Error: double free or corruption (out)

[rahul-gs-16]

Hi I am using Hamlyn Dataset provided here as input. I am running the code in Ubuntu20.04. The code provides output for 10 images and then this error is thrown. I am not using any custom dataset here This is the output that I get

4

DefSLAM 2019-2020 José Lamarca, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it

Input sensor was set to: Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Camera Parameters:

• fx: 426.532
• fy: 426.532
• cx: 179.057
• cy: 153.861
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 20
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1200
• Scale Levels: 1
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Defomation tracking Parameters:

• Reg. Inextensibility: 16000
• Reg. Laplacian: 300
• Reg. Temporal: 0.02
• Reg. LocalZone: 1 New map created with 302 points POINTS matched:200 NORMAL ESTIMATOR IN - NORMALS REESTIMATED : 0 - 0 NORMAL ESTIMATOR OUTPoints potential : 0 160 Number Of normals 0 0x555d0beb0430 Not enough normals Reprojection error: 4.75402 Points considered: 200 00001 206 0 283 POINTS matched:164 Gtk-Message: 16:19:08.665: Failed to load module "canberra-gtk-module" Reprojection error: 3.82728 Points considered: 187 00002 198 0 283 POINTS matched:167 Reprojection error: 3.26401 Points considered: 192 00003 201 0 283 POINTS matched:161 Reprojection error: 3.47967 Points considered: 178 00004 188 0 283 POINTS matched:161 Reprojection error: 3.30194 Points considered: 192 00005 201 0 283 POINTS matched:161 Reprojection error: 3.51483 Points considered: 167 00006 179 0 283 POINTS matched:124 Reprojection error: 4.43584 Points considered: 157 00007 163 0 283 POINTS matched:133 Reprojection error: 5.00483 Points considered: 165 00008 172 0 283 POINTS matched:136 Reprojection error: 5.03674 Points considered: 169 00009 175 0 283 POINTS matched:128 Reprojection error: 5.38212 Points considered: 145 00010 149 0 283 POINTS matched:125 Finding by Schwarp -0.435396 0.477329 -0.343502-0.435396 0.477329 -0.343502New points : 3 Calculating final Schwarp -0.435396 0.477329 -0.343502Reprojection error: 4.44255 Points considered: 156 00011 159 0 283 double free or corruption (out) ./rungt.sh: line 13: 20535 Aborted (core dumped) ./DefSLAM /home/hticgsr/codes/defSlam/DefSLAM-master/Vocabulary/ORBvoc.txt /home/hticgsr/codes/defSlam/DefSLAM-master/HamlynDatasetShort/f5phantom/hamlyn.yaml /home/hticgsr/codes/defSlam/DefSLAM-master/HamlynDatasetShort/f5phantom/f5_dynamic_deint_L.avi

I checked the Eigen library version as mentioned in another closed issue. I am using Eigen library version 3.3.90. Please help me out.

[rahul-gs-16]

gdb message

Thread 1 "DefSLAM" hit Breakpoint 1, main (argc=, argv=) at /home/hticgsr/codes/defSlam/DefSLAM-master/Apps/simple_camera.cc:66 66 SLAM.TrackMonocular(imLeft, i); (gdb) s [New Thread 0x7fff95d07000 (LWP 34642)] [New Thread 0x7fff95106000 (LWP 34661)] [Thread 0x7fff95d07000 (LWP 34642) exited] defSLAM::System::TrackMonocular (this=0x7fffffffd940, im=..., timestamp=@0x7fffffffd7a8: 12, _mask=...) at /home/hticgsr/codes/defSlam/DefSLAM-master/Modules/Common/System.cc:188 188 { (gdb) [Thread 0x7fff95106000 (LWP 34661) exited] [New Thread 0x7fff95106000 (LWP 34681)] [New Thread 0x7fff95d07000 (LWP 34682)] [Thread 0x7fff95106000 (LWP 34681) exited] [Thread 0x7fff95d07000 (LWP 34682) exited] 189 cv::Mat Mask; (gdb) s 190 if (_mask.empty()) (gdb) s 192 Mask = cv::Mat(im.rows, im.cols, CV8UC1, cv::Scalar(255)); (gdb) s cv::Scalar::Scalar_ (v0=255, this=0x7fffffffd640) at /usr/local/include/opencv4/opencv2/core/matx.hpp:978 978 Vec<_Tp, cn>::Vec() {} (gdb) s double free or corruption (out)

Thread 2 "DefSLAM" received signal SIGABRT, Aborted. [Switching to Thread 0x7fffd2d63000 (LWP 34568)] __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.

[18614053166]

This problem can be solved by delete "-march=native" in CMakeLists.txt, then compile again.