ORB_SLAM3
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UZ-SLAMLab
Run "Examples/Monocular/mono_euroc" get "Segmentation fault (core dumped)"
num_seq = 1 Loading images for sequence 0...LOADED!
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: Monocular Loading settings from ./Examples/Monocular/EuRoC.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 -Loaded image info -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ] -Camera 1 distortion parameters: [ -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ] -Original image size: [ 752 , 480 ] -Current image size: [ 600 , 350 ] -Camera 1 parameters after resize: [ 365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ] -Sequence FPS: 20 -Features per image: 1000 -ORB scale factor: 1.2000000476837158 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: There are 1 cameras in the atlas Camera 0 is pinhole First KF:0; Map init KF:0 New Map created with 346 points Segmentation fault (core dumped)
You can try removing native flag when building g2o and ORB_SLAM3. I met same problem with RGB-D example and removing fixed that.
example
I have removed -march=native in g2o and ORB_SLAM3, and rebuild.
But Segmentation fault still occurs.
I figure out SaveAtlas() result in this error, but I have no idea how to solve this.
You can try removing native flag when building g2o and ORB_SLAM3. I met same problem with RGB-D example and removing fixed that.
Could u please help me finding the native flag?
You may need to reconstruct the data.csv, the format of "path_to_times_file" should be the name of the image, see this line and this line
Have you solved it? I have the same problem. Can you help me?
In case anyone else has this issue, the flags mentioned by @lacie-life can be found in ORB-SLAM3/CMakeLists.txt lines 11-12 and ORB-SLAM3/Thirdparty/g2o/CMakeLists.txt lines 54-55. This fixed the issue for me, but it would be nice if someone could explain why this was an issue in the first place!
