你好，使用你的代码跑Euroc mh05数据集报错

[timeuser4]

在初始化后（或者我不知道初始化是否完成），提示： double free or corruption (out) [1] 10383 IOT instruction (core dumped) ./mono_euroc ../../Vocabulary/ORBvoc.txt ./EuRoC.yaml 这是原始报错： `ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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 ORB Vocabulary. This could take a while... Vocabulary loaded!

Camera Parameters:

• fx: 458.654
• fy: 457.296
• cx: 367.215
• cy: 248.375
• k1: -0.283408
• k2: 0.0739591
• p1: 0.00019359
• p2: 1.76187e-05
• fps: 20
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

---

Start processing sequence ... Images in the sequence: 2273

New Map created with 80 points double free or corruption (out) [1] 10383 IOT instruction (core dumped) ./mono_euroc ../../Vocabulary/ORBvoc.txt ./EuRoC.yaml
`

[timeuser4]

应该是初始化未完成，在这之后我把EoRoc.yaml的- Number of Features改到了500,成功运行了更长的时间，但还是TRYING TO INITALIZE中崩溃

[lijianfromearth]

初始化完成了。New Map created with 80 points是 void Tracking::CreateInitialMapMonocular()函数的输出。 多打一些断点或输出，看看是哪里的代码有问题。应该是orb原始代码有问题。