3D Convex Hull with Coplanar Points about cilantro HOT 6 CLOSED

*** Error in `/home/shihao/Desktop/Humanoid-and-RMP/build/MyApp': invalid fastbin entry (free): 0x00000000030e75a0 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7ffff384f7e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7ffff385837a]
/lib/x86_64-linux-gnu/libc.so.6(+0x82d52)[0x7ffff385ad52]
/lib/x86_64-linux-gnu/libc.so.6(posix_memalign+0x11d)[0x7ffff385f71d]
/home/shihao/cilantro/build/libcilantro.so(_ZN8cilantro8colormapIfEEN5Eigen6MatrixIfLi3ELin1ELi0ELi3ELin1EEERKNS_18ConstDataMatrixMapIT_Ll1EEERKNS_12ColormapTypeES5_S5_+0x10b)[0x7ffff48cc4fb]
/home/shihao/cilantro/build/libcilantro.so(_ZN8cilantro22TriangleMeshRenderable16updateGPUBuffersERNS_16GPUBufferObjectsE+0x125e)[0x7ffff48cb30e]
/home/shihao/cilantro/build/libcilantro.so(_ZN8cilantro10Visualizer6renderEv+0x425)[0x7ffff48c1cf5]
/home/shihao/cilantro/build/libcilantro.so(_ZN8cilantro10Visualizer8spinOnceEv+0x11)[0x7ffff48c1e31]
/home/shihao/cilantro/build/libcilantro.so(_ZN8cilantro10Visualizer4spinEv+0x18)[0x7ffff48c1e58]
/home/shihao/Desktop/Humanoid-and-RMP/build/MyApp(_Z19ConvxHullGenerationRKSt6vectorIN6Math3D7Vector3ESaIS1_EE+0xfea)[0x59887a]
/home/shihao/Desktop/Humanoid-and-RMP/build/MyApp(main+0x63d)[0x57cf3d]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7ffff37f8830]
/home/shihao/Desktop/Humanoid-and-RMP/build/MyApp(_start+0x29)[0x580a29]

void ConvxHullGeneration(const std::vector<Vector3>& _SPVertices)
{
  // This function is used to generate the convex hull given the vertices
  std::vector<Eigen::Vector3f> Vertices;
  for (int i = 0; i < _SPVertices.size(); i++)
  {
    Vertices.emplace_back(_SPVertices[i].x,_SPVertices[i].y,_SPVertices[i].z);
  }
  Vertices.emplace_back(0, 0, 1);

  cilantro::PointCloud3f cloud(Vertices);
  cilantro::ConvexHull3f ch(cloud.points, true, false, eps_dist);
  cilantro::PointCloud3f hull_cloud(cloud, ch.getVertexPointIndices());

  cilantro::VectorSet3f vertex_colors(3, ch.getVertices().cols());
  std::vector<float> vertex_values(ch.getVertices().cols());
  for (size_t i = 0; i < ch.getVertices().cols(); i++) {
      if (i%3 == 0) vertex_colors.col(i) = Eigen::Vector3f(1,0,0);
      if (i%3 == 1) vertex_colors.col(i) = Eigen::Vector3f(0,1,0);
      if (i%3 == 2) vertex_colors.col(i) = Eigen::Vector3f(0,0,1);
      vertex_values[i] = ch.getVertices().col(i).norm();
  }

  std::cout<<ch.getFacetVertexIndices().size()<<endl;
  cilantro::VectorSet3f face_colors(3, ch.getFacetVertexIndices().size());
  std::vector<float> face_values(ch.getFacetVertexIndices().size());
  for (size_t i = 0; i < ch.getFacetVertexIndices().size(); i++) {
      if (i%3 == 0) face_colors.col(i) = Eigen::Vector3f(1,0,0);
      if (i%3 == 1) face_colors.col(i) = Eigen::Vector3f(0,1,0);
      if (i%3 == 2) face_colors.col(i) = Eigen::Vector3f(0,0,1);
      face_values[i] = (ch.getVertices().col(ch.getFacetVertexIndices()[i][0]) +
                   ch.getVertices().col(ch.getFacetVertexIndices()[i][1]) +
                   ch.getVertices().col(ch.getFacetVertexIndices()[i][2])).rowwise().mean().norm();
  }

  cilantro::Visualizer viz("3D convex hull", "disp");
  viz.addObject<cilantro::PointCloudRenderable>("cloud", cloud, cilantro::RenderingProperties().setOpacity(1.0));
  viz.addObject<cilantro::TriangleMeshRenderable>("mesh", ch.getVertices(), ch.getFacetVertexIndices())
          ->setVertexNormals(hull_cloud.normals).setVertexColors(vertex_colors).setVertexValues(vertex_values)
           .setFaceColors(face_colors).setFaceValues(face_values);

  cilantro::RenderingProperties rp = viz.getRenderingProperties("mesh");
  rp.setUseFaceNormals(true).setUseFaceColors(false).setOpacity(0.8).setColormapType(cilantro::ColormapType::BLUE2RED);
  viz.setRenderingProperties("mesh", rp);

  viz.spin();
  return;
}