gdb ./Examples/sg_slam_ros_rgbd
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Reading symbols from ./Examples/sg_slam_ros_rgbd...(no debugging symbols found)...done.
(gdb) run ./Vocabulary/ORBvoc.bin ./Examples/astra_pro_camera.yaml
Starting program: /home/ayuyu/SG-SLAM/src/sg-slam/Examples/sg_slam_ros_rgbd ./Vocabulary/ORBvoc.bin ./Examples/astra_pro_camera.yaml
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
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ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

is map construction consider dynamic: 0
is global pointcloud reconstruction: 0
is octomap semanticObject map construction: 1
camera_valid_depth_Min is 0.5
camera_valid_depth_Max is 5
Sor_Local_MeanK is 50
Sor_Local_StddevMulThresh is 2
Voxel_Local_LeafSize is 0.01
Sor_Global_MeanK is 50
Sor_Global_StddevMulThresh is 2
Voxel_Global_LeafSize is 0.01
Detector3D_Sor_MeanK is 50
Detector3D_Sor_StddevMulThresh is 1
Detector3D_Voxel_LeafSize is 0.01
Detect3D_EuclideanClusterTolerance is 0.02
Detect3D_EuclideanClusterMinSize is 1000
Detect3D_EuclideanClusterMaxSize is 30000
Detect3D_DetectSimilarCompareRatio is 0.1
global_pc_update_kf_threshold is 30
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Start PointCloudMapping Viewer...

Camera Parameters:

fx: 577.547
fy: 578.633
cx: 310.243
cy: 253.655
k1: 0.10105
k2: -0.160047
p1: 0.002287
p2: 0.000271
fps: 30
color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

Number of Features: 1000
Scale Levels: 8
Scale Factor: 1.2
Initial Fast Threshold: 20
Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 2.77034
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detection_confidence_threshold is 0.99

dynamic_detection_confidence_threshold is 0.05
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Thread 1 "sg_slam_ros_rgb" received signal SIGSEGV, Segmentation fault.
0x00007ffff57ab01b in ros::CallbackQueue::callAvailable(ros::WallDuration)
() from /opt/ros/melodic/lib/libroscpp.so
(gdb)
这些就是gdb的调试信息，问题应该是最后那里，但是我不知道这个问题是代码的哪个位置

关于使用相机运行 #9

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