运行过程中追踪部分出现段错误 #10
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我也是同样出现这个错误 |
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请问您这个问题解决没，我也是同样的问题。 ORB-SLAM2 单目双目深度相机 SLAM 输入相机为: RGB-D 加载 ORB词典. This could take a while... 相机参数 Camera Parameters: ORB特征提取参数 ORB Extractor Parameters: 深度图阈值 Depth Threshold (Close/Far Points): 3.09294 Start processing sequence ... Light Tracking homo not working because Tracking is not initialized... |
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@MRwangmaomao |
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请问SSD路径的问题您是怎么解决的
wpr17
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在2019年11月22日 22:46，Moonteresa 写道： @MRwangmaomao
没解决呢，不过你的SSD模型还没加载好：
fopen /home/ewenwan/ewenwan/project/ORB_SLAM2-src-flow--geom-sem-octo/Thirdparty/ncnn/model/mobilenetv2_ssdlite_voc.param failed
fopen /home/ewenwan/ewenwan/project/ORB_SLAM2-src-flow--geom-sem-octo/Thirdparty/ncnn/model/mobilenetv2_ssdlite_voc.bin failed
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@MRwangmaomao |
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非常感谢，后面再一起研究一下这个问题该如何解决。
wpr17
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在2019年11月22日 22:56，Moonteresa 写道： @MRwangmaomao
可以试一下修改Detector.cc中的这个部分：
det_net_ptr->load_param("/home/ewenwan/ewenwan/project/ORB_SLAM2-src-flow--geom-sem-octo/Thirdparty/ncnn/model/mobilenetv2_ssdlite_voc.param");
det_net_ptr->load_model("/home/ewenwan/ewenwan/project/ORB_SLAM2-src-flow--geom-sem-octo/Thirdparty/ncnn/model/mobilenetv2_ssdlite_voc.bin");
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好的~！我这边是pcl 1.8.1 opencv3.4 vtk6的配置，编译过程没什么大问题，但是跑数据集的时候会闪现闪退然后报跟踪没有初始化的错误~ |
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经过断点调试后发现问题出现在Eigen中的Eigen/src/Core/MapBase.h对齐问题，我猜可能是gcc优化后代码运行中发生了conflict，导致核心转储。 我修改了CMakeLists.txt中的gcc编译等级，把 -march=native -O3给去掉了，如下所示。 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 ") 现在可以正常run起来了。 |
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@MRwangmaomao |
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请问您解决了吗，我的问题和您一样，去掉 -march=native -O3后好像错误没有解决 T-T |
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已解决，问题产生和自己的eigen3版本有关，原cmakelist的eigen写的太具体了，写到eigen3.xx.xx req…，我把自己的find eigen3 req…，只写到这里，就OK了 |
请问您这个问题最终解决掉了嘛 |
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同志们，eigen3.2.1OK |
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Start processing sequence ... 调用了 深度相机跟踪 TrackRGBD . Thread 1 "rgbd_tum" received signal SIGSEGV, Segmentation fault. |
已解决，将g2o编译的CMakeList.txt中所有 -march=native去掉，最好是把项目中所有的CMakeList.txt中所有 -march=native去掉。 |
`ORB特征提取参数 ORB Extractor Parameters:
-- 每幅图像特征点数量 Number of Features: 1000
-- 金字塔层数Scale Levels: 8
-- 金字塔尺度Scale Factor: 1.2
-- 初始快速角点法阈值 Initial Fast Threshold: 20
-- 最小阈值 Minimum Fast Threshold: 7
深度图阈值 Depth Threshold (Close/Far Points): 2.98842
Start processing sequence ...
Images in the sequence: 827
Light Tracking homo not working because Tracking is not initialized...
新地图创建成功 new map ,具有 地图点数 : 718 地图点 points
Tracking homo faild...
receive a keyframe, id = 1
段错误 (核心已转储)
`
can anyone please help me with this problem about tracking? Thanks!!
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