DreamWaterFound
commented
4 years ago One way to solve the problem is to modify file KITTIXXX.yaml , add camera model and camera parameters in opencv format by referring to file EuRoC.yaml.
In the latest version commit id 5e9189, without specified camera model in settings file will let ORB_SLAM3::Tracking::mpCamera uninitialized (nullptr). This null pointer will be passed to ORB_SLAM3::KeyFrame and ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose, finally make illegal memory access during optimizing frame pose. This is why segment fault occured. BTW, similar errors also occured when testing ORB_SLAM3 in RGB-D mode on the TUM RGB-D sequence (but to solve it we have to modify some code except setting file(s).).
Here is a example of modified KITTI00-02.yaml :
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# ===> NOTICE: Add camera model here <===
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 718.856
Camera.fy: 718.856
Camera.cx: 607.1928
Camera.cy: 185.2157
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.bFishEye: 0
Camera.width: 1241
Camera.height: 376
# Camera frames per second
Camera.fps: 10.0
# stereo baseline times fx
Camera.bf: 386.1448
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 35
# ============================================================
# ===> NOTICE: Add camera parameters here <===
LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, -3.861448000000e+02, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.6
Viewer.KeyFrameLineWidth: 2
Viewer.GraphLineWidth: 1
Viewer.PointSize: 2
Viewer.CameraSize: 0.7
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -100
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000
I can test ORB-SLAM3 successfully in stereo-only mode on KITTI odometry sequence 00. Hope to help you.
JinLn
xiegongsheldon
ynma-hanvo
nesquik011
When i executted Kitti dataset, it meet a trouble like this:
Segmentation fault (core dumped)Have someone meet this toruble like me and how to deal with ? tkanks! All the thing like this: `./stereo_kitti /home/jinln/jinln/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/jinln/jinln/ORB_SLAM3/Examples/Stereo/KITTI03.yaml /home/jinln/jinln/DATASET/kitti/03 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... Vocabulary loaded!
Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:
Camera Parameters:
ORB Extractor Parameters:
Depth Threshold (Close/Far Points): 21.486
Start processing sequence ... Images in the sequence: 801
First KF:0; Map init KF:0 New Map created with 1315 points Segmentation fault (core dumped) `