SVO crashes after a few seconds

[akshatsh511]

Have been struggling with getting SVO to run on the provided data-set. Following is the back trace I get from gdb

`[ INFO] [1529271066.910056331]: Init: KLT 46.5785px average disparity.
[ INFO] [1529271066.943693181]: Init: KLT tracked 143 features
[ INFO] [1529271066.943767393]: Init: KLT 48.3242px average disparity.
[ INFO] [1529271066.975313537]: Init: KLT tracked 143 features
[ INFO] [1529271066.975392188]: Init: KLT 49.9558px average disparity.
[ INFO] [1529271067.008303615]: Init: KLT tracked 143 features
[ INFO] [1529271067.008384502]: Init: KLT 51.8553px average disparity.
[ INFO] [1529271067.009837697]: Init: Homography RANSAC 137 inliers.
[ INFO] [1529271067.010010750]: Init: Selected second frame, triangulated initial map.

Thread 7 "vo" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffc2085700 (LWP 7812)]
0x00007ffff74cfb34 in svo::DepthFilter::initializeSeeds(boost::shared_ptrsvo::Frame) () from /home/akshat/catkin_ws/devel/lib/libsvo.so
(gdb) bt
#0 0x00007ffff74cfb34 in svo::DepthFilter::initializeSeeds(boost::shared_ptrsvo::Frame) () at /home/akshat/catkin_ws/devel/lib/libsvo.so
#1 0x00007ffff74d02a7 in svo::DepthFilter::updateSeedsLoop() () at /home/akshat/catkin_ws/devel/lib/libsvo.so
#2 0x00007ffff330bbcd in () at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1
#3 0x00007ffff3c686db in start_thread (arg=0x7fffc2085700) at pthread_create.c:463
#4 0x00007ffff595688f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
`

Configuration I have been running is
ROS melodic
Ubuntu 18.04 - 64 bit ( although similar issues faced with 14.04)

Please help since I have been stuck on this for a long time now

[yan99033]

Try the following methods and see if they work for you

1. Try to run it without BA

2. catkin_make your own cv_bridge package

git clone https://github.com/ros-perception/vision_opencv.git
move the cv_bridge package to catkin workspace,then:
catkin_make --pkg cv_bridge

Note that you might need to checkout the melodic branch of the vision_opencv repo. Because there might be a conflict between system installed OpenCV and ROS OpenCV (refer to https://github.com/ros-perception/image_pipeline/issues/176)

Let us know if you have tested the steps above. I faced the similar issue in ROS Kinetic, and the second step helps. I am curious to know if it works for ROS Melodic too.

[Andrew-rw]

I tried both of methods recommended by yan99033 on ubuntu 18.04-64 with ROS Melodic. I experimented with live camera and a bag file. Unfortunately issue is not solved - still having error at
(0x00007ffff74acd44 in svo::DepthFilter::initializeSeeds(boost::shared_ptrsvo::Frame)

[gkouros]

I am facing the exact same issue using the latest version of svo with ros melodic. Did anyone find any solution?

[gkouros]

It is fixed by pull request #238!!!

[AndreiBaraian]

I have done the modifications in pull request #238, and now it works. But the log stops after [ INFO] [1553165839.367933763]: Init: Selected second frame, triangulated initial map. The rest of the algorithm seems to be working fine in RVIZ, but I don't understand why the log stops. Did any of you encountered the same problem? I also run ubuntu 18.04 with ROS melodic.

[Ador2]

@AndreiBaraian I met the exact same issue, done the modifications too, no luck.