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Hello,

First of all thanks for providing the DefSLAM library! I'm getting a segmentation fault while running the DefSLAM executable (I to load the mandala left camera images) with the Mandala0 dataset.

The sequence runs for several frames, but then crashes due to the segmentation fault.
The error occurs in the mapping thread, specifically at .

Here is the gdb output:

NORMAL ESTIMATOR IN - Reprojection error: 5.12225
Points considered: 268
00033 244 0 551
/home/user3/slam/datasets/mandala0/images/stereo_im_l_1560936004110.png i:  34

Thread 5 "DefSLAM" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffc2197700 (LWP 21137)]
0x00007ffff7880e48 in std::vector<defSLAM::SurfacePoint, std::allocator<defSLAM::SurfacePoint> >::operator[] (this=0x8, __n=<optimized out>)
    at /usr/include/c++/7/bits/stl_vector.h:798
798             return *(this->_M_impl._M_start + __n);

The backtrace:

(gdb) bt
#0  0x00007ffff7880e48 in std::vector<defSLAM::SurfacePoint, std::allocator<defSLAM::SurfacePoint> >::operator[](unsigned long) (this=0x8, __n=<optimized out>) at /usr/include/c++/7/bits/stl_vector.h:798
#1  0x00007ffff7880e48 in defSLAM::Surface::getNormalSurfacePoint(unsigned long, cv::Vec<float, 3>&) (this=0x0, ind=30, N=...)
    at /home/user3/slam/DefSLAM/Modules/Mapping/Surface.cc:95
#2  0x00007ffff783c828 in defSLAM::NormalEstimator::ObtainK1K2() (this=this@entry=0x7fffc218f530)
    at /home/user3/slam/DefSLAM/Modules/Mapping/NormalEstimator.cc:188
#3  0x00007ffff783a896 in defSLAM::DefLocalMapping::NRSfM() (this=this@entry=0x5555633b1470)
    at /home/user3/slam/DefSLAM/Modules/Mapping/DefLocalMapping.cc:178
#4  0x00007ffff783ad60 in defSLAM::DefLocalMapping::insideTheLoop() (this=this@entry=0x5555633b1470)
    at /home/user3/slam/DefSLAM/Modules/Mapping/DefLocalMapping.cc:125
#5  0x00007ffff783adce in defSLAM::DefLocalMapping::Run() (this=0x5555633b1470)
    at /home/user3/slam/DefSLAM/Modules/Mapping/DefLocalMapping.cc:85
#6  0x00007ffff54b66df in  () at /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x00007ffff445a6db in start_thread (arg=0x7fffc2197700) at pthread_create.c:463
#8  0x00007ffff4f1171f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

Any ideas what could have gone wrong here?
Thanks!

Hi
I am using Hamlyn Dataset provided here as input. I am running the code in Ubuntu20.04. The code provides output for 10 images and then this error is thrown. I am not using any custom dataset here
This is the output that I get

4

DefSLAM 2019-2020 José Lamarca, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it

Input sensor was set to:
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

• fx: 426.532
• fy: 426.532
• cx: 179.057
• cy: 153.861
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 20
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1200
• Scale Levels: 1
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Defomation tracking Parameters:

• Reg. Inextensibility: 16000
• Reg. Laplacian: 300
• Reg. Temporal: 0.02
• Reg. LocalZone: 1
  New map created with 302 points
  POINTS matched:200
  NORMAL ESTIMATOR IN - NORMALS REESTIMATED : 0 - 0
  NORMAL ESTIMATOR OUTPoints potential : 0 160
  Number Of normals 0 0x555d0beb0430
  Not enough normals
  Reprojection error: 4.75402
  Points considered: 200
  00001 206 0 283
  POINTS matched:164
  Gtk-Message: 16:19:08.665: Failed to load module "canberra-gtk-module"
  Reprojection error: 3.82728
  Points considered: 187
  00002 198 0 283
  POINTS matched:167
  Reprojection error: 3.26401
  Points considered: 192
  00003 201 0 283
  POINTS matched:161
  Reprojection error: 3.47967
  Points considered: 178
  00004 188 0 283
  POINTS matched:161
  Reprojection error: 3.30194
  Points considered: 192
  00005 201 0 283
  POINTS matched:161
  Reprojection error: 3.51483
  Points considered: 167
  00006 179 0 283
  POINTS matched:124
  Reprojection error: 4.43584
  Points considered: 157
  00007 163 0 283
  POINTS matched:133
  Reprojection error: 5.00483
  Points considered: 165
  00008 172 0 283
  POINTS matched:136
  Reprojection error: 5.03674
  Points considered: 169
  00009 175 0 283
  POINTS matched:128
  Reprojection error: 5.38212
  Points considered: 145
  00010 149 0 283
  POINTS matched:125
  Finding by Schwarp
  -0.435396 0.477329 -0.343502-0.435396 0.477329 -0.343502New points : 3
  Calculating final Schwarp
  -0.435396 0.477329 -0.343502Reprojection error: 4.44255
  Points considered: 156
  00011 159 0 283
  double free or corruption (out)
  ./rungt.sh: line 13: 20535 Aborted (core dumped) ./DefSLAM /home/hticgsr/codes/defSlam/DefSLAM-master/Vocabulary/ORBvoc.txt /home/hticgsr/codes/defSlam/DefSLAM-master/HamlynDatasetShort/f5phantom/hamlyn.yaml /home/hticgsr/codes/defSlam/DefSLAM-master/HamlynDatasetShort/f5phantom/f5_dynamic_deint_L.avi

I checked the Eigen library version as mentioned in another closed issue. I am using Eigen library version 3.3.90. Please help me out.

Hi,

I've been trying to use DefSLAM for dental model, which is a rigid object. My camera is already calibrated. However, once I start the camera using this command:

./DefSLAM ORBfile Yamlfile

It seems the Map Viewer threads try to find out how a single frame is deformed, instead of reconstructing scenes iteratively (see video). Can I use DefSLAM for completely rigid scenes? If so, what are steps to do? I try with Mandala datasets, and everything works fine. However, that example uses stereo images. I can't replicate this example as my camera is monocular.

https://drive.google.com/file/d/1Ou4pbnn_X5Ye5bREEz9hIh7e9vEqIWI8/view?usp=sharing

Best,
Arya

Hello author, I have completed the compilation process, but there was a link failure problem during the final linking process.such as :CMakeFiles/DefSLAMGT.dir/Apps/stereo_groundtruth.cc.o：in function‘cvflann::anyimpl::big_any_policycv::String::static_delete(void**)’：
stereo_groundtruth.cc:(.text._ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE13static_deleteEPPv[_ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE13static_deleteEPPv]+0x15)：对‘cv::String::deallocate()’undefined reference.
how can i solve it
thanks

Hello,

Recently, I have been exploring this repository and have been able to compile and run DefSLAM on the provided Hamlyn dataset. However, I have had some difficulty determining where the results were saved after running the dataset. I have Viewer.SaveResults turned on in the configuration file for reference.

Thanks in advance for the help!

Excuse me, is the program interface of monocular camera solved now? Could you provide me with a copy?

Hello,
Thanks for providing the source code of DefSLAM library! I am a freshman at the SLAM and I'm getting a segmentation fault while running the DefSLAM executable.
I don't know how to solve this problem, so I come here for help.

As described in #2, the sequence runs for several frames and then crashes due to the segmentation fault. The error also occurs at NormalEstimator::ObtainK1K2(), but I get another I got another error message.
I try to find the location of the error, specifically at line 153 at NormalEstimator.cc (Solve (options, &problem, &summary)).

I compiled the DefSLAM library on Ubuntu 16.04. I refer to #2 to list the following information. If you need anything else, please let me know.

Here is the gdb output:
Thread 14 "DefSLAM" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7f0d27a19700 (LWP 4340)]
0x00007f0d82333af0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op const&) () from /home/crystal/compareWorkbench/DefSLAM-master/lib/libDeformableSLAM.so

All information in gdb is here:
GNU gdb (GDB; JetBrains IDE bundle; build 128) 8.3
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License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
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There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "x86_64-pc-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
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Find the GDB manual and other documentation resources online at:
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Thread 14 "DefSLAM" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7f0d27a19700 (LWP 4340)]
0x00007f0d82333af0 in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> >, Eigen::internal::assign_op >(Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::internal::assign_op const&) () from /home/crystal/compareWorkbench/DefSLAM-master/lib/libDeformableSLAM.so

Here is the debugger output:

Here is the console output:
/home/crystal/compareWorkbench/DefSLAM-master/Apps/DefSLAM /home/crystal/compareWorkbench/DefSLAM-master/Vocabulary/ORBvoc.txt /home/crystal/Dataset/sequence_heart/hamlyn.yaml /home/crystal/Dataset/f5phantom/f5_dynamic_deint_L.avi
4

DefSLAM 2019-2020 José Lamarca, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it

Input sensor was set to:
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

• fx: 579.057
• fy: 579.057
• cx: 139.815
• cy: 159.224
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 20
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 2000
• Scale Levels: 1
• Scale Factor: 1.2
• Initial Fast Threshold: 10
• Minimum Fast Threshold: 5

Defomation tracking Parameters:

• Reg. Inextensibility: 16000
• Reg. Laplacian: 300
• Reg. Temporal: 0.02
• Reg. LocalZone: 1
  New map created with 577 points
  POINTS matched:440
  NORMAL ESTIMATOR IN - NORMALS REESTIMATED : 0 - 0
  NORMAL ESTIMATOR OUTPoints potential : 0 160
  Number Of normals 0 0x803840
  Not enough normals
  Reprojection error: 4.92431
  Points considered: 440
  00001 440 0 575
  POINTS matched:378
  Reprojection error: 4.3275
  Points considered: 404
  00002 406 0 575
  Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.POINTS matched:368
  Reprojection error: 3.63231
  Points considered: 419
  00003 420 0 575
  POINTS matched:377
  Reprojection error: 4.37176
  Points considered: 411
  00004 413 0 575
  POINTS matched:355
  Reprojection error: 4.01546
  Points considered: 396
  00005 398 0 575
  POINTS matched:347
  Reprojection error: 4.15708
  Points considered: 386
  00006 386 0 575
  POINTS matched:300
  Reprojection error: 5.60106
  Points considered: 330
  00007 332 0 575
  POINTS matched:276
  Reprojection error: 4.48035
  Points considered: 336
  00008 337 0 575
  POINTS matched:291
  Reprojection error: 5.16353
  Points considered: 344
  00009 346 0 575
  POINTS matched:283
  Reprojection error: 5.89413
  Points considered: 323
  00010 323 0 575
  POINTS matched:285
  Finding by Schwarp
  -0.265467 0.355908 -0.288624-0.265467 0.355908 -0.288624New points : 2
  Calculating final Schwarp
  -0.265467 0.355908 -0.288624Points to reestimate : 263 321
  Signal: SIGSEGV (Segmentation fault)

Thanks and look forward to your response.

Could you provide the new dataset download link? The dataset (Mandala dataset and Hamlyn dataset) link pasted in the README has out-of-date.

I am a freshman at the SLAM。This may be a stupid question, I'm sorry to disturb you. DefSlam is a monocular SLAM system, but when testing, the Mandala dataset and Hamlyn dataset used are both stereo images. Why?

Hi authors,

I wonder if it is convenient for you to send me a copy of scripts that could generate or modify files of DefSLAM, DefSLAMGT and DefSLAMGTCT in Apps folder, if it's okay, my email is [email protected]. Thanks a lot.

Best,
Xueling Wei.

I am trying to extract the trajectory (list of poses) from DefSLAM. I noticed that the function "trackMonocular" returns a relative pose. Is this pose relative to the last one, so that I can simply accumulate the poses to get the trajectory? Or is it relative to a key-frame as in ORBSLAM2?
Thank you in advance for your answer.

I'm sorry, when I download the dataset, I can't find the yaml files, where can I find that ?