RGB-D rosbag with TUM3.yaml config file shows core dumped Error with ROS example

[manishsaini0901]

System : Ubuntu 20.04 ROS : Noetic

I am using the following TUM3.yaml config file and trying to use the RGBD example of ROS but its throwing the following error which I think is common but every answer I found, it says to add camera.type : "PinHole", even with it, it shows this error.

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: RGB-D

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

• Camera: Pinhole
• fx: 535.4
• fy: 539.2
• cx: 320.1
• cy: 247.6
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 30
• color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 0

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7 Segmentation fault (core dumped)

Config file: %YAML:1.0

#--------------------------------------------------------------------------------------------

Camera Parameters. Adjust them!

#-------------------------------------------------------------------------------------------- Camera.type: "PinHole"

Camera calibration and distortion parameters (OpenCV)

Camera.fx: 535.4 Camera.fy: 539.2 Camera.cx: 320.1 Camera.cy: 247.6

Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0

Camera.width: 640 Camera.height: 480

Camera frames per second

Camera.fps: 30.0

IR projector baseline times fx (aprox.)

Camera.bf: 40.0

Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)

Camera.RGB: 1

Close/Far threshold. Baseline times.

ThDepth: 40.0

Deptmap values factor

DepthMapFactor: 5000.0

Camera.width: 640 Camera.height: 480

#--------------------------------------------------------------------------------------------

ORB Parameters

#--------------------------------------------------------------------------------------------

ORB Extractor: Number of features per image

ORBextractor.nFeatures: 1000

ORB Extractor: Scale factor between levels in the scale pyramid

ORBextractor.scaleFactor: 1.2

ORB Extractor: Number of levels in the scale pyramid

ORBextractor.nLevels: 8

ORB Extractor: Fast threshold

Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.

Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST

You can lower these values if your images have low contrast

ORBextractor.iniThFAST: 20 ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------

Viewer Parameters

#-------------------------------------------------------------------------------------------- Viewer.KeyFrameSize: 0.05 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 0.9 Viewer.PointSize: 2 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500

[manishsaini0901]

Command used to run: rosrun ORB_SLAM3 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml

[Mechazo11]

@manishsaini0901 hi, would you comment on whats the purpose of Camera.bf parameter and how it is found for a RGB-D camera?

With best, @Mechazo11

[Mechazo11]

For future reference raulmr explained Camera.bf parameter in this issue in the orb-slam2 repository