cube_slam
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shichaoy
Program running error
An error is reported when "Found one bad object !!!!!!!!!!!!!!!!!!!!!!!!! " occurs
Detect cuboid for pKF id: 252 total id: 826 numObj: 7
begin to associate cuboids #candidate: 0 #landmarks 3 #localKFs 12
Found one bad object !!!!!!!!!!!!!!!!!!!!!!!!! 47 2 0
[ros_mono-3] process has died [pid 9501, exit code -11, cmd /home/wang/Total/cubeslam_ws/devel/lib/orb_object_slam/ros_mono /home/wang/Total/cubeslam_ws/src/cube_slam/orb_object_slam/Vocabulary/ORBvoc.bin /home/wang/Total/cubeslam_ws/src/cube_slam/orb_object_slam/Examples/Monocular/KITTI04-12_me.yaml /camera/image_raw:=/kitti/left/image_raw __name:=ros_mono __log:=/home/wang/.ros/log/41750dc4-ead5-11ec-a0eb-25bfe08d23ac/ros_mono-3.log].
log file: /home/wang/.ros/log/41750dc4-ead5-11ec-a0eb-25bfe08d23ac/ros_mono-3*.log
[ WARN] [1655096339.650441103]: The input topic '/mono/image_raw' is not yet advertised
[ WARN] [1655096339.650508607]: The input topic '/mono/camera_info' is not yet `advertised
@wangni-bupt Hi, Have you solve the problem? I met the same one. The system crashed when it found a bad object.
I modified https://github.com/shichaoy/cube_slam/blob/c371989bf1448802898bc7f17e99bba4a76167e6/orb_object_slam/src/MapObject.cc#L225 from pKF->EraseMapObjectMatch(mit->second) to pKF->EraseMapObjectMatch(this);. It seems to solve the 'bad object' problem.
I'm debugging with gdb, and it looks like I'm traversing the previous null pointer
@wangni-bupt 我也是BUPT的，研究SLAM方向，我们可以加微信交流一下（vx: woshichenyushi），科研路上不孤独。