"Aborted (core dumped)" when running Ros example

[maghauke]

Hi, following the ROS example, when I use the command:
rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/EuRoC.yaml true
I get the following output:
`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: Stereo-Inertial

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

Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:

Camera Parameters:

• Camera: Pinhole
• fx: 435.205
• fy: 435.205
• cx: 367.452
• cy: 252.201
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 20
• color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 3.85272

ORB Extractor Parameters:

• Number of Features: 1200
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7
  double free or corruption (out)
  Aborted (core dumped)
  `
  Can anyone give tips on how to fix/debug this?

[KristianSem]

I have the same problem. Getting "Segmentation fault (core dumped)" error when running any ROS example.

[Albertcqq]

I have the same problem too, headache

double free or corruption (out)
Aborted (core dumped)

[Albertcqq]

完全卸载掉原来的opencv，装上opencv3.2.0后，问题得到解决！！！

[maghauke]

"After completely uninstalling the original opencv and installing opencv 3.2.0, the problem is solved! ! !" @Albertcqq ?

[Albertcqq]

"After completely uninstalling the original opencv and installing opencv 3.2.0, the problem is solved! ! !" @Albertcqq ?

yes！！！

[maghauke]

@Albertcqq do you have quick guide for installin opencv 3.2.0?

[Albertcqq]

@Albertcqq do you have quick guide for installin opencv 3.2.0?
yes,I have ,here it is :https://zhuanlan.zhihu.com/p/52513112

[FeiXie8]

@Albertcqq do you have quick guide for installin opencv 3.2.0?
yes,I have ,here it is :https://zhuanlan.zhihu.com/p/52513112

no,it is not the problem of opencv,it is the type of the data when refresh the map we get is not 32f and 64f,opencv is just detect the error

[maghauke]

@FeiXie8 do you have fix for this?

[FeiXie8]

@FeiXie8 do you have fix for this?

try to use another responsitory which named "ORB_SLAM3_FIXD"

[Chenliezhen259]

@FeiXie8 do you have fix for this?

excuse me, do you figure out it?

[shuaikangma]

我用这个里面的方法改了CmakelList.txt（把项目里的所有CmakelList.txt中关于opencv版本都检查一遍，都换成opencv3(ros自带opencv是opencv3)），删除所有编译生成的build文件和lib文件，重新编译（重新运行build.sh build_ros.sh）就好了
#333

[lifei8956097]

I have fixed the problem. Maybe my solution can help you !
it's the problem of opencv version, i found that the bug is caused by reading the data of Matrix in yaml file.
So, I change the Matrix into the vector and read it by Node Iterator.such like that:
First,change the Matrix to vector :
Tbc: [-9.9857676677198759e-01, -4.7901561421323555e-02,
2.3449547471171506e-02, 5.9999999999999998e-02,
4.7595588902835467e-02, -9.9877630271531237e-01,
-1.3437151905179608e-02, 0., 2.4064512880917498e-02,
-1.2301932682702903e-02, 9.9963471411914984e-01,
-1.6400000000000000e-03, 0., 0., 0., 1.]
Second,change the reading code:
cv::Mat cvTbc = cv::Mat::zeros(4, 4, CV_32F);
cv::FileNode node = fSettings["Tbc"];
cv::FileNodeIterator it = node.begin(), it_end = node.end();
if (!node.empty())
{
for (int i = 0; it != it_end; ++it, i++)
{
cvTbc.at(i / 4, i % 4) = *it;
}
// cvTbc = node.mat();

[lifei8956097]

Do not use node.mat()

[Water1775]

不要使用 node.mat（）

which file is "cvTbc = node.mat（）;" in?

[lifei8956097]

不要使用 node.mat（）

which file is "cvTbc = node.mat（）;" in?

tracking.cc parseImuParamters

[ricardo11235]

I have fixed the problem. Maybe my solution can help you ! it's the problem of opencv version, i found that the bug is caused by reading the data of Matrix in yaml file. So, I change the Matrix into the vector and read it by Node Iterator.such like that: First,change the Matrix to vector : Tbc: [-9.9857676677198759e-01, -4.7901561421323555e-02, 2.3449547471171506e-02, 5.9999999999999998e-02, 4.7595588902835467e-02, -9.9877630271531237e-01, -1.3437151905179608e-02, 0., 2.4064512880917498e-02, -1.2301932682702903e-02, 9.9963471411914984e-01, -1.6400000000000000e-03, 0., 0., 0., 1.] Second,change the reading code: cv::Mat cvTbc = cv::Mat::zeros(4, 4, CV_32F); cv::FileNode node = fSettings["Tbc"]; cv::FileNodeIterator it = node.begin(), it_end = node.end(); if (!node.empty()) { for (int i = 0; it != it_end; ++it, i++) { cvTbc.at(i / 4, i % 4) = *it; } // cvTbc = node.mat();

I changed it according to your method. As a result, there will be errors when I use make -j4.How to solve it?

[CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] Error 1

[BlueAkoasm]

I have fixed the problem. Maybe my solution can help you ! it's the problem of opencv version, i found that the bug is caused by reading the data of Matrix in yaml file. So, I change the Matrix into the vector and read it by Node Iterator.such like that: First,change the Matrix to vector : Tbc: [-9.9857676677198759e-01, -4.7901561421323555e-02, 2.3449547471171506e-02, 5.9999999999999998e-02, 4.7595588902835467e-02, -9.9877630271531237e-01, -1.3437151905179608e-02, 0., 2.4064512880917498e-02, -1.2301932682702903e-02, 9.9963471411914984e-01, -1.6400000000000000e-03, 0., 0., 0., 1.] Second,change the reading code: cv::Mat cvTbc = cv::Mat::zeros(4, 4, CV_32F); cv::FileNode node = fSettings["Tbc"]; cv::FileNodeIterator it = node.begin(), it_end = node.end(); if (!node.empty()) { for (int i = 0; it != it_end; ++it, i++) { cvTbc.at(i / 4, i % 4) = *it; } // cvTbc = node.mat();

Hello i change the code according to your method , but something wrong happened.
[error: no matching function for call to ‘cv::Mat::at(int, int)’]
How to solve it?

[ricardo11235]

I have fixed the problem. Maybe my solution can help you ! it's the problem of opencv version, i found that the bug is caused by reading the data of Matrix in yaml file. So, I change the Matrix into the vector and read it by Node Iterator.such like that: First,change the Matrix to vector : Tbc: [-9.9857676677198759e-01, -4.7901561421323555e-02, 2.3449547471171506e-02, 5.9999999999999998e-02, 4.7595588902835467e-02, -9.9877630271531237e-01, -1.3437151905179608e-02, 0., 2.4064512880917498e-02, -1.2301932682702903e-02, 9.9963471411914984e-01, -1.6400000000000000e-03, 0., 0., 0., 1.] Second,change the reading code: cv::Mat cvTbc = cv::Mat::zeros(4, 4, CV_32F); cv::FileNode node = fSettings["Tbc"]; cv::FileNodeIterator it = node.begin(), it_end = node.end(); if (!node.empty()) { for (int i = 0; it != it_end; ++it, i++) { cvTbc.at(i / 4, i % 4) = *it; } // cvTbc = node.mat();

Hello i change the code according to your method , but something wrong happened. [error: no matching function for call to ‘cv::Mat::at(int, int)’] How to solve it?

cvTbc.at<float>(i/4,i%4)=*it;