CharlieRusso001
commented
3 months ago Update: Tested with a monocular camera as well just to see if the Realsense SDK streaming the camera data I had set up was giving an issue and it seems to output the same segmentation error any clue how to fix? charl@charl-XPS-8950:~/scald/VO/ROS$ ros2 run orbslam3 mono /home/charl/scald/VO/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/charl/scald/VO/ROS/src/orbslam3_ros2/config/custom/mono.yaml
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, 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!
Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:
Camera Parameters:
- Camera: Pinhole
- Image scale: 1
- fx: 920
- fy: 920
- cx: 960
- cy: 540
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- k3: 0
- 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 There are 1 cameras in the atlas Camera 0 is pinhole slam changed ============================ Starting the Viewer [ros2run]: Segmentation fault
When using this wrapper I run into the error below when running with a Realsense D405 camera. I do now know why I am getting the error double free or corruption (out) which I do not know what this means. Is there any fix to this? Attached is also my config file.
charl@charl:~/VO/ROS$ ros2 run orbslam3 rgbd /home/charl/VO/StereoFixed/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/charl/VO/ROS/src/orbslam3_ros2/config/rgb-d/d405-t.yaml
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, 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 settings from /home/charl/VO/ROS/src/orbslam3_ros2/config/rgb-d/d405-t.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 672.1 672.1 320.5 240.5 ] -Camera 1 distortion parameters: [ 0 0 0 0 ] -Original image size: [ 1280 , 720 ] -Current image size: [ 1280 , 720 ] -Sequence FPS: 90 -RGB-D depth map factor: 1000 -Features per image: 1250 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: There are 1 cameras in the atlas Camera 0 is pinhole Shutdown Saving keyframe trajectory to KeyFrameTrajectory .txt ... double free or corruption (out)
d405-t (copy).yaml.txt