I am running a modified version of ORBSLAM2 where I can save the map features to a file and can reload the map. I'm running into an issue where if I reload the map features and there's a Loop Closure in the dataset, Global Bundle Adjustments occurs and at that point I'm receiving a Segmentation Fault in the g2o library.
gdb Trace Log:
#0 0x00007ffff1ee055b in g2o::HyperGraph::addEdge(g2o::HyperGraph::Edge*) ()
from /ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so
#1 0x00007ffff1eec9ba in g2o::OptimizableGraph::addEdge(g2o::HyperGraph::Edge*) ()
from /ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so
#2 0x00007ffff7a67450 in ORB_SLAM2::Optimizer::BundleAdjustment (
vpKFs=std::vector of length 1553, capacity 1553 = {...},
vpMP=std::vector of length 175862, capacity 175862 = {...},
nIterations=nIterations@entry=10, pbStopFlag=pbStopFlag@entry=0x73f2e4a,
nLoopKF=nLoopKF@entry=1553, bRobust=bRobust@entry=false)
at /ORB_SLAM2/src/Optimizer.cc:172
#3 0x00007ffff7a67d47 in ORB_SLAM2::Optimizer::GlobalBundleAdjustemnt (
pMap=0x15a62160, nIterations=nIterations@entry=10,
pbStopFlag=pbStopFlag@entry=0x73f2e4a, nLoopKF=nLoopKF@entry=1553,
bRobust=bRobust@entry=false)
at /ORB_SLAM2/src/Optimizer.cc:45
#4 0x00007ffff7a013b2 in ORB_SLAM2::LoopClosing::RunGlobalBundleAdjustment (
this=0x73f2c40, nLoopKF=1553)
at ORB_SLAM2/src/LoopClosing.cc:680
#5 0x00007ffff2ffb8f0 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6 0x00007ffff27466ba in start_thread (arg=0x7fff55318700)
Any input is appreciated.
Thanks in advance.
I am running a modified version of ORBSLAM2 where I can save the map features to a file and can reload the map. I'm running into an issue where if I reload the map features and there's a Loop Closure in the dataset, Global Bundle Adjustments occurs and at that point I'm receiving a Segmentation Fault in the g2o library.
gdb Trace Log:
Any input is appreciated.
Thanks in advance.