运行数据集时，窗口闪退

[zpj159]

作者您好，很荣幸看到这么优秀的语言地图构建的开源代码，在我按照您给出的操作中，运行run_tum_walking_xyz.sh这个文件时，窗口闪退，通过使用gdb，查询到错误是Thread 1 "sg_slam_tum" received signal SIGSEGV, Segmentation fault.
0x00007fffef36b098 in g2o::EdgeSE3ProjectXYZOnlyPose::linearizeOplus() ()
from /home/1/SLAM/SG-SLAM/src/sg-slam/Thirdparty/g2o/lib/libg2o.so，这是因为我的g2o的库出了问题吗，还望您给予帮助，非常感谢！

[zpj159]

gdb ./Examples/sg_slam_tum
GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
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and "show warranty" for details.
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Type "show configuration" for configuration details.
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Reading symbols from ./Examples/sg_slam_tum...(no debugging symbols found)...done.
(gdb) run ./Vocabulary/ORBvoc.bin ./Examples/TUM3.yaml /home/1/SLAM/TUMDataset/rgbd_dataset_freiburg3_walking_xyz /home/1/SLAM/TUMDataset/rgbd_dataset_freiburg3_walking_xyz/associations.txt
Starting program: /home/1/SLAM/SG-SLAM/src/sg-slam/Examples/sg_slam_tum ./Vocabulary/ORBvoc.bin ./Examples/TUM3.yaml /home/1/SLAM/TUMDataset/rgbd_dataset_freiburg3_walking_xyz /home/1/SLAM/TUMDataset/rgbd_dataset_freiburg3_walking_xyz/associations.txt
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fff9f261700 (LWP 31784)]
[New Thread 0x7fff9d805700 (LWP 31788)]
[New Thread 0x7fff9d004700 (LWP 31789)]
[New Thread 0x7fff9c803700 (LWP 31790)]
[New Thread 0x7fff97fff700 (LWP 31791)]

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: 1
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 3
Voxel_Local_LeafSize is 0.01
Sor_Global_MeanK is 50
Sor_Global_StddevMulThresh is 3
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 25
[New Thread 0x7fff960dd700 (LWP 31794)]
Start PointCloudMapping Viewer...
[New Thread 0x7fff7d6d7700 (LWP 31796)]
[New Thread 0x7fff7ced6700 (LWP 31797)]
[New Thread 0x7fff5dfff700 (LWP 31799)]
[New Thread 0x7fff5d7fe700 (LWP 31800)]
[New Thread 0x7fff5cffd700 (LWP 31801)]
[New Thread 0x7fff51fff700 (LWP 31802)]
[New Thread 0x7fff517fe700 (LWP 31803)]

Camera Parameters:

• fx: 535.4
• fy: 539.2
• cx: 320.1
• cy: 247.6
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• 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): 2.98842
[New Thread 0x7fff506c3700 (LWP 31809)]
[New Thread 0x7fff4fec2700 (LWP 31810)]

detection_confidence_threshold is 0.9

dynamic_detection_confidence_threshold is 0.01
[New Thread 0x7fff4f6c1700 (LWP 31811)]
[New Thread 0x7fff4eec0700 (LWP 31812)]
[New Thread 0x7fff4e6bf700 (LWP 31813)]
[New Thread 0x7fff4debe700 (LWP 31814)]
Detector2D Thread start ...
[New Thread 0x7fff4d6bd700 (LWP 31815)]

---

Start processing sequence ...
Images in the sequence: 827

[New Thread 0x7fff4cebc700 (LWP 31816)]
[New Thread 0x7fff4638b700 (LWP 31817)]
[New Thread 0x7fff45389700 (LWP 31820)]
[New Thread 0x7fff45b8a700 (LWP 31819)]
[New Thread 0x7fff37fff700 (LWP 31822)]
[New Thread 0x7fff44b88700 (LWP 31821)]
[New Thread 0x7fff377fe700 (LWP 31823)]
[New Thread 0x7fff36ffd700 (LWP 31824)]
[New Thread 0x7fff367fc700 (LWP 31825)]
[New Thread 0x7fff35ffb700 (LWP 31826)]
[New Thread 0x7fff357fa700 (LWP 31827)]
New map created with 717 points

Thread 1 "sg_slam_tum" received signal SIGSEGV, Segmentation fault.
0x00007fffef36b098 in g2o::EdgeSE3ProjectXYZOnlyPose::linearizeOplus() ()
from /home/1/SLAM/SG-SLAM/src/sg-slam/Thirdparty/g2o/lib/libg2o.so

[silencht]

可能的解决办法，请尝试：
在主工程目录和DBoW、g2o等第三方库的多个CMakeLists.txt中，于-O3后统一添加（或删除）-march=native标志，并清除build文件夹下的所有cmake缓存文件，重新完整编译工程+运行。

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")

from raulmur/ORB_SLAM2#844

[zpj159]

是的，按照作者您给出的方法，解决了上述问题，非常感谢