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Segfault in G2oTypes.cc #967
Description
I run monocular-inertial ORB-SLAM3 with many camera+imu datasets, but most of them crash in line 723 of G2oTypes.cc.
EdgePriorPoseImu::EdgePriorPoseImu(ConstraintPoseImu *c)
{
resize(4);
Rwb = c->Rwb;
twb = c->twb;
vwb = c->vwb;
bg = c->bg;
ba = c->ba;
// cout << c->Rwb <<", "<< c->twb<<", "<< c->vwb<<", "<< c->bg<<", "<< c->ba<<", "<< c->H<<endl;
setInformation(c->H);
}It crashes because the pointer "c" is null, so in the caller "pFp->mpcpi" is null, though I am not sure how to fix this. Has anyone else had this issue?
if (!pFp->mpcpi)
Verbose::PrintMess("pFp->mpcpi does not exist!!!\nPrevious Frame " + to_string(pFp->mnId), Verbose::VERBOSITY_NORMAL);
EdgePriorPoseImu* ep = new EdgePriorPoseImu(pFp->mpcpi);
Activity
clydemcqueen commentedon May 2, 2025
I can't remember the details, but I traced a segfault back to an uninitialized variable. I then found and fixed a few such problems, see clydemcqueen@7a1bcda