ch5 joinMap exit code 139

[CNchence]

运行例程ch5 中的点云拼接程序，报错 Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)

大概是溢出的问题，具体原因不得而知。 定位问题 到代码第36行： poses.push_back( T );

修改意见：将poses定义为数列。 第15行： vector poses; // 相机位姿 修改为： Eigen::Isometry3d poses[5];

再运行 就成功了。 希望能帮助到和我遇到相同问题的人！

[XZLeo]

我用之前下载的代码也遇到了同样的错误，刚入门c++，还不太熟悉语法，没有看您的修改意见，能把第15行完整代码给我看看吗？并且，我把code那里的代码沾过去，运行的结果变成了这样：

正在将图像转换为点云... 转换图像中: 1 转换图像中: 2 转换图像中: 3 转换图像中: 4 转换图像中: 5 点云共有0个点. terminate called after throwing an instance of 'pcl::IOException' what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data!

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)

[gs14iitbbs]

It's not a big issue; actually the path to images are not suited that is why it is not able to read the images and giving errors. So change the path accordingly.

I did this th following, but you can change accordingly.

boost::format fmt( "/home/blahh/slambook-master/ch5/joinMap/%s/%d.%s" ); //图像文件格式 colorImgs.push_back( cv::imread( (fmt%"color"%(i+1)%"png").str() )); depthImgs.push_back( cv::imread( (fmt%"depth"%(i+1)%"pgm").str(), -1 )); // 使用-1读取原始图像

[gaoxiang12]

the vector of Eigen objects should use the Eigen aligned allocators, see https://eigen.tuxfamily.org/dox/group__TopicFixedSizeVectorizable.html

I'll fix it in the second edition.