running EuRoC Examples but nothing shows up

[KaqiKaqi]

The output in terminal is as follows.
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
[ INFO:0] global /home/ber/Documents/software/opencv-4.5.4/modules/core/src/parallel/registry_parallel.impl.hpp (96) ParallelBackendRegistry core(parallel): Enabled backends(3, sorted by priority): ONETBB(1000); TBB(990); OPENMP(980)
First KF:0; Map init KF:0
New Map created with 271 points

The program holds but no window shows up.
Have no idea what's going on. Can anyone help?

[jiejie567]

I have the same problem.

[NaleRaphael]

Hi @KaqiKaqi,

TL; DR, taking Examples/Monocular/mono_euroc.cc as example:

$ cd ORB_SLAM3

# Search the line `ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);`
# the modify the 4th argument from `false` to `true`.
$ vim Examples/Monocular/mono_euroc.cc

# Rebuild example
$ cd build
$ make

# Run example again (assume that you have already prepared the dataset)
$ cd ../Examples
$ ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml PATH_TO_YOUR_MH01_DATASET ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

---

That might be the 4th argument bUseViewer in examples for initializing SLAM system has been changed recently in the latest version (v1.0-release). If you want to enable the viewer, you can simply modify the 4th argument from false to true in corresponding source file of example (e.g., Examples/Monocular/mono_euroc.cc), then rebuild it again.

And if you have already built the ORB SLAM3 library successfully, you simply go to the build directory (which should locate under the root directory of this repository) and run the command make again. This would avoid rebuilding the whole library, and which could save you lots more time.

For more details, please checkout the following code:

• Function signature of ORB_SLAM3::System:

  ORB_SLAM3/src/System.cc

  Lines 41 to 44 in 851db08

  	System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor,
  	const bool bUseViewer, const int initFr, const string &strSequence):
  	mSensor(sensor), mpViewer(static_cast<Viewer*>(NULL)), mbReset(false), mbResetActiveMap(false),
  	mbActivateLocalizationMode(false), mbDeactivateLocalizationMode(false), mbShutDown(false)

• Code for initialize SLAM system (v1.0-release) mono_euroc example, bUseViewer is false:

  ORB_SLAM3/Examples/Monocular/mono_euroc.cc

  Lines 82 to 83 in 0df83dd

  	// Create SLAM system. It initializes all system threads and gets ready to process frames.
  	ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);

• Code for initialize SLAM system (v0.4-beta) for mono_euroc example, bUseViewer is true:

  ORB_SLAM3/Examples/Monocular/mono_euroc.cc

  Lines 81 to 82 in 093173b

  	// Create SLAM system. It initializes all system threads and gets ready to process frames.
  	ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);

[KaqiKaqi]

Hi @KaqiKaqi,

TL; DR, taking Examples/Monocular/mono_euroc.cc as example:

$ cd ORB_SLAM3

# Search the line `ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);`
# the modify the 4th argument from `false` to `true`.
$ vim Examples/Monocular/mono_euroc.cc

# Rebuild example
$ cd build
$ make

# Run example again (assume that you have already prepared the dataset)
$ cd ../Examples
$ ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml PATH_TO_YOUR_MH01_DATASET ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

That might be the 4th argument bUseViewer in examples for initializing SLAM system has been changed recently in the latest version (v1.0-release). If you want to enable the viewer, you can simply modify the 4th argument from false to true in corresponding source file of example (e.g., Examples/Monocular/mono_euroc.cc), then rebuild it again.

And if you have already built the ORB SLAM3 library successfully, you simply go to the build directory (which should locate under the root directory of this repository) and run the command make again. This would avoid rebuilding the whole library, and which could save you lots more time.

For more details, please checkout the following code:

* Function signature of `ORB_SLAM3::System`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/851db08347849a94c51d3ebc3a36df8a114b800f/src/System.cc#L41-L44

* Code for initialize SLAM system (v1.0-release) `mono_euroc` example, `bUseViewer` is `false`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/0df83dde1c85c7ab91a0d47de7a29685d046f637/Examples/Monocular/mono_euroc.cc#L82-L83

* Code for initialize SLAM system (v0.4-beta) for `mono_euroc` example, `bUseViewer` is `true`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/093173baccc70930c87c64bce5b54e5664d6535f/Examples/Monocular/mono_euroc.cc#L81-L82

This works for me. Thanks a lot :)

But Segmentation fault appeared at the end of the program as follows.
`Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Relocalized!!
Shutdown

Saving trajectory to f_dataset-MH01_mono.txt ...
There are 1 maps in the atlas
Map 0 has 324 KFs

End of saving trajectory to f_dataset-MH01_mono.txt ...

Saving keyframe trajectory to kf_dataset-MH01_mono.txt ...
[ INFO:0] global /home/ber/Documents/software/opencv-4.5.4/modules/highgui/src/window_gtk.cpp (1273) destroy OpenCV/UI: destroying GTK window: ORB-SLAM3: Current Frame
./run_euroc.sh: line 1: 11458 Segmentation fault (core dumped) ./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /home/redbear/Documents/data/euroc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono`

[dholukeval]

Hi @KaqiKaqi,

TL; DR, taking Examples/Monocular/mono_euroc.cc as example:

$ cd ORB_SLAM3

# Search the line `ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);`
# the modify the 4th argument from `false` to `true`.
$ vim Examples/Monocular/mono_euroc.cc

# Rebuild example
$ cd build
$ make

# Run example again (assume that you have already prepared the dataset)
$ cd ../Examples
$ ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml PATH_TO_YOUR_MH01_DATASET ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

That might be the 4th argument bUseViewer in examples for initializing SLAM system has been changed recently in the latest version (v1.0-release). If you want to enable the viewer, you can simply modify the 4th argument from false to true in corresponding source file of example (e.g., Examples/Monocular/mono_euroc.cc), then rebuild it again.

And if you have already built the ORB SLAM3 library successfully, you simply go to the build directory (which should locate under the root directory of this repository) and run the command make again. This would avoid rebuilding the whole library, and which could save you lots more time.

For more details, please checkout the following code:

• Function signature of ORB_SLAM3::System:

  ORB_SLAM3/src/System.cc

  Lines 41 to 44 in 851db08

  	System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor,
  	const bool bUseViewer, const int initFr, const string &strSequence):
  	mSensor(sensor), mpViewer(static_cast<Viewer*>(NULL)), mbReset(false), mbResetActiveMap(false),
  	mbActivateLocalizationMode(false), mbDeactivateLocalizationMode(false), mbShutDown(false)

• Code for initialize SLAM system (v1.0-release) mono_euroc example, bUseViewer is false:

  ORB_SLAM3/Examples/Monocular/mono_euroc.cc

  Lines 82 to 83 in 0df83dd

  	// Create SLAM system. It initializes all system threads and gets ready to process frames.
  	ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);

• Code for initialize SLAM system (v0.4-beta) for mono_euroc example, bUseViewer is true:

  ORB_SLAM3/Examples/Monocular/mono_euroc.cc

  Lines 81 to 82 in 093173b

  	// Create SLAM system. It initializes all system threads and gets ready to process frames.
  	ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);

Thank you very much. That worked!!

[kenhuang1964]

Hi @KaqiKaqi,
TL; DR, taking Examples/Monocular/mono_euroc.cc as example:

$ cd ORB_SLAM3

# Search the line `ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);`
# the modify the 4th argument from `false` to `true`.
$ vim Examples/Monocular/mono_euroc.cc

# Rebuild example
$ cd build
$ make

# Run example again (assume that you have already prepared the dataset)
$ cd ../Examples
$ ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml PATH_TO_YOUR_MH01_DATASET ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

That might be the 4th argument bUseViewer in examples for initializing SLAM system has been changed recently in the latest version (v1.0-release). If you want to enable the viewer, you can simply modify the 4th argument from false to true in corresponding source file of example (e.g., Examples/Monocular/mono_euroc.cc), then rebuild it again.
And if you have already built the ORB SLAM3 library successfully, you simply go to the build directory (which should locate under the root directory of this repository) and run the command make again. This would avoid rebuilding the whole library, and which could save you lots more time.
For more details, please checkout the following code:

* Function signature of `ORB_SLAM3::System`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/851db08347849a94c51d3ebc3a36df8a114b800f/src/System.cc#L41-L44

* Code for initialize SLAM system (v1.0-release) `mono_euroc` example, `bUseViewer` is `false`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/0df83dde1c85c7ab91a0d47de7a29685d046f637/Examples/Monocular/mono_euroc.cc#L82-L83

* Code for initialize SLAM system (v0.4-beta) for `mono_euroc` example, `bUseViewer` is `true`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/093173baccc70930c87c64bce5b54e5664d6535f/Examples/Monocular/mono_euroc.cc#L81-L82

This works for me. Thanks a lot :)

But Segmentation fault appeared at the end of the program as follows. `Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Relocalized!! Shutdown

Saving trajectory to f_dataset-MH01_mono.txt ... There are 1 maps in the atlas Map 0 has 324 KFs

End of saving trajectory to f_dataset-MH01_mono.txt ...

Saving keyframe trajectory to kf_dataset-MH01_mono.txt ... [ INFO:0] global /home/ber/Documents/software/opencv-4.5.4/modules/highgui/src/window_gtk.cpp (1273) destroy OpenCV/UI: destroying GTK window: ORB-SLAM3: Current Frame ./run_euroc.sh: line 1: 11458 Segmentation fault (core dumped) ./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /home/redbear/Documents/data/euroc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono`

Hey @KaqiKaqi, did you end up resolving the Segmentation fault appeared at the end of the program? I am facing the same issue ;(

[Redalligator291]

Hi @KaqiKaqi,
TL; DR, taking Examples/Monocular/mono_euroc.cc as example:

$ cd ORB_SLAM3

# Search the line `ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);`
# the modify the 4th argument from `false` to `true`.
$ vim Examples/Monocular/mono_euroc.cc

# Rebuild example
$ cd build
$ make

# Run example again (assume that you have already prepared the dataset)
$ cd ../Examples
$ ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml PATH_TO_YOUR_MH01_DATASET ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

That might be the 4th argument bUseViewer in examples for initializing SLAM system has been changed recently in the latest version (v1.0-release). If you want to enable the viewer, you can simply modify the 4th argument from false to true in corresponding source file of example (e.g., Examples/Monocular/mono_euroc.cc), then rebuild it again.
And if you have already built the ORB SLAM3 library successfully, you simply go to the build directory (which should locate under the root directory of this repository) and run the command make again. This would avoid rebuilding the whole library, and which could save you lots more time.
For more details, please checkout the following code:

* Function signature of `ORB_SLAM3::System`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/851db08347849a94c51d3ebc3a36df8a114b800f/src/System.cc#L41-L44

* Code for initialize SLAM system (v1.0-release) `mono_euroc` example, `bUseViewer` is `false`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/0df83dde1c85c7ab91a0d47de7a29685d046f637/Examples/Monocular/mono_euroc.cc#L82-L83

* Code for initialize SLAM system (v0.4-beta) for `mono_euroc` example, `bUseViewer` is `true`: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/093173baccc70930c87c64bce5b54e5664d6535f/Examples/Monocular/mono_euroc.cc#L81-L82

This works for me. Thanks a lot :)
But Segmentation fault appeared at the end of the program as follows. Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Relocalized!! Shutdown Saving trajectory to f_dataset-MH01_mono.txt ... There are 1 maps in the atlas Map 0 has 324 KFs End of saving trajectory to f_dataset-MH01_mono.txt ... Saving keyframe trajectory to kf_dataset-MH01_mono.txt ... [ INFO:0] global /home/ber/Documents/software/opencv-4.5.4/modules/highgui/src/window_gtk.cpp (1273) destroy OpenCV/UI: destroying GTK window: ORB-SLAM3: Current Frame ./run_euroc.sh: line 1: 11458 Segmentation fault (core dumped) ./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /home/redbear/Documents/data/euroc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

Hey @KaqiKaqi, did you end up resolving the Segmentation fault appeared at the end of the program? I am facing the same issue ;(

Hey guys, I am also running into this same issue, did anyone find a solution to this problem. I am using the EuRoc dataset as well, and I am on linux.

[NaleRaphael]

@KaqiKaqi Sorry, I missed the notification, it might be too late for your situation, but still hope you get through it.

To All, currently I don't have resources to run that example, so I can only provide some tips to help you figure it out.

In the last few lines of your message, it shows "Saving keyframe trajectory to kf_dataset-MH01_mono.txt ...", that message should come from System::SaveKeyFrameTrajectoryEuRoC(). And since it's the last operation in main()@Examples/Monocular/mono_euroc.cc, there might be something wrong while saving keyframe trajectory.

But since there is no sufficient information for further investigation, I would suggest running the program with gdb and check with the stack trace. For example:

# format: gdb -ex run --args <PROGRAM> [args...]
# let's take the example above:
$ gdb -ex run --args ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml PATH_TO_YOUR_MH01_DATASET ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

# when it stopped while segmentation fault occurs, enter "bt" under the interactive mode to print stack trace

If you found the information in stack trace is still insufficient to figure out the problem, you might want to rebuilt the library and ROS examples in debug mode to get more details.

For libORB_SLAM3, you can set CMAKE_BUILD_TYPE to Debug or RelWithDebInfo (release with debug info) the in last section of build.sh.
For ROS examples, build type is set in this line.

Note

1. You might not need to change all CMAKE_BUILD_TYPEs in those scripts at once. Try to get more details from the stack trace of libORB_SLAM3 first before applying further changes to other dependencies.
2. If the build type of any other dependencies is changed, remember to rebuild libORB_SLAM3 as well. (you don't need to worry about this if you always run build.sh)
3. Insert breakpoints (even to specific thread) would help you investigate it.
4. If you are running the example with roslaunch, you can add launch-prefix="gdb -ex run -ex bt --args" to the node in launch file, it would run with gdb and show stack trace automatically right after segmentation fault. See also this document.