Segment Fault when do EuRoC example

[raincold23]

Hi, I use ubuntu 20.04 and opencv version is 4.6. ./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml /home/****/Desktop/SLAM/ORB_SLAM3/EuRoC/MH_04_difficult ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt dataset-MH04_mono Then I got segment fault. The gdb output is as follow:

`[Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". num_seq = 1 file name: dataset-MH04_mono Loading images for sequence 0...LOADED!

---

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: Monocular Loading settings from ./Examples/Monocular-Inertial/EuRoC.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 -Loaded image info -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters

SLAM settings: -Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ] -Camera 1 distortion parameters: [ -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ] -Original image size: [ 752 , 480 ] -Current image size: [ 600 , 350 ] -Camera 1 parameters after resize: [ 365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ] -Sequence FPS: 20 -Features per image: 1000 -ORB scale factor: 1.2000000476837158 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7

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

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: There are 1 cameras in the atlas Camera 0 is pinhole [New Thread 0x7fffe0fc4700 (LWP 3489814)] [New Thread 0x7fffe07c3700 (LWP 3489815)] [New Thread 0x7fffdffc2700 (LWP 3489816)] [New Thread 0x7fffdcbee700 (LWP 3489817)] [New Thread 0x7fffd7fff700 (LWP 3489818)] [New Thread 0x7fffd77fe700 (LWP 3489819)] [New Thread 0x7fffd6ffd700 (LWP 3489820)] [New Thread 0x7fffd67fc700 (LWP 3489821)] [New Thread 0x7fffd5ffb700 (LWP 3489822)] [New Thread 0x7fffd57fa700 (LWP 3489823)] [New Thread 0x7fffd4ff9700 (LWP 3489824)] [New Thread 0x7fffb7fff700 (LWP 3489825)] [New Thread 0x7fffb77fe700 (LWP 3489826)] [New Thread 0x7fffb6ffd700 (LWP 3489827)] [New Thread 0x7fffb67fc700 (LWP 3489828)] [New Thread 0x7fffb5ffb700 (LWP 3489829)] [New Thread 0x7fffb57fa700 (LWP 3489830)] [New Thread 0x7fffb4ff9700 (LWP 3489831)] [New Thread 0x7fff93740700 (LWP 3489832)] [New Thread 0x7fff92f3f700 (LWP 3489833)] [Thread 0x7fff92f3f700 (LWP 3489833) exited] [Thread 0x7fff93740700 (LWP 3489832) exited] [New Thread 0x7fff92f3f700 (LWP 3489834)] [New Thread 0x7fff93740700 (LWP 3489835)] [New Thread 0x7fff9273e700 (LWP 3489840)] [New Thread 0x7fff91f3d700 (LWP 3489841)] [Thread 0x7fff91f3d700 (LWP 3489841) exited] [Thread 0x7fff9273e700 (LWP 3489840) exited] Starting the Viewer First KF:0; Map init KF:0 New Map created with 182 points --Type for more, q to quit, c to continue without paging-- Thread 1 "mono_euroc" received signal SIGSEGV, Segmentation fault. __GI___libc_free (mem=0x131) at malloc.c:3102 3102 malloc.c: No such file or directory. (gdb) where

0 __GI___libc_free (mem=0x131) at malloc.c:3102

1 0x00007ffff496287a in g2o::HyperGraph::clear() () at /home/****/Desktop/SLAM/ORB_SLAM3/Thirdparty/g2o/lib/libg2o.so

2 0x00007ffff496bf54 in g2o::OptimizableGraph::~OptimizableGraph() () at /home/****/Desktop/SLAM/ORB_SLAM3/Thirdparty/g2o/lib/libg2o.so

3 0x00007ffff7dd1d29 in ORB_SLAM3::Optimizer::BundleAdjustment(std::vector<ORB_SLAM3::KeyFrame, std::allocator<ORB_SLAM3::KeyFrame> > const&, std::vector<ORB_SLAM3::MapPoint, std::allocator<ORB_SLAM3::MapPoint> > const&, int, bool*, unsigned long, bool) () at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

4 0x00007ffff7dd2ded in ORB_SLAM3::Optimizer::GlobalBundleAdjustemnt(ORB_SLAM3::Map, int, bool, unsigned long, bool) () at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

5 0x00007ffff7d5d2a1 in ORB_SLAM3::Tracking::CreateInitialMapMonocular() () at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

6 0x00007ffff7d5dca0 in ORB_SLAM3::Tracking::MonocularInitialization() () at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

7 0x00007ffff7d5f281 in ORB_SLAM3::Tracking::Track() () at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

8 0x00007ffff7d610a1 in ORB_SLAM3::Tracking::GrabImageMonocular(cv::Mat const&, double const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >) ()

at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

9 0x00007ffff7d0bc26 in ORB_SLAM3::System::TrackMonocular(cv::Mat const&, double const&, std::vector<ORB_SLAM3::IMU::Point, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >) () at /home/****/Desktop/SLAM/ORB_SLAM3/lib/libORB_SLAM3.so

10 0x0000555555559756 in main ()

` Any suggestions?

[cheslee-z]

I got the same error when I tried to save the map

[DavyJoker]

I changed the version of opencv from 4.6.0 to 4.4.0, then it works. maybe you can try

[hplegend]

I encounter this problem too, so there are anyone else can provide solutions?

[hplegend]

@

I encounter this problem too, so there are anyone else can provide solutions?

I re-compile the program with opencv4.8, and stereo_euroc successfully launched.