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felixchenfy / Monocular-Visual-Odometry

A simple monocular visual odometry (part of vSLAM) by ORB keypoints with initialization, tracking, local map and bundle adjustment. (WARNING: Hi, I'm sorry that this project is tuned for course demo, not for real world applications !!!)
MIT License
398 stars 91 forks source link

g2o segment fault #7

Open jeannotes opened 4 years ago

jeannotes commented 4 years ago

hi, thanks for your code, but when running your code, the error appears: iteration= 0 chi2= 62.333310 time= 0.000123518 cumTime= 0.000123518 edges= 210 schur= 1 lambda= 370.857826 levenbergIter= 1 iteration= 1 chi2= 62.333013 time= 7.5541e-05 cumTime= 0.000199059 edges= 210 schur= 1 lambda= 247.238551 levenbergIter= 1 iteration= 2 chi2= 62.333009 time= 8.6913e-05 cumTime= 0.000285972 edges= 210 schur= 1 lambda= 164.825701 levenbergIter= 1 iteration= 3 chi2= 62.333009 time= 3.8402e-05 cumTime= 0.000324374 edges= 210 schur= 1 lambda= 109.883800 levenbergIter= 1 iteration= 4 chi2= 62.333009 time= 5.4153e-05 cumTime= 0.000378527 edges= 210 schur= 1 lambda= 73.255867 levenbergIter= 1 iteration= 5 chi2= 62.333009 time= 3.8211e-05 cumTime= 0.000416738 edges= 210 schur= 1 lambda= 48.837245 levenbergIter= 1 iteration= 6 chi2= 62.333009 time= 6.1446e-05 cumTime= 0.000478184 edges= 210 schur= 1 lambda= 32.558163 levenbergIter= 1 [1] 30569 segmentation fault (core dumped) ./run_vo ../config/config.yaml so, which version g2o you are using?

felixchenfy commented 4 years ago

Hi, sorry I was taking a long vacation and didn't notice your message. I haven't touched this project for a long time, so I checked my README file, which says:

Download here: https://github.com/RainerKuemmerle/g2o.
Checkout to the last version in year 2017. Do cmake, make, make install.

So If my documentation was correct, the g2o in this project is using "the last commit in year 2017" version.

fiveseob commented 2 years ago

had some luck with g2o commit 472b98e

git checkout 472b98e