Segmentation fault while running

[stdmkmehp]

When i test the application plstvo_dataset with the dataset MH_01_easy, it goes well until Frame #684.
------------------------------------------ Frame #684 ----------------------------------------

Entropy ratio: 0.912797
#KeyFrame: 253
#Points: 75
#Segments: 605

LBA Iterations: 10

lc_min_score: 0.634968
Nkf_closest: 0
idx_max: 151
151 0.619248
146 0.606921
147 0.594605
150 0.593725
152 0.551754
149 0.493835
148 0.489392
144 0.483573
143 0.464922
142 0.456472
145 0.351572
139 0.282353
141 0.225391
137 0.207509
138 0.138574
140 0.0719267
133 0.0561294
4 0.0521161
6 0.0391258
19 0.0391258
iteration= -1 chi2= 0.0914531 time= 0.0 cumTime= 0.0 (using initial guess from spanning tree)
Segmentation fault (core dumped)

And the same thing happened when I tried other EuRoC datasets.
I have no idea how to fix it. Could someone give some advice? Many thanks!

[xmupamizq]

@stdmkmehp Hi,how do you run the pl-slam? can you tell me how I should do to perform the following instructions, thanks.

3. Dataset format and usage

The plslam_dataset (and plstvo_dataset) basic usage is:

./plslam_dataset  <dataset_path>  

where <dataset_path> refers to the sequence folder relative to the environment variable ${DATASETS_DIR} that must be previously set. That sequence folder must contain the dataset configuration file named dataset_params.yaml following the examples in pl-slam/config, where images_subfolder_{lr} refers to the left and right image subfolders.

[stdmkmehp]

Make sure your <dataset_path> contains the configuratiin file named dataset_params.yaml exactly. Actually if you use datasets such as EUROC and KITTI, you can just copy the dataset_params.yaml in pl-slam/config/ into your dataset path. You may read the pl-slam/app/plslam_dataset.cpp first if you are still confused. On xmupamizq <notifications@github.com>, Mar 31, 2018 16:53 wrote:@stdmkmehp Hi,how do you run the pl-slam? can you tell me how I should do to perform the following instructions, thanks. 3. Dataset format and usage The plslam_dataset (and plstvo_dataset) basic usage is: ./plslam_dataset <dataset_path> where <dataset_path> refers to the sequence folder relative to the environment variable ${DATASETS_DIR} that must be previously set. That sequence folder must contain the dataset configuration file named dataset_params.yaml following the examples in pl-slam/config, where images_subfolder_{lr} refers to the left and right image subfolders. —You are receiving this because you were mentioned.Reply to this email directly, view it on GitHub, or mute the thread. {"api_version":"1.0","publisher":{"api_key":"05dde50f1d1a384dd78767c55493e4bb","name":"GitHub"},"entity":{"external_key":"github/rubengooj/pl-slam","title":"rubengooj/pl-slam","subtitle":"GitHub repository","main_image_url":"https://cloud.githubusercontent.com/assets/143418/17495839/a5054eac-5d88-11e6-95fc-7290892c7bb5.png","avatar_image_url":"https://cloud.githubusercontent.com/assets/143418/15842166/7c72db34-2c0b-11e6-9aed-b52498112777.png","action":{"name":"Open in GitHub","url":"https://github.com/rubengooj/pl-slam"}},"updates":{"snippets":[{"icon":"PERSON","message":"@xmupamizq in #12: @stdmkmehp Hi,how do you run the pl-slam? can you tell me how I should do to perform the following instructions, thanks.\r\n## 3. Dataset format and usage\r\n\r\nThe **plslam_dataset** (and **plstvo_dataset**) basic usage is: \r\n```\r\n./plslam_dataset \u003cdataset_path\u003e \r\n```\r\n\r\nwhere *\u003cdataset_path\u003e* refers to the sequence folder relative to the environment variable *${DATASETS_DIR}* that must be previously set. That sequence folder must contain the dataset configuration file named **dataset_params.yaml** following the examples in **pl-slam/config**, where **images_subfolder_{lr}** refers to the left and right image subfolders."}],"action":{"name":"View Issue","url":"#12 (comment)"}}}

[xmupamizq]

@stdmkmehp Hi, thank you for your reply. Do you have qq or weichat? As you said that I have copyed the dataset_params.yaml in pl-slam/config/ into one of my dataset path such as MH_01_easy. But when I perform the ./plslam_dataset commond, I met the following error:
terminate called after throwing an instance of 'YAML::BadFile'
what(): yaml-cpp: error at line 0, column 0: bad file.
what should I do for it? In addition, how do you set the environment viarable ${DATASETS_DIR}?

[Warsin]

did you have solved the problem, when i run frame #5, i meet the Segmentation fault

[JajaIstso]

Hi together, hi @stdmkmehp,
if anybody of you solved the problem please let me know. I've tried to run KITTI Stereo Dataset 00.
When processing the 18th Frame (5th KeyFrame) I get the segmentation fault. Same as #14.
The segmentation fault is happening during the call of map->addKeyFrame( curr_kf );

What I did: Of course I set the environment variable before. The visual odometry app (plstvo_dataset) worked fine on the same dataset. I appreciate any helpful answers. :)

./plslam_dataset /kitti_vis_odometry_sequences/00
------------------------------------------ Frame # 1 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 2 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 3 ----------------------------------------

Entropy ratio: 0.8967
#KeyFrame: 1
#Points: 0
#Segments: 0

LBA Iterations: 12

------------------------------------------ Frame # 4 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 5 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 6 ----------------------------------------

Entropy ratio: 0.88655
#KeyFrame: 2
#Points: 163
#Segments: 6

LBA Iterations: 12

------------------------------------------ Frame # 7 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 8 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 9 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 10 ----------------------------------------

Entropy ratio: 0.858221
#KeyFrame: 3
#Points: 245
#Segments: 12

LBA Iterations: 12

------------------------------------------ Frame # 11 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 12 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 13 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 14 ----------------------------------------

Entropy ratio: 0.882355
#KeyFrame: 4
#Points: 309
#Segments: 16

LBA Iterations: 12

------------------------------------------ Frame # 15 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 16 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 17 ----------------------------------------

No new KF needed

------------------------------------------ Frame # 18 ----------------------------------------

Entropy ratio: 0.879226
#KeyFrame: 5
#Points: 412
#Segments: 22

[rubengooj]

Can you try the latest commit and check if you're receiving the same error?

[jiesico]

I've met a question when I run the ./plslam_dataset V1_01_easy/mav0 -c ../config/config/config_euroc.yaml -o 100 -s 2 -n 1000,
error as:terminate called after throwing an instance of 'std::logic_error'
what(): basic_string::_M_construct null not valid
I don't know how to solve the question,have you finished it?

[jiesico]

Hi ! I want to know how did you do to set the environment variable ,what I set is: :/home/zhou/pl-slam/build/V1_01_easy/mav0,Is this correct？
Thank you very much !!! @JajaIstso

[Warsin]

did you have solved it ? when i try the last commit ,i am also receiving the same error. @rubengooj @JajaIstso

[yanmengting117]

@stdmkmehp Hi, thank you for your reply. Do you have qq or weichat? As you said that I have copyed the dataset_params.yaml in pl-slam/config/ into one of my dataset path such as MH_01_easy. But when I perform the ./plslam_dataset commond, I met the following error:
terminate called after throwing an instance of 'YAML::BadFile'
what(): yaml-cpp: error at line 0, column 0: bad file.
what should I do for it? In addition, how do you set the environment viarable ${DATASETS_DIR}?

hello,i have the same problem, have you solved it?

[shaoxh]

this project is not really working well! I come up with lots of problems running it on KITTI, EuRoc datasets. but when I set it to points only mode, no segmentation fault happened. The line mode is too bad for it. just tell you: nice try but not good!