Hello dear author, I am trying to running the code of MSC-VO. During the process of configuring environment, there always exists segmentation error. After debug, I found that this segmentation error is loacte in Optimizer::LineOptStruct, if I delete the calling of this function in 277 of Tracking.cc, the algorithm can run successfully. I add an output at the end of Optimizer::LineOptStruct and 278 of Tracking.cc, only the output in Optimizer::LineOptStruct can be print, which means that the segmentation error maybe caused by the memory reclamation of Optimizer::LineOptStruct.I would like to know that is this problem happens when you run this code. If this problem also happened in your device, how can i solve it?
Thank you so much!

Hello dear author, I am using opencv3.2.0, but the following error occurs, do you know how to solve it?
[100%] Linking CXX executable ../Examples/RGB-D/rgbd_tum ../lib/libORB_SLAM2.so: undefined reference to cv::line_descriptor::BinaryDescriptor::compute(cv::Mat const&, std::vector<cv::line_descriptor::KeyLine, std::allocatorcv::line_descriptor::KeyLine >&, cv::Mat&, bool) const'
../lib/libORB_SLAM2.so: undefined reference to cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor()' ../lib/libORB_SLAM2.so: undefined reference to cv::line_descriptor::LSDDetector::detect(cv::Mat const&, std::vector<cv::line_descriptor::KeyLine, std::allocatorcv::line_descriptor::KeyLine >&, int, int, cv::Mat const&)'
../lib/libORB_SLAM2.so: undefined reference to cv::line_descriptor::LSDDetector::createLSDDetector()' collect2: error: ld returned 1 exit status CMakeFiles/rgbd_tum.dir/build.make:178: recipe for target '../Examples/RGB-D/rgbd_tum' failed make[2]: *** [../Examples/RGB-D/rgbd_tum] Error 1 CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed

hi author,thanks for your attention,i meet a problem which i can not understand.i run this code on two computer.
a computer: cpu:i7-7700
b computer: cpu:i9-13900hx
the environment is same.
the running speed of a is about ten times faster than that of b.
i feel so confusion,i hope you can give me some advice,thank you.

Hello, thank you for the code. But when I use the config file of TUM2.yaml, I met the Segmentation fault (core dumped) error. So I think you forget the LSD Parameters in the TUM2.yaml, that other config files have the LSD Parameters .
#--------------------------------------------------------------------------------------------

LSD Parameters

#--------------------------------------------------------------------------------------------

LINEextractor.nLevels: 1
LINEextractor.scaleFactor: 1.2
LINEextractor.nFeatures: 200
LINEextractor.min_line_length: 5