Running ROS Euroc example

[andriskuciks]

Hello! I'm trying to run ROS example but whenever I load vocabulary I get following output:

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, 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: Stereo-Inertial

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

Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 

Camera Parameters: 
- Camera: Pinhole
- fx: 435.205
- fy: 435.205
- cx: 367.452
- cy: 252.201
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 3.85272

ORB Extractor Parameters: 
- Number of Features: 1200
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
double free or corruption (out)
Aborted (core dumped)

Tried the solution mentioned here, but still no luck. Any ideas whats causing this?

[jj-gomez]

At a first glance, I would say this is a compilation issue due to using a different compiler (or same compiler but different versions) to build g2o, DBoW2 and ORB-SLAM3 libraries. Please, check that you are using the same exact compiler (including the version) for building everything.

However I am not sure about the cause of this error so I would ask you to find in which line of code you are getting this error.

[andriskuciks]

Hi @jjgr3496 , thanks for the quick response!
So I did some debugging and discovered that this error is from Tracking.cc line 794: Tbc = node.mat(); causing the program to crash.
I checked CMakeCache.txt file for g2o, DBoW2 and ORB-SLAM3 and it appeared that all of these libraries are using the same compiler. At least all the option with 'compiler' in its name were the same. Maybe this wasn't the right way to check this, I'm not sure.

Edit
So I'm trying to understand whats the problem and I noticed that when I launch Stereo example with parameter ONLINE_RECTIFICATION = false some windows open up and I can launch the example tho it's not able to initialize and no features are detected and mapped. When changing this parameter to true I get the same core dump. Still haven't managed to launch Stereo-Inertial example tho it always returns with the above mentioned error
Regards

[andriskuciks]

Didn't really figure out what was causing the core dump error. But I installed virtual box with clean Ubuntu 18.04, followed the install instructions and now everything wokrs. Tho there's a new problem. When I run for example MH_03_medium.bag dataset ROS stereo, both ORB_SLAM2 and ORB_SLAM3 can't keep up with the incoming frames and looses track pretty fast. It tries to re localize but after a short while its lost again. Is it because in MH_03_medium.bag theres a lot of movement or the lack of computing power?

Edit
So I added more CPU cores for vitualbox environment and now its able to track MH_03_medium.bag