"Segmentation fault (core dump)" is reported when executing Kitti dataset about orb_slam3

[DreamWaterFound]

One way to solve the problem is to modify file KITTIXXX.yaml , add camera model and camera parameters in opencv format by referring to file EuRoC.yaml.

In the latest version commit id 5e9189, without specified camera model in settings file will let ORB_SLAM3::Tracking::mpCamera uninitialized (nullptr). This null pointer will be passed to ORB_SLAM3::KeyFrame and ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose, finally make illegal memory access during optimizing frame pose. This is why segment fault occured. BTW, similar errors also occured when testing ORB_SLAM3 in RGB-D mode on the TUM RGB-D sequence (but to solve it we have to modify some code except setting file(s).).

Here is a example of modified KITTI00-02.yaml :

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# ===> NOTICE: Add camera model here <===
Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 718.856
Camera.fy: 718.856
Camera.cx: 607.1928
Camera.cy: 185.2157

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

Camera.bFishEye: 0

Camera.width: 1241
Camera.height: 376

# Camera frames per second 
Camera.fps: 10.0

# stereo baseline times fx
Camera.bf: 386.1448

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Close/Far threshold. Baseline times.
ThDepth: 35

# ============================================================

# ===> NOTICE: Add camera parameters here <===
LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
LEFT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
RIGHT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
RIGHT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, -3.861448000000e+02, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000

# ORB Extractor: Scale factor between levels in the scale pyramid 	
ORBextractor.scaleFactor: 1.2

# ORB Extractor: Number of levels in the scale pyramid	
ORBextractor.nLevels: 8

# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast			
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.6
Viewer.KeyFrameLineWidth: 2
Viewer.GraphLineWidth: 1
Viewer.PointSize: 2
Viewer.CameraSize: 0.7
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -100
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000

I can test ORB-SLAM3 successfully in stereo-only mode on KITTI odometry sequence 00. Hope to help you.

[JinLn]

Thank you very much . I tested KITTI odometry sequence 03 like you and successed . Thank you again

[xiegongsheldon]

how do you know these parameters@DreamWaterFound

[DreamWaterFound]

how do you know these parameters@DreamWaterFound

LEFT.D、LEFT.K、RIGHT.D、RIGHT.K were provided by KITTIXXX.yaml.
LEFT.R、LEFT.P、RIGHT.R、RIGHT.P were derived from P0 P1 in the calib.txt. You can download this file from this page.

[xiegongsheldon]

谢谢！邮件已收到。

[xiegongsheldon]

谢谢！邮件已收到。

[ynma-hanvo]

how do you know these parameters@DreamWaterFound

LEFT.D、LEFT.K、RIGHT.D、RIGHT.K were provided by KITTIXXX.yaml. LEFT.R、LEFT.P、RIGHT.R、RIGHT.P were derived from P0 P1 in the calib.txt. You can download this file from this page.

hi, what is this parameter : ThDepth
and how do i get it;

[DreamWaterFound]

hi, what is this parameter : ThDepth
and how do i get it;

See the section III.A in the paper of ORB-SLAM2. Empirically set it to 40.