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Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault #28

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azuryl opened this issue Jul 23, 2024 · 3 comments
Closed

Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault #28

azuryl opened this issue Jul 23, 2024 · 3 comments

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@azuryl
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azuryl commented Jul 23, 2024 •
edited
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I installed through readme

cd ORB-SLAM2-PYBIND
bash build.sh ${opencv_dir} ${install_path}
but when
gdb --args ./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /data/azuryl/dataset/rgbd_dataset_freiburg1_xyz /data/azuryl/RTG-SLAM/thirdParty/ORB-SLAM2-PYBIND/Examples/RGB-D/associations/fr1_xyz.txt
GNU gdb (Ubuntu 10.2-0ubuntu120.041) 10.2
Copyright (C) 2021 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
https://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
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For help, type "help".
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Reading symbols from ./Examples/RGB-D/rgbd_tum...
(No debugging symbols found in ./Examples/RGB-D/rgbd_tum)
(gdb) run
Starting program: /data/azuryl/RTG-SLAM/thirdParty/ORB-SLAM2-PYBIND/Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /data/azuryl/dataset/rgbd_dataset_freiburg1_xyz /data/azuryl/RTG-SLAM/thirdParty/ORB-SLAM2-PYBIND/Examples/RGB-D/associations/fr1_xyz.txt
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Loading vocabulary from: Vocabulary/ORBvoc.txt
Loading settings from: Examples/RGB-D/TUM1.yaml
Loading sequence from: /data/azuryl/dataset/rgbd_dataset_freiburg1_xyz
Loading association from: /data/azuryl/RTG-SLAM/thirdParty/ORB-SLAM2-PYBIND/Examples/RGB-D/associations/fr1_xyz.txt

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
[New Thread 0x7fffd9bad700 (LWP 405974)]
[New Thread 0x7fffd93ac700 (LWP 405975)]

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

Read image and depth completed....
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New map created with 835 points
Read image and depth completed....
--Type for more, q to quit, c to continue without paging--c

Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault.
__GI___libc_free (mem=0x151) at malloc.c:3102
3102 malloc.c: No such file or directory.
(gdb) backtrace
#0 __GI___libc_free (mem=0x151) at malloc.c:3102
#1 0x00007ffff5d0e9a2 in g2o::HyperGraph::clear() () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libg2o.so
#2 0x00007ffff5d18544 in g2o::OptimizableGraph::~OptimizableGraph() () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libg2o.so
#3 0x00007ffff7cbe211 in ORB_SLAM2::Optimizer::PoseOptimization(ORB_SLAM2::Frame*) () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libORB_SLAM2.so
#4 0x00007ffff7c5ae1f in ORB_SLAM2::Tracking::TrackReferenceKeyFrame() () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libORB_SLAM2.so
#5 0x00007ffff7c61da8 in ORB_SLAM2::Tracking::Track() () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libORB_SLAM2.so
#6 0x00007ffff7c62f80 in ORB_SLAM2::Tracking::GrabImageRGBD(cv::Mat const&, cv::Mat const&, double const&) () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libORB_SLAM2.so
#7 0x00007ffff7c49225 in ORB_SLAM2::System::TrackRGBD(cv::Mat const&, cv::Mat const&, double const&) () at /data/azuryl/RTG-SLAM/thirdParty/install/lib/libORB_SLAM2.so
#8 0x000055555555e974 in main ()
(gdb)
@azuryl azuryl mentioned this issue Jul 23, 2024
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@azuryl
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azuryl commented Jul 23, 2024

this is a deep pit
@CJAPPLE5 @MisEty You should tell the people who use your repo, otherwise everyone who uses your repo will have to crawl through it.

we can refer raulmur/ORB_SLAM2#844
silencht/SG-SLAM#31

@azuryl
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azuryl commented Jul 23, 2024

in thirdParty/ORB-SLAM2-PYBIND 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")

@CJAPPLE5
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Thank you for your reminder. We have updated the modification instructions in the readme.

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@azuryl @CJAPPLE5