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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Segmentation fault (core dumped) when running ORB_SLAM3 on RGB-D TUM sequence freiburg2_large_no_loop #719

Closed zarathacia closed 1 year ago

zarathacia commented 1 year ago

The command; ./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt ./Examples/RGB-D/TUM1.yaml ~/Datasets/rgbd_data ./Examples/RGB-D/associations/fr2.txt

The run: 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: RGB-D Loading settings from ./Examples/RGB-D/TUM1.yaml -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded RGB-D calibration -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): [ 517.306 516.469 318.643 255.314 ] -Camera 1 distortion parameters: [ 0.262383 -0.953104 -0.005358 0.002628 1.16331 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -RGB-D depth map factor: 5000 -Features per image: 1000 -ORB scale factor: 1.2 -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

Start processing sequence ... Images in the sequence: 3357

First KF:0; Map init KF:0 New Map created with 950 points Gtk-Message: 16:53:07.493: Failed to load module "canberra-gtk-module" Starting the Viewer Segmentation fault (core dumped)

I need to access the generated map but the maps are not saved and i get this error (core dumped). can you plz help me fix this? i am new to this

Edit: When running the debug i got this message:

Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault. 0x00007ffff7e94748 in ORB_SLAM3::Frame::ComputeStereoFromRGBD(cv::Mat const&) () from /home/fossa/Dev/ORB_SLAM3/lib/libORB_SLAM3.so

SJTUlibochen commented 1 year ago

have a look at this issue https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/452

zarathacia commented 1 year ago

sorry the link doesn't work

zarathacia commented 1 year ago

When running the debug i got this message:

Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault. 0x00007ffff7e94748 in ORB_SLAM3::Frame::ComputeStereoFromRGBD(cv::Mat const&) () from /home/fossa/Dev/ORB_SLAM3/lib/libORB_SLAM3.so

zarathacia commented 1 year ago

Solved the problem was with the association file it had an extra line with only the image reference

Flee-postgra commented 1 year ago

pls,i have confornt this problem,，may i ask you how to solved this problems?

zarathacia commented 1 year ago

my problem originated from a faulty image depth association file. In this case check the file if there is an extra line at the end where an RGB image has no associated depth image.