TUM frequent loss of tracking, operation interruption, segmentation fault.

[zs1013]

Hello, I am running code on Ubuntu 20.04 and am confident that the versions of DBoW and g2o are correct. However, I frequently experience tracking loss while running several TUM sequences, such as in the "freiburg3_cabinet" sequence.

[2024-10-16 22:24:45.111] [I] config file loaded: ./example/tum_rgbd/TUM_RGBD_mono_3.yaml

---

Structure PLP-SLAM: Copyright (C) 2022, Department Augmented Vision, DFKI, Germany. All rights reserved.

This is free software, and you are welcome to redistribute it under certain conditions. See the LICENSE file.

Camera Configuration:

• name: TUM RGBD monocular 03
• setup: Monocular
• fps: 30
• cols: 640
• rows: 480
• color: RGB
• model: Perspective
  • fx: 535.4
  • fy: 539.2
  • cx: 320.1
  • cy: 247.6
  • k1: 0
  • k2: 0
  • p1: 0
  • p2: 0
  • k3: 0
  • min x: 0
  • max x: 640
  • min y: 0
  • max y: 480

ORB Configuration:

• number of keypoints: 1000
• scale factor: 1.2
• number of levels: 8
• initial fast threshold: 20
• minimum fast threshold: 7

Other Configuration: PangolinViewer:

• camera_line_width: 3
• camera_size: 0.08
• graph_line_width: 1
• keyframe_line_width: 1
• keyframe_size: 0.05
• point_size: 2
• viewpoint_f: 400
• viewpoint_x: 0
• viewpoint_y: -0.9
• viewpoint_z: -1.9

[2024-10-16 22:24:45.118] [I] loading ORB vocabulary: ./orb_vocab/orb_vocab.dbow2 [2024-10-16 22:24:45.354] [I] >system< connect other module with PlanarMapping module [2024-10-16 22:24:45.355] [I] >tracking< link planar_mapper to tracker [2024-10-16 22:24:45.355] [I] startup SLAM system [2024-10-16 22:24:45.356] [I] start global optimization module [2024-10-16 22:24:45.356] [I] start mapping module [2024-10-16 22:24:46.010] [I] initialization succeeded with H [2024-10-16 22:24:46.014] [I] -- Initializer[Mono] -- trying to initialize plane [2024-10-16 22:24:46.015] [I] new map created with 55 points: frame 12 - frame 14 [2024-10-16 22:24:46.015] [I] new map created with 3 lines: frame 12 - frame 14 [2024-10-16 22:24:46.057] [I] tracking lost within 5 sec after initialization [2024-10-16 22:24:46.084] [I] resetting system [2024-10-16 22:24:46.086] [I] reset mapping module [2024-10-16 22:24:46.091] [I] reset global optimization module [2024-10-16 22:24:46.094] [I] clear BoW database [2024-10-16 22:24:46.094] [I] clear map database [2024-10-16 22:24:49.829] [I] initialization succeeded with F terminate called after throwing an instance of 'std::out_of_range' what(): vector::_M_range_check: __n (which is 6) >= this->size() (which is 0) *** Aborted at 1729088689 (unix time) try "date -d @1729088689" if you are using GNU date *** PC: @ 0x7f949fcd900b gsignal *** SIGABRT (@0x3e80008c9bd) received by PID 575933 (TID 0x7f947e299700) from PID 575933; stack trace: *** @ 0x7f94a0099420 (unknown) @ 0x7f949fcd900b gsignal @ 0x7f949fcb8859 abort @ 0x7f949ff418d1 (unknown) @ 0x7f949ff4d37c (unknown) @ 0x7f949ff4d3e7 std::terminate() @ 0x7f949ff4d699 __cxa_throw @ 0x7f949ff44369 (unknown) @ 0x7f94a1770977 PLPSLAM::optimize::global_bundle_adjuster::optimize() @ 0x7f94a16fabe9 PLPSLAM::module::initializer::create_map_for_monocular() @ 0x7f94a16fc28b PLPSLAM::module::initializer::initialize() @ 0x7f94a15fc830 PLPSLAM::tracking_module::initialize() @ 0x7f94a15fefc5 PLPSLAM::tracking_module::track() @ 0x7f94a15ffb85 PLPSLAM::tracking_module::track_monocular_image() @ 0x7f94a15ef498 PLPSLAM::system::feed_monocular_frame() @ 0x56238d557151 _ZZ13mono_trackingRKSt10shared_ptrIN7PLPSLAM6configEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESC_jbbbSC_ENKUlvE_clEv @ 0x7f949ff79df4 (unknown) @ 0x7f94a008d609 start_thread @ 0x7f949fdb5353 clone @ 0x0 (unknown) 已放弃 (核心已转储)