ORB_SLAM2
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raulmur
segment error when testing TUM !!
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/huangkun/ORB_SLAM2/Examples/RGB-D/rgbd_dataset_freiburg1_xyz Examples/RGB-D/associations/fr1_xyz.txt
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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!
Camera Parameters:
- fx: 517.306
- fy: 516.469
- cx: 318.643
- cy: 255.314
- k1: 0.262383
- k2: -0.953104
- k3: 1.16331
- p1: -0.005358
- p2: 0.002628
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 3.09294
Start processing sequence ... Images in the sequence: 792
New map created with 833 points
median tracking time: 0.0401444 mean tracking time: 0.0420971
Saving camera trajectory to CameraTrajectory.txt ...
trajectory saved!
Saving keyframe trajectory to KeyFrameTrajectory.txt ...
trajectory saved! Segment error
I'm using opencv 3.2. And to fix the 'usleep undefined' error, I have added 'unistd.h' to 'system.h' manually.
it happens when 'return 0' in rgbd_tum.cc!
` // Save camera trajectory SLAM.SaveTrajectoryTUM("CameraTrajectory.txt"); SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");
return 0;`
fyi, segmentation errors are hard to track down to a line. I would not rely on the debugging. You can try to insert a
cout << " step X performed " << endl;
after critical lines in the function SaveKeyFrameTrajectoryTUM. Segmentation faults mostly happen when a variable has not been properly initialized or set and then you try to read from it.
it can't happen in the line "return 0;", so I advice you to look inside the SaveKeyFrameTrajectoryTUM function. There is probably some null pointer in it, which leads to the segmentation fault when it is accessed.
https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/452 maybe this issue could help you to fix this segfault bug. And I met the bug by when running orb-slam3.
