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Giannis-Alamanos / ORB-LINE-SLAM

ORB-LINE-SLAM: An Open-Source Stereo Visual SLAM System with Point and Line Features
GNU General Public License v3.0
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Exception has occurred. Segmentation fault #7

Open LukeyAlvin opened 8 months ago

LukeyAlvin commented 8 months ago

ORB-LINE-SLAM Copyright (C) 2020-2021 John Alamanos, National Technical University of Athens. 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

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

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

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

Camera Parameters:

Depth Threshold (Close/Far Points-Lines): 3.85272

ORB Extractor Parameters:

Line Detector: ED Lines

Line Extractor Parameters:

Point Line SLAM Segmentation fault

GDB 调试结果： alvin@MOSS:~/WORKSPACE/ORB-LINE-SLAM$ gdb ./Examples/ROS/ORB_SLAM3/Stereo ./core.1000.26396.1705138100 GNU gdb (Ubuntu 9.2-0ubuntu1~20.04.1) 9.2 Copyright (C) 2020 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/.

For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from ./Examples/ROS/ORB_SLAM3/Stereo... [New LWP 26642] [New LWP 26409] [New LWP 26412] [New LWP 26524] [New LWP 26411] [New LWP 26520] [New LWP 26414] [New LWP 26516] [New LWP 26396] [New LWP 26517] [New LWP 26422] [New LWP 26421] [New LWP 26519] [New LWP 26423] [New LWP 26424] [New LWP 26522] [New LWP 26527] [New LWP 26518] [New LWP 26523] [New LWP 26521] [New LWP 26525] [New LWP 26641] [New LWP 26513] [New LWP 26515] [New LWP 26410] [New LWP 26413] [New LWP 26512] [New LWP 26514] [New LWP 26415] [New LWP 26419] [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

--Type for more, q to quit, c to continue without paging-- Core was generated by `/home/alvin/WORKSPACE/ORB-LINE-SLAM/Examples/ROS/ORB_SLAM3/Stereo ./Vocabulary/'. Program terminated with signal SIGSEGV, Segmentation fault.

0 0x00007f57ab90e650 in std::vector<float, std::allocator >::_M_default_append(unsigned long) ()

from /opt/ros/noetic/lib/libroscpp.so [Current thread is 1 (Thread 0x7f570a7fe700 (LWP 26642))] (gdb) bt

0 0x00007f57ab90e650 in std::vector<float, std::allocator >::_M_default_append(unsigned long) ()

at /opt/ros/noetic/lib/libroscpp.so

1 0x00007f57a108ef3d in std::vector<float, std::allocator >::resize(unsigned long)

(__new_size=2, this=0x7f56f40dfda0) at /usr/include/c++/9/bits/stl_construct.h:107

2 cv::line_descriptor::LSDDetectorC::ComputePyramid(cv::Mat, float, int)

(this=0x7f56f40dfd40, image=..., scaleFactor=2, nlevels=2)
at /home/alvin/WORKSPACE/ORB-LINE-SLAM/Thirdparty/line_descriptor/src/LSDDetector_custom.cpp:42

3 0x00007f57a108f295 in cv::line_descriptor::LSDDetectorC::detectImpl_ED(cv::Mat const&, std::vector<cv::line_descriptor::KeyLine, std::allocator >&, int, float, double, cv::Mat const&) const

(this=0x7f56f40dfd40, imageSrc=..., keylines=std::vector of length 0, capacity 0, numOctaves=2, scale=2, min_length=12, mask=...) at /usr/local/include/opencv2/core/mat.inl.hpp:1496

4 0x00007f57ab3e7e90 in ORB_SLAM3::Lineextractor::operator()(cv::Mat const&, cv::Mat const&, std::vector<cv::line_descriptor::KeyLine, std::allocator >&, cv::Mat&)

(this=0x55a1fd84a3e0, img=..., mask=..., keylines=std::vector of length 0, capacity 0, descriptors_line=...) at /usr/include/opencv4/opencv2/core/mat.inl.hpp:1521

5 0x00007f57ab31cc44 in ORB_SLAM3::Frame::ExtractLine(int, cv::Mat const&)

--Type for more, q to quit, c to continue without paging-- ptimized out>, im=...) at /usr/include/opencv4/opencv2/core/mat.inl.hpp:1521

6 0x00007f57aa3a5df4 in () at /lib/x86_64-linux-gnu/libstdc++.so.6

7 0x00007f57ab7e9609 in start_thread (arg=) at pthread_create.c:477

8 0x00007f57aa1e1353 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95