Sophus coredump

[IsaacTay]

I can't replicate it reliably, seems to happen at random after a period of time.

Error message:

Sophus ensure failed in function 'static Sophus::SO3<Scalar_> Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, Sophus::SO3<Scalar_, Options>::Scalar*) [with Scalar_ = float; int Options = 0; Sophus::SO3<Scalar_, Options>::Ta    ngent = Eigen::Matrix<float, 3, 1>; Sophus::SO3<Scalar_, Options>::Scalar = float]', file '/home/user/plvs/Thirdparty/Sophus/sophus/so3.hpp', line 614.
SO3::exp failed! omega: -nan -nan -nan, real: -nan, img: -nan
bash: line 1: 169876 Aborted                 (core dumped)

[luigifreda]

Hi,
what are you running exactly? Binary, dataset, configuration file? Local changes?
Can you share your configuration and how you installed PLVS?

[IsaacTay]

I'm currently running PLVS using RosDocker on noetic. Almost all configuration is the default, with a local opencv version of 4.8.0. I also have libpcl-conversions-dev installed to get Volumetric Mapping running.
I'm running a modified version of ./ros_xterm_d435, with Camera.type=pinhole added to get it to work.
CUDA version is 11.4 with CuDNN 8

[luigifreda]

Hi,
can you please share the YAML configuration file you are using?
Did you test PLVS with or without lines, with our without dense mapping?

Run on the shell: ulimit -c unlimited
Then once a core is generated from the crashed app
you can run

gdb <application path> <core path>

(Ref: https://www.brendangregg.com/blog/2016-08-09/gdb-example-ncurses.html)

Could you please share the backtrace that gdb is reporting?

[luigifreda]

I found this issue may be related to the following ones depending on ORBSLAM3
https://github.com/UZ-SLAMLab/ORB_SLAM
UZ-SLAMLab/ORB_SLAM3#608
DavidPetkovsek/MORB_SLAM#17

[luigifreda]

Pushed a new commit related to this issue.
@IsaacTay let me know.