ORBslam3中想把ros的代码放在主工程里编译出现内存错误

最新推荐文章于 2024-03-23 17:16:03 发布

ScaredPan

最新推荐文章于 2024-03-23 17:16:03 发布

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把ros部分的代码放在主工程里去编译，结果在
ai@ai-OMEN:~/workspace/ORB_SLAM3$ ./build/bin/Mono_Inertial ./Vocabulary/ORBvoc.txt ./Examples/ROS/ORB_SLAM3/mtuav.yaml

ORB-SLAM3 Copyright © 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright © 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: Monocular-Inertial
Segmentation fault (core dumped)
这里是因为在
cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);
一直报内存错误。
解决办法：把主工程的cmakelist ros的cmakelist dbow的cmakelist 的opencv版本全部统一在4.