346597
Time between last frame and cur frame is: 158125 us
frame:42 points:19200 packet:159 start time:24751.347897 end time:24751.446597
Time between last frame and cur frame is: 160574 us
frame:43 points:19200 packet:159 start time:24751.447897 end time:24751.546596
Time between last frame and cur frame is: 162855 us
frame:44 points:19200 packet:159 start time:24751.547896 end time:24751.646596
Time between last frame and cur frame is: 159933 us
frame:45 points:19200 packet:159 start time:24751.647896 end time:24751.746596
Time between last frame and cur frame is: 160442 us
frame:46 points:19200 packet:159 start time:24751.747896 end time:24751.846596
Time between last frame and cur frame is: 158796 us
frame:47 points:19200 packet:159 start time:24751.847896 end time:24751.946596
Time between last frame and cur frame is: 161713 us
frame:48 points:19200 packet:159 start time:24751.947896 end time:24752.046596
Time between last frame and cur frame is: 158823 us
frame:49 points:19200 packet:159 start time:24752.047896 end time:24752.146596
Time between last frame and cur frame is: 156413 us
frame:50 points:19200 packet:159 start time:24752.147896 end time:24752.246596
Time between last frame and cur frame is: 162592 us
frame:51 points:19200 packet:159 start time:24752.247896 end time:24752.346596
Time between last frame and cur frame is: 157105 us
frame:52 points:19200 packet:159 start time:24752.347896 end time:24752.446596
Time between last frame and cur frame is: 169172 us
frame:53 points:19200 packet:159 start time:24752.447896 end time:24752.546596
frame:54 points:19200 packet:159 start time:24752.547896 end time:24752.646596
Time between last frame and cur frame is: 156064 us
frame:55 points:19200 packet:159 start time:24752.647896 end time:24752.746596
^C==12504== 
==12504== Process terminating with default action of signal 2 (SIGINT)
==12504==    at 0x484F0A8: __GI_memcpy (in /usr/lib/aarch64-linux-gnu/valgrind/vgpreload_memcheck-arm64-linux.so)
==12504==    by 0x125F13: void hesai::lidar::Ring<hesai::lidar::UdpPacket, 36000ul>::emplace_back<hesai::lidar::UdpPacket&>(hesai::lidar::UdpPacket&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x125FD3: void hesai::lidar::BlockingRing<hesai::lidar::UdpPacket, 36000ul>::emplace_back<hesai::lidar::UdpPacket&>(hesai::lidar::UdpPacket&) (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x1261BF: hesai::lidar::Lidar<hesai::lidar::LidarPointXYZIRT>::RecieveUdpThread() (in /home/correct-ai/HesaiLidar_SDK_2.0/build/sample)
==12504==    by 0x4A7B623: ??? (in /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.71.0)
==12504==    by 0x4E0B623: start_thread (pthread_create.c:477)
==12504==    by 0x51BA49B: thread_start (clone.S:78)
==12504== 
==12504== HEAP SUMMARY:
==12504==     in use at exit: 398,343,310 bytes in 51 blocks
==12504==   total heap usage: 71 allocs, 20 frees, 399,141,224 bytes allocated
==12504== 
==12504== LEAK SUMMARY:
==12504==    definitely lost: 153,632 bytes in 2 blocks
==12504==    indirectly lost: 0 bytes in 0 blocks
==12504==      possibly lost: 1,280 bytes in 4 blocks
==12504==    still reachable: 398,188,398 bytes in 45 blocks
==12504==                       of which reachable via heuristic:
==12504==                         newarray           : 296 bytes in 1 blocks
==12504==         suppressed: 0 bytes in 0 blocks
==12504== Rerun with --leak-check=full to see details of leaked memory
==12504== 
==12504== Use --track-origins=yes to see where uninitialised values come from
==12504== For lists of detected and suppressed errors, rerun with: -s
==12504== ERROR SUMMARY: 9741641 errors from 18 contexts (suppressed: 0 from 0)
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