search

gaoxiang12 / ORB-YGZ-SLAM

Other
474 stars 223 forks source link

segment fault (core dump) after localmapping inited #6

Open jasminezz opened 7 years ago

jasminezz commented 7 years ago

Thank you for your open source. I try to turn on the IMU , and run it with EUROC data. But when IMU inited, get the error:

W0716 23:09:22.977699 57503 LocalMapping.cc:280] bgest: -0.0215912 00.0315326 000.086801
W0716 23:09:22.978873 57503 LocalMapping.cc:343] -0.0232417 00-9.34961 00.0498976 00-3.28288, gw:0-9.34961 0.0498976 0-3.28288, |gw|=9.90934
W0716 23:09:22.978936 57503 LocalMapping.cc:416] -0.000233174 02.80843e-07 -1.95786e-06 0000.0925712 00.000853654 00-0.0362108, s:-0.000233174, dthetaxy:02.80843e-07 -1.95786e-06, dbiasa:000.0925712 0.000853654 0-0.0362108
W0716 23:09:22.978967 57503 LocalMapping.cc:425] gw: 0-9.25588 0.0493945 0-3.24998, |gw|=9.81
Time: 1.40372e+09, sstar: -0.0232417, s: -0.000233174
I0716 23:09:22.979120 57503 LocalMapping.cc:455] 1.40372e+09, 1.40372e+09, time elapsed: 0
Local Mapping STOP
I0716 23:09:22.981716 57503 LocalMapping.cc:555] 
... Map scale updated ...

I0716 23:09:22.981734 57503 LocalMapping.cc:627] 
... Map NavState updated ...

I0716 23:09:22.981739 57503 LocalMapping.cc:150] set first vins inited : 1
Local Mapping RELEASE
I0716 23:09:22.984490 57503 LocalMapping.cc:642] finish global BA after vins init
I0716 23:09:22.984508 57503 LocalMapping.cc:647] request local mapping stop
Local Mapping STOP
I0716 23:09:22.986210 57503 LocalMapping.cc:652] local mapping stopped
Map updated!
Local Mapping RELEASE
VINS inited, quit VINS init thread
Quit VINSInitThread
I0716 23:09:23.010887 57502 Tracking.cc:1310] Track local map direct with imu failed, inliers: 0
I0716 23:09:23.010916 57502 Tracking.cc:508] Track Local map direct with IMU failed. VINS first inited: 1, mapupdated:1
I0716 23:09:23.010921 57502 Tracking.cc:531] Set vision weak = true
I0716 23:09:23.011090 57502 Tracking.cc:605] Try using imu predicted pose
I0716 23:09:23.064316 57502 Tracking.cc:2090] Failed. return back to feature methods
I0716 23:09:23.073400 57502 Tracking.cc:1091] Search a wider window
I0716 23:09:23.073449 57502 Tracking.cc:1097] Match is not enough, failed.
I0716 23:09:23.074784 57502 LocalMapping.cc:150] set first vins inited : 0
Segmentation fault (core dumped)

hoping for your answer?when turn off the IMU, everything goes well

TouqeerAhmad commented 7 years ago

@jasminezz hi, were you able to figure out the seg fault -- I am getting segfault after NavState update. Any help in this regards would be great!