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ORB_SLAM2 ROS-RGBD real-time mode segment error

cs12345007 注册会员
2023-02-25 14:22

For your own reference, segment errors are usually caused by accessing illegal memory. In your case, the problem seems to be related to the cv::getTextSize() function.

Here are some possible solutions:

Check that the input parameters are correct: cv::getTextSize() requires arguments such as the string, font, font scale, and line width. If these arguments are incorrect, a segment error will result. Make sure you pass the correct parameters.

Check the version of the OpenCV library: When using the OpenCV library, make sure you are using the ORB_SLAM2 compatible version. If you install OpenCV 4.0, but ORB_SLAM2 needs OpenCV 3.0 or earlier, it can cause segment errors. You can try demoting OpenCV to version 3.0 and then recompiling ORB_SLAM2.

Check the code logic: In addition to the cv::getTextSize() function, other code logic may be causing the segment error. You can use gdb or other debugging tools to find the location of segment errors and step through them.

Check hardware resources: When ORB_SLAM2 runs, make sure your computer's hardware resources are adequate. Segment errors can also occur if your computer is low on memory or CPU.

Hope you find these solutions helpful!

WJKENT 注册会员
2023-02-25 14:22

the reference answer GPT ᴼ ᴾ ᴱ ᴺ ᴬ ᴵ < br / > section of the error(Segmentation fault) is usually caused by invalid access memory area, The possible cause is that the pointer is not initialized, the pointer is out of bounds, or the memory that has been released is accessed. In your case, it's probably because the cv::getTextSize function accesses invalid memory.

Here are some suggestions that might be useful to solve this problem:

  1. Verify that the code is correct. Make sure your code is correct, especially the parts related to the cv::getTextSize function. You can try to comment out the function and then recompile and run the code to see if segment errors still occur.
  2. Check that the ROS environment variables are correct. Please check that the ROS environment variables are set correctly and consistent with your code and CMakeList files. ROS setting environment variables incorrectly can cause a program crash or segment error.
  3. Checks that the dependency library is correct. Make sure that your code uses the same dependency libraries as your code and CMakeList files, and that they are properly linked to your code. In particular, the dependency libraries associated with the cv::getTextSize function, such as OpenCV.
  4. Try using another version of OpenCV. Although you have tried to upgrade your code to OpenCV 4.0, there may be other versions of OpenCV that work better with your code. You can try using other versions of OpenCV to solve this problem.
  5. Debug code using GDB. You have used GDB to confirm that the problem is in the cv::getTextSize function, but you can use GDB to further debug your code to find the root cause of the problem. With GDB, you can look at stack traces, variable values, and more to help you determine the specific cause of segment errors.

Hope these suggestions help you solve the problem.

dhf3328573 注册会员
2023-02-25 14:22

First, you need to make sure that the function arguments are correct. Check to see if cv::getTextSize() is passed in correctly, such as the first argument string text must be a string, fontFace must be an appropriate font style, and fontScale should have a reasonable value, etc. Second, you can try lowering the opencv version to 3.0, reinstall and run ORB_SLAM2 to see if it works. Finally, consider recompiling ORB_SLAM2 code into a dynamic library and using valgrind for memory checks to find errors in function parameters.

Also, you might consider trying to change ORB_SLAM2's makefile file to fix possible errors in function arguments. If none of the above solve the problem, you can submit your problem to ORB_SLAM2's Github Issues page and describe your problem in as much detail as possible.

asdw7540522 注册会员
2023-02-25 14:22

Follow these steps to try to solve it:

  1. recompile ORB_SLAM2 to make sure all dependencies are properly installed;
  2. Use GDB to identify the location of the segment error and the cause of the error;
  3. Check that the CmakeList file is correct and that you have properly linked to the library file of cv4.0;
  4. Adjust the code according to the GDB debugging result;
  5. recompile and run ORB_SLAM2 to see if you can fix the segment error.

If the above steps are still not resolved, try using some debugging tools to further analyze and resolve the problem. A tool such as Valgrind helps you track and analyze the performance of the entire software, helping you locate and resolve problems faster.

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Publish Time
2023-02-25 14:22
Update Time
2023-02-25 14:22

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