因项目要求要跑ORB－SLAM3,在安装和测试的过程中遇到了很多问题，特此在这里记录一下： 一．硬件介绍： 硬件：Intel Realsense D455
二．编译： 关于Pangolin: blog.csdn.net/Robert_Q/ar…
三．运行Example 目前只跑了Examples/Stereo,因此在这里主要记录这里面的问题
- 修改配置文件
- 修改Settings.cc 在Settings.cc中存在一处逻辑错误，会导致在加载camera2参数时报Segmentation fault. 修改前：
// 修改此方法
ostream &operator<<(std::ostream& output, const Settings& settings){
output << "SLAM settings: " << endl;
...
...
if(settings.sensor_ == System::STEREO || settings.sensor_ == System::IMU_STEREO){
output << "\t-Camera 2 parameters (";
if(settings.cameraType_ == Settings::PinHole || settings.cameraType_ == Settings::Rectified){
cout<<"Pinhole"<<endl;
output << "Pinhole";
}
else{
output << "Kannala-Brandt";
}
output << ")" << ": [";
for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
cout<<settings.originalCalib2_->getParameter(i)<<endl;
output << " " << settings.originalCalib2_->getParameter(i);
}
output << " ]" << endl;
if(!settings.vPinHoleDistorsion2_.empty()){
output << "\t-Camera 2 distortion parameters: [ ";
for(float d : settings.vPinHoleDistorsion2_){
output << " " << d;
}
output << " ]" << endl;
}
}
修改后：
ostream &operator<<(std::ostream& output, const Settings& settings){
output << "SLAM settings: " << endl;
...
...
if(settings.cameraType_ == Settings::PinHole)
{
output << ")" << ": [";
for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
output << " " << settings.originalCalib2_->getParameter(i);
}
output << " ]" << endl;
}
else if(settings.cameraType_ == Settings::Rectified)
{
output << ")" << ": [";
for(size_t i = 0; i < settings.originalCalib1_->size(); i++){
output << " " << settings.originalCalib1_->getParameter(i);
}
output << " ]" << endl;
}
参考自:参考此处
- 修改System.cc
问题１：在保存地图时，经常会出现Segmentation fault，导致地图无法保存，在debug了好久后，目前找到了可能的原因：
在UI界面点击stop后，stereo_realsense_D435i.cc中的
while (!SLAM.isShutDown())会返回mbShutDown这个flag的状态，而这个flag是在System::shutdown()中进行修改的．
void System::Shutdown()
{
{
unique_lock<mutex> lock(mMutexReset);
mbShutDown = true;
}
cout << "Shutdown" << endl;
mpLocalMapper->RequestFinish();
mpLoopCloser->RequestFinish();
...
a. shutdown()是注册在界面端的函数．在界面点击stop()后， mbShutDown 立刻会被设置为 true;
b. 同时在./Examples/Stereo/stereo_realsense_D435i.cc中的while (!SLAM.isShutDown())会检查mbShutDown的值．当mbShutDown==true时，退出while循环. 推出while循环后，后面已无可执行的命令，整个程序退出，SLAM对象销毁．
c. 但是当地图文件很大时，注册在界面端的函数依旧在执行，最后在SaveAtlas()时，会访问SLAM对象中的一些成员，如mStrVocabularyFilePath变量,但此时SLAM已经被销毁，最后访问变量出错，导致Segmentation fault.
修改
void System::Shutdown()
{
{
unique_lock<mutex> lock(mMutexReset);
}
cout << "Shutdown" << endl;
mpLocalMapper->RequestFinish();
mpLoopCloser->RequestFinish();
...
if(!mStrSaveAtlasToFile.empty())
{
Verbose::PrintMess("Atlas saving to file " + mStrSaveAtlasToFile, Verbose::VERBOSITY_NORMAL);
SaveAtlas(FileType::BINARY_FILE);
}
/*if(mpViewer)
pangolin::BindToContext("ORB-SLAM2: Map Viewer");*/
#ifdef REGISTER_TIMES
mpTracker->PrintTimeStats();
#endif
mbShutDown = true;
}
将mbShutDown = true;放在程序的最后，在执行完地图保存后，再修改flag.
