Segmentation fault (core dumped)

[IAMHAADICOOL]

./Examples/Stereo-Inertial/stereo_inertial_realsense_D435i Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/RealSense_D435i.yaml I ran the above command in the root ORB_SLAM3 folder and following is the output I get:

Sensor supports the following options:

0: Backlight Compensation is not supported 1: Brightness is not supported 2: Contrast is not supported 3: Exposure Description : Depth Exposure (usec) Current Value : 8500 4: Gain Description : UVC image gain Current Value : 16 5: Gamma is not supported 6: Hue is not supported 7: Saturation is not supported 8: Sharpness is not supported 9: White Balance is not supported 10: Enable Auto Exposure Description : Enable Auto Exposure Current Value : 1 11: Enable Auto White Balance is not supported 12: Visual Preset Description : Advanced-Mode Preset Current Value : 0 13: Laser Power Description : Manual laser power in mw. applicable only when laser power mode is set to Manual Current Value : 150 14: Accuracy is not supported 15: Motion Range is not supported 16: Filter Option is not supported 17: Confidence Threshold is not supported 18: Emitter Enabled Description : Emitter select, 0-disable all emitters, 1-enable laser, 2-enable laser auto (opt), 3-enable LED (opt) Current Value : 0 19: Frames Queue Size Description : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa Current Value : 16 20: Total Frame Drops is not supported 21: Fisheye Auto Exposure Mode is not supported 22: Power Line Frequency is not supported 23: Asic Temperature is not supported 24: Error Polling Enabled Description : Enable / disable polling of camera internal errors Current Value : 1 25: Projector Temperature is not supported 26: Output Trigger Enabled Description : Generate trigger from the camera to external device once per frame Current Value : 0 27: Motion Module Temperature is not supported 28: Depth Units Description : Number of meters represented by a single depth unit Current Value : 0.001 29: Enable Motion Correction is not supported 30: Auto Exposure Priority is not supported 31: Color Scheme is not supported 32: Histogram Equalization Enabled is not supported 33: Min Distance is not supported 34: Max Distance is not supported 35: Texture Source is not supported 36: Filter Magnitude is not supported 37: Filter Smooth Alpha is not supported 38: Filter Smooth Delta is not supported 39: Holes Fill is not supported 40: Stereo Baseline Description : Distance in mm between the stereo imagers Current Value : 49.7533 41: Auto Exposure Converge Step is not supported 42: Inter Cam Sync Mode Description : Inter-camera synchronization mode: 0:Default, 1:Master, 2:Slave, 3:Full Salve, 4-258:Genlock with burst count of 1-255 frames for each trigger, 259 and 260 for two frames per trigger with laser ON-OFF and OFF-ON. Current Value : 0 43: Stream Filter is not supported 44: Stream Format Filter is not supported 45: Stream Index Filter is not supported 46: Emitter On Off Description : Alternating emitter pattern, toggled on/off on per-frame basis Current Value : 0 47: Zero Order Point X is not supported 48: Zero Order Point Y is not supported 49: LDD temperature is not supported 50: Mc Temperature is not supported 51: Ma Temperature is not supported 52: Hardware Preset is not supported 53: Global Time Enabled Description : Enable/Disable global timestamp Current Value : 1 54: Apd Temperature is not supported 55: Enable Mapping is not supported 56: Enable Relocalization is not supported 57: Enable Pose Jumping is not supported 58: Enable Dynamic Calibration is not supported 59: Depth Offset is not supported 60: Led Power is not supported 61: Zero Order Enabled is not supported 62: Enable Map Preservation is not supported 63: Freefall Detection Enabled is not supported 64: Receiver Gain is not supported 65: Post Processing Sharpening is not supported 66: Pre Processing Sharpening is not supported 67: Noise Filtering is not supported 68: Invalidation Bypass is not supported 69: Digital Gain is not supported 70: Sensor Mode is not supported 71: Emitter Always On Description : Emitter always on mode: 0:disabled(default), 1:enabled Current Value : 0 72: Thermal Compensation is not supported 73: Trigger Camera Accuracy Health is not supported 74: Reset Camera Accuracy Health is not supported 75: Host Performance is not supported 76: Hdr Enabled Description : HDR Option Current Value : 0 77: Sequence Name Description : HDR Option Current Value : 0 78: Sequence Size Description : HDR Option Current Value : 2 79: Sequence Id Description : HDR Option Current Value : 0 80: Humidity Temperature is not supported 81: Enable Max Usable Range is not supported 82: Alternate IR is not supported 83: Noise Estimation is not supported 84: Enable IR Reflectivity is not supported 85: Auto Exposure Limit is not supported 86: Auto Gain Limit is not supported 87: Auto Rx Sensitivity is not supported 88: Transmitter Frequency is not supported 89: Vertical Binning is not supported 90: Receiver Sensitivity is not supported 91: Auto Exposure Limit Toggle is not supported 92: Auto Gain Limit Toggle is not supported 93: Emitter Frequency is not supported 94: Auto Exposure Mode is not supported Sensor supports the following options:

0: Backlight Compensation Description : Enable / disable backlight compensation Current Value : 0 1: Brightness Description : UVC image brightness Current Value : 0 2: Contrast Description : UVC image contrast Current Value : 50 3: Exposure Description : Controls exposure time of color camera. Setting any value will disable auto exposure Current Value : 100 4: Gain Description : UVC image gain Current Value : 64 5: Gamma Description : UVC image gamma setting Current Value : 300 6: Hue Description : UVC image hue Current Value : 0 7: Saturation Description : UVC image saturation setting Current Value : 64 8: Sharpness Description : UVC image sharpness setting Current Value : 50 9: White Balance Description : Controls white balance of color image. Setting any value will disable auto white balance Current Value : 4600 10: Enable Auto Exposure Description : Enable / disable auto-exposure Current Value : 0 11: Enable Auto White Balance Description : Enable / disable auto-white-balance Current Value : 1 12: Visual Preset is not supported 13: Laser Power is not supported 14: Accuracy is not supported 15: Motion Range is not supported 16: Filter Option is not supported 17: Confidence Threshold is not supported 18: Emitter Enabled is not supported 19: Frames Queue Size Description : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa Current Value : 16 20: Total Frame Drops is not supported 21: Fisheye Auto Exposure Mode is not supported 22: Power Line Frequency Description : Power Line Frequency Current Value : 3 23: Asic Temperature is not supported 24: Error Polling Enabled is not supported 25: Projector Temperature is not supported 26: Output Trigger Enabled is not supported 27: Motion Module Temperature is not supported 28: Depth Units is not supported 29: Enable Motion Correction is not supported 30: Auto Exposure Priority Description : Restrict Auto-Exposure to enforce constant FPS rate. Turn ON to remove the restrictions (may result in FPS drop) Current Value : 0 31: Color Scheme is not supported 32: Histogram Equalization Enabled is not supported 33: Min Distance is not supported 34: Max Distance is not supported 35: Texture Source is not supported 36: Filter Magnitude is not supported 37: Filter Smooth Alpha is not supported 38: Filter Smooth Delta is not supported 39: Holes Fill is not supported 40: Stereo Baseline is not supported 41: Auto Exposure Converge Step is not supported 42: Inter Cam Sync Mode is not supported 43: Stream Filter is not supported 44: Stream Format Filter is not supported 45: Stream Index Filter is not supported 46: Emitter On Off is not supported 47: Zero Order Point X is not supported 48: Zero Order Point Y is not supported 49: LDD temperature is not supported 50: Mc Temperature is not supported 51: Ma Temperature is not supported 52: Hardware Preset is not supported 53: Global Time Enabled Description : Enable/Disable global timestamp Current Value : 1 54: Apd Temperature is not supported 55: Enable Mapping is not supported 56: Enable Relocalization is not supported 57: Enable Pose Jumping is not supported 58: Enable Dynamic Calibration is not supported 59: Depth Offset is not supported 60: Led Power is not supported 61: Zero Order Enabled is not supported 62: Enable Map Preservation is not supported 63: Freefall Detection Enabled is not supported 64: Receiver Gain is not supported 65: Post Processing Sharpening is not supported 66: Pre Processing Sharpening is not supported 67: Noise Filtering is not supported 68: Invalidation Bypass is not supported 69: Digital Gain is not supported 70: Sensor Mode is not supported 71: Emitter Always On is not supported 72: Thermal Compensation is not supported 73: Trigger Camera Accuracy Health is not supported 74: Reset Camera Accuracy Health is not supported 75: Host Performance is not supported 76: Hdr Enabled is not supported 77: Sequence Name is not supported 78: Sequence Size is not supported 79: Sequence Id is not supported 80: Humidity Temperature is not supported 81: Enable Max Usable Range is not supported 82: Alternate IR is not supported 83: Noise Estimation is not supported 84: Enable IR Reflectivity is not supported 85: Auto Exposure Limit is not supported 86: Auto Gain Limit is not supported 87: Auto Rx Sensitivity is not supported 88: Transmitter Frequency is not supported 89: Vertical Binning is not supported 90: Receiver Sensitivity is not supported 91: Auto Exposure Limit Toggle is not supported 92: Auto Gain Limit Toggle is not supported 93: Emitter Frequency is not supported 94: Auto Exposure Mode is not supported Sensor supports the following options:

0: Backlight Compensation is not supported 1: Brightness is not supported 2: Contrast is not supported 3: Exposure is not supported 4: Gain is not supported 5: Gamma is not supported 6: Hue is not supported 7: Saturation is not supported 8: Sharpness is not supported 9: White Balance is not supported 10: Enable Auto Exposure is not supported 11: Enable Auto White Balance is not supported 12: Visual Preset is not supported 13: Laser Power is not supported 14: Accuracy is not supported 15: Motion Range is not supported 16: Filter Option is not supported 17: Confidence Threshold is not supported 18: Emitter Enabled is not supported 19: Frames Queue Size Description : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa Current Value : 16 20: Total Frame Drops is not supported 21: Fisheye Auto Exposure Mode is not supported 22: Power Line Frequency is not supported 23: Asic Temperature is not supported 24: Error Polling Enabled is not supported 25: Projector Temperature is not supported 26: Output Trigger Enabled is not supported 27: Motion Module Temperature is not supported 28: Depth Units is not supported 29: Enable Motion Correction Description : Enable/Disable Automatic Motion Data Correction Current Value : 1 30: Auto Exposure Priority is not supported 31: Color Scheme is not supported 32: Histogram Equalization Enabled is not supported 33: Min Distance is not supported 34: Max Distance is not supported 35: Texture Source is not supported 36: Filter Magnitude is not supported 37: Filter Smooth Alpha is not supported 38: Filter Smooth Delta is not supported 39: Holes Fill is not supported 40: Stereo Baseline is not supported 41: Auto Exposure Converge Step is not supported 42: Inter Cam Sync Mode is not supported 43: Stream Filter is not supported 44: Stream Format Filter is not supported 45: Stream Index Filter is not supported 46: Emitter On Off is not supported 47: Zero Order Point X is not supported 48: Zero Order Point Y is not supported 49: LDD temperature is not supported 50: Mc Temperature is not supported 51: Ma Temperature is not supported 52: Hardware Preset is not supported 53: Global Time Enabled Description : Enable/Disable global timestamp Current Value : 1 54: Apd Temperature is not supported 55: Enable Mapping is not supported 56: Enable Relocalization is not supported 57: Enable Pose Jumping is not supported 58: Enable Dynamic Calibration is not supported 59: Depth Offset is not supported 60: Led Power is not supported 61: Zero Order Enabled is not supported 62: Enable Map Preservation is not supported 63: Freefall Detection Enabled is not supported 64: Receiver Gain is not supported 65: Post Processing Sharpening is not supported 66: Pre Processing Sharpening is not supported 67: Noise Filtering is not supported 68: Invalidation Bypass is not supported 69: Digital Gain is not supported 70: Sensor Mode is not supported 71: Emitter Always On is not supported 72: Thermal Compensation is not supported 73: Trigger Camera Accuracy Health is not supported 74: Reset Camera Accuracy Health is not supported 75: Host Performance is not supported 76: Hdr Enabled is not supported 77: Sequence Name is not supported 78: Sequence Size is not supported 79: Sequence Id is not supported 80: Humidity Temperature is not supported 81: Enable Max Usable Range is not supported 82: Alternate IR is not supported 83: Noise Estimation is not supported 84: Enable IR Reflectivity is not supported 85: Auto Exposure Limit is not supported 86: Auto Gain Limit is not supported 87: Auto Rx Sensitivity is not supported 88: Transmitter Frequency is not supported 89: Vertical Binning is not supported 90: Receiver Sensitivity is not supported 91: Auto Exposure Limit Toggle is not supported 92: Auto Gain Limit Toggle is not supported 93: Emitter Frequency is not supported 94: Auto Exposure Mode is not supported Tbc (left) = 1, 0, 0, -0.00552 0, 1, 0, 0.0051 0, 0, 1, 0.01174 Tlr = 1, 0, 0, 0.0497533 0, 1, 0, 0 0, 0, 1, 0 Left camera: fx = 381.669 fy = 381.669 cx = 322.507 cy = 237.671 height = 480 width = 640 Coeff = 0, 0, 0, 0, 0, Model = Brown Conrady Right camera: fx = 381.669 fy = 381.669 cx = 322.507 cy = 237.671 height = 480 width = 640 Coeff = 0, 0, 0, 0, 0, Model = Brown Conrady

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: Stereo-Inertial Loading settings from ./Examples/Stereo-Inertial/RealSense_D435i.yaml -Loaded camera 1 -Loaded camera 2 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded IMU calibration -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): [ 382.613 382.613 320.183 236.455 ] Segmentation fault (core dumped)

How do I fix this?

[IAMHAADICOOL]

It's a request to the developer's to kindly help resolve this issue of mine.

[unicornuniform]

Start with gdb, run and then backtrace.

[IAMHAADICOOL]

[IAMHAADICOOL]

Hey, I updated on the issue. Can you please look into it? I would be highly grateful if you could help me out with this issue.

On Sat, Nov 11, 2023, 9:31 PM unicornuniform @.***> wrote:

Start with gdb, run and then backtrace.

— Reply to this email directly, view it on GitHub https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/828#issuecomment-1806852001, or unsubscribe https://github.com/notifications/unsubscribe-auth/AXZKQPV5I5AJJXTKDZ4JI5TYD6OMFAVCNFSM6AAAAAA7CMERJWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMBWHA2TEMBQGE . You are receiving this because you authored the thread.Message ID: @.***>

[IAMHAADICOOL]

Hey, can you please help?

[IAMHAADICOOL]

Sorry, I closed it by mistake. Hey @unicornuniform can you please help?

[unicornuniform]

The output shows it is crashing around here, https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/src/Settings.cc#L532

You'll have to experiment a bit in the code and recompile it in order to find out which variable is causing the crash.

I notice that your values are different from the default in RealSense_D435i.yaml. What happens if you use the original yaml file?

I would also try experimenting with compiling and running one of the alternative repos to see if the same error happens. Right now I'm using https://github.com/aPR0T0/ORB_SLAM3

https://github.com/dz306271098/ORB_SLAM3 https://github.com/viamrobotics/ORB_SLAM3 https://github.com/thien94/ORB_SLAM3 https://github.com/Soldann/MORB_SLAM https://github.com/ido7746/ORB_SLAM3 https://github.com/Mauhing/ORB_SLAM3 https://github.com/neo-knight-td/ORB_SLAM3/tree/save_load_branch

[IAMHAADICOOL]

Please let me know the results as soon as possible, I request you sincerely.

On Fri, Nov 17, 2023, 5:12 AM unicornuniform @.***> wrote:

There could be some mistake in your yaml file. I would try running it again with the default one and see what happens.

I would also try experimenting with compiling and running one of the alternative repos. Right now I'm using https://github.com/aPR0T0/ORB_SLAM3

https://github.com/dz306271098/ORB_SLAM3 https://github.com/viamrobotics/ORB_SLAM3 https://github.com/thien94/ORB_SLAM3 https://github.com/Soldann/MORB_SLAM https://github.com/ido7746/ORB_SLAM3 https://github.com/Mauhing/ORB_SLAM3 https://github.com/neo-knight-td/ORB_SLAM3/tree/save_load_branch

— Reply to this email directly, view it on GitHub https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/828#issuecomment-1815503317, or unsubscribe https://github.com/notifications/unsubscribe-auth/AXZKQPWVV7KRMUK5HMVPTWLYE2QHDAVCNFSM6AAAAAA7CMERJWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJVGUYDGMZRG4 . You are receiving this because you modified the open/close state.Message ID: @.***>

[unicornuniform]

I can't do any of it for you, you'll have to experiment yourself

[IAMHAADICOOL]

What's the default yaml file?

On Fri, Nov 17, 2023, 6:42 AM unicornuniform @.***> wrote:

I can't do any of it for you, you'll have to experiment yourself

— Reply to this email directly, view it on GitHub https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/828#issuecomment-1815578608, or unsubscribe https://github.com/notifications/unsubscribe-auth/AXZKQPTYIVFTQ7VP2GGNCFLYE22W3AVCNFSM6AAAAAA7CMERJWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJVGU3TQNRQHA . You are receiving this because you modified the open/close state.Message ID: @.***>

[IAMHAADICOOL]

I tried this one: https://github.com/aPR0T0/ORB_SLAM3

And now I am getting error:

This compilter appears to be too old to be supported by Eigen

This was not coming up in the original one. Any ideas how I could fix this?

[IAMHAADICOOL]

The output shows it is crashing around here, https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/src/Settings.cc#L532

I tried this one and I am getting the following error.

[Abhicoder1999]

I am facing the same issue. There seems to be some issue with the "<<" operator overloading in Settings.cc @unicornuniform https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/Settings.cc#L529

@IAMHAADICOOL In the meantime, you can comment this line, and the program should be running. https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/System.cc#L84

I hope it helps!

[IAMHAADICOOL]

Okay,I'll try your solution and will get back to you.

[wanqingYuan]

according to @Abhicoder1999 comment, I found the matter is this line

for(size_t i=0; i<settings.originalCalib2_->size();i++)

settings.originalCalib2_->size() cannot return 0, so this issue became. but in ORB_SLAM3/include/CameraModels/GeometricCamera.h , the way to init std::vector<float> mvParameters was right, so the mvParameters.size() should be 0. It's wired.

I finally added like this in settings.cc, it's worked for me.

if (settings.sensor_ != System::IMU_STEREO){
    for(size_t i=0; i<settings.originalCalib2_->size();i++){
        ...
    }
}

[IAMHAADICOOL]

Still not working, tried both of your solutions, not it's just printing arbitrary numbers non stop

[IAMHAADICOOL]

I lowered the library version to 2.50 and also lowered the firmware version which corresponds to library version 2.50 and the stereo ones worked. But the stereo intertial ones are still not working. It's showing "not enough accleration" in the terminal. Any solutions?

[wanqingYuan]

for "not enough accleration": is your camera motionless? maybe you can move your camera faster

[IAMHAADICOOL]

I moved the camera, I got some frames, but it just resets again and starts building point-cloud again. There is some desynchronization between the accelerometer and gyroscope output frequency as a similar error was faced by someone but with the T series of Realsense. I am leaving the link down of that. If you understand that solution, can you please suggest the corresponding changes for me too? #245

[jisonZ]

@IAMHAADICOOL experiencing the same thing. Any luck so far?