Segmentation fault (core dumped)

[t676290894]

您好，刚开始初始化时前几个图像能够正常运行，但会突然停止，提示Segmentation fault (core dumped)，这是因为什么？？

[t676290894]

(base) root@2ae59680358a:/home/trt_02/PL-SLAM-MONO-OPENCV4-main# ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.bin Examples/Monocular/TUM2.yaml /home/trt_02/PL-SLAM-MONO-OPENCV4-main/rgbd_dataset_freiburg2_pioneer_slam2/

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: 520.909
• fy: 521.007
• cx: 325.141
• cy: 249.702
• k1: 0.231222
• k2: -0.784899
• k3: 0.917205
• p1: -0.003257
• p2: -0.000105
• fps: 30
• 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: 2113

(process:83710): Gtk-WARNING **: 22:45:55.741: Locale not supported by C library. Using the fallback 'C' locale.

(ORB-SLAM: Current Frame:83710): dbind-WARNING **: 22:45:55.753: Couldn't connect to accessibility bus: Failed to connect to socket /tmp/dbus-a9m0uybBJb: Connection refused Segmentation fault (core dumped)

[t676290894]

该程序是否可以正常运行

[lijianfromearth]

并不能完整运行，在纹理丰富的数据集能坚持更久。我记不清这个BUG是我改写初始化导致的，还是原版便有。原版复现PL-SLAM的程序也并不完整。你可以多写一些输出寻找BUG。问题应该出在重定位程序。

[t676290894]

好的，谢谢

[t676290894]

terminate called after throwing an instance of 'cv::Exception' what(): OpenCV(4.2.0) /home/trt_02/opencv_build/opencv-4.2.0/modules/imgproc/src/lsd.cpp:143: error: (-213:The function/feature is not implemented) Implementation has been removed due original code license issues in function 'LineSegmentDetectorImpl'请问您是否有出现该问题，且应该如何解决？？

[lijianfromearth]

LSD算法因为专利问题在OPENCV4中被废弃了，可以从之前版本的opencv只复制过来。或者项目里的三方库是否实现了这个算法，我不记得了，可以试试。