JoeyDow commented 6 years ago

I am new to ORBSLAM2 and have been trying to troubleshoot from the previous posts, but none of them seem to resolve the problem. When i try and run any example (tried both EUROC and TUM datasets) i get a segmentation fault (core dumped). I am running Ubuntu 16.04LTE

Output from ORBSLAM2: `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: RGB-D

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Camera Parameters:

fx: 517.306
fy: 516.469
cx: 318.643
cy: 255.314
k1: 0.262383
k2: -0.953104
k3: 1.16331
p1: -0.005358
p2: 0.002628
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

Depth Threshold (Close/Far Points): 3.09294

Start processing sequence ... Images in the sequence: 792

New map created with 832 points Segmentation fault (core dumped)`

And with GDB on the output from bt is:

` Depth Threshold (Close/Far Points): 3.09294 [New Thread 0x7fffd4891700 (LWP 21137)] [New Thread 0x7fffd4090700 (LWP 21138)] [New Thread 0x7fffd388f700 (LWP 21139)]

Start processing sequence ... Images in the sequence: 792

[New Thread 0x7fffd1ba1700 (LWP 21140)] [New Thread 0x7fffd13a0700 (LWP 21141)] [New Thread 0x7fffd0b9f700 (LWP 21142)] [New Thread 0x7fffc3fff700 (LWP 21143)] [New Thread 0x7fffc37fe700 (LWP 21144)] [New Thread 0x7fffc2ffd700 (LWP 21145)] [New Thread 0x7fffc27fc700 (LWP 21146)] New map created with 834 points [New Thread 0x7fffa7fff700 (LWP 21147)] [New Thread 0x7fffa77fe700 (LWP 21148)] [New Thread 0x7fffa6ffd700 (LWP 21149)]

Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault. 0x00007ffff51ffcc5 in g2o::EdgeSE3ProjectXYZOnlyPose::linearizeOplus() () from /home/joe/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so (gdb) bt

0 0x00007ffff51ffcc5 in g2o::EdgeSE3ProjectXYZOnlyPose::linearizeOplus() ()

from /home/joe/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so

1 0x00007ffff7b6096c in g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::buildSystem() () from /home/joe/ORB_SLAM2/lib/libORB_SLAM2.so

2 0x00007ffff5246998 in g2o::OptimizationAlgorithmLevenberg::solve(int, bool)

() from /home/joe/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so

3 0x00007ffff523dd17 in g2o::SparseOptimizer::optimize(int, bool) ()

from /home/joe/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so

4 0x00007ffff7b44aab in ORB_SLAM2::Optimizer::PoseOptimization(ORB_SLAM2::Frame*) () from /home/joe/ORB_SLAM2/lib/libORB_SLAM2.so

5 0x00007ffff7ae14af in ORB_SLAM2::Tracking::TrackReferenceKeyFrame() ()

from /home/joe/ORB_SLAM2/lib/libORB_SLAM2.so

6 0x00007ffff7ae7770 in ORB_SLAM2::Tracking::Track() ()

from /home/joe/ORB_SLAM2/lib/libORB_SLAM2.so

7 0x00007ffff7ae8eae in ORB_SLAM2::Tracking::GrabImageRGBD(cv::Mat const&, cv::Mat const&, double const&) () from /home/joe/ORB_SLAM2/lib/libORB_SLAM2.so

8 0x00007ffff7ad2e28 in ORB_SLAM2::System::TrackRGBD(cv::Mat const&, cv::Mat const&, double const&) () from /home/joe/ORB_SLAM2/lib/libORB_SLAM2.so

9 0x0000000000407e0b in main ()

(gdb) ` Thanks for any help, this has me stumped

syywh commented 6 years ago

Have you solved this problem? I have met the same problem recently. But when I work in 14.04 everything is OK...

azuryl commented 3 months ago

I meet the same issue in https://github.com/MisEty/RTG-SLAM/issues/28

azuryl commented 3 months ago

in CMakeLists.txt

set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}")

SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native")

set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")

SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native")

ccwss007 commented 1 month ago

in CMakeLists.txt #set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}") SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native") #set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}") SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native")

If I use the following command, a new error will occur: SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native") new error ： __pthread_kill_implementation (no_tid=0, signo=6, threadid=140737098502016) at ./nptl/pthread_kill.c:44 44 ./nptl/pthread_kill.c: 没有那个文件或目录. (gdb) bt

0 __pthread_kill_implementation (no_tid=0, signo=6, threadid=140737098502016)

at ./nptl/pthread_kill.c:44 https://github.com/raulmur/ORB_SLAM2/issues/1 pthread_kill_internal (signo=6, threadid=140737098502016) at ./nptl/pthread_kill.c:78 https://github.com/raulmur/ORB_SLAM2/pull/2 GI_pthread_kill (threadid=140737098502016, signo=signo@entry=6) at ./nptl/pthread_kill.c:89 https://github.com/raulmur/ORB_SLAM2/issues/3 0x00007ffff4a42476 in GI_raise (sig=sig@entry=6) at ../sysdeps/posix/raise.c:26 https://github.com/raulmur/ORB_SLAM2/issues/4 0x00007ffff4a287f3 in GI_abort () at ./stdlib/abort.c:79 https://github.com/raulmur/ORB_SLAM2/issues/5 0x00007ffff4a89676 in libc_message (action=action@entry=do_abort, fmt=fmt@entry=0x7ffff4bdbb77 "%s\n") at ../sysdeps/posix/libc_fatal.c:155 https://github.com/raulmur/ORB_SLAM2/issues/6 0x00007ffff4aa0cfc in malloc_printerr (str=str@entry=0x7ffff4bde790 "double free or corruption (out)") at ./malloc/malloc.c:5664 https://github.com/raulmur/ORB_SLAM2/issues/7 0x00007ffff4aa2e70 in _int_free (av=0x7ffff4c1ac80 , p=0x555563db52f0, have_lock=) at ./malloc/malloc.c:4588 https://github.com/raulmur/ORB_SLAM2/issues/8 0x00007ffff4aa5453 in __GI___libc_free (mem=) at ./malloc/malloc.c:3391 https://github.com/raulmur/ORB_SLAM2/issues/9 0x00007ffff772955a in g2o::HyperGraph::clear() ()

raulmur / ORB_SLAM2

Segmentation Fault (Core Dumped) when running any examples #605