Thread 1"Mono" received signal SIGSEGV, Segmentation fault.
__GI___pthread_mutex_lock (mutex=0x707070707070957) at ../nptl/pthread_mutex_lock.c:67
67../nptl/pthread_mutex_lock.c: 没有那个文件或目录.
(gdb) bt
#0 0x00007ffff37ecfd0 in __GI___pthread_mutex_lock (mutex=0x707070707070957)
at ../nptl/pthread_mutex_lock.c:67
#1 0x00007ffff668580d in void std::lock<std::unique_lock<std::mutex>, std::unique_lock<std::mutex>>(std::unique_lock<std::mutex>&, std::unique_lock<std::mutex>&) ()
at /home/nav/catkin_ws/src/orbslam3/orbslam3/../lib/libORB_SLAM3.so
#2 0x00007ffff668174f in ORB_SLAM3::MapPoint::isBad() ()
at /home/nav/catkin_ws/src/orbslam3/orbslam3/../lib/libORB_SLAM3.so
#3 0x00007ffff6697f57 in ORB_SLAM3::Map::PreSave(std::set<ORB_SLAM3::GeometricCamera*, std::less<ORB_SLAM3::GeometricCamera*>, std::allocator<ORB_SLAM3::GeometricCamera*> >&) ()
at /home/nav/catkin_ws/src/orbslam3/orbslam3/../lib/libORB_SLAM3.so
#4 0x00007ffff66951f5 in ORB_SLAM3::Atlas::PreSave() ()
at /home/nav/catkin_ws/src/orbslam3/orbslam3/../lib/libORB_SLAM3.so
#5 0x00007ffff65f54f2 in ORB_SLAM3::System::SaveAtlas(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) ()
at /home/nav/catkin_ws/src/orbslam3/orbslam3/../lib/libORB_SLAM3.so
#6 0x0000555555567ebf in main ()
voidMapPoint::PreSave(set<KeyFrame*>& spKF,set<MapPoint*>& spMP){
mBackupReplacedId =-1;if(mpReplaced && spMP.find(mpReplaced)!= spMP.end())
mBackupReplacedId = mpReplaced->mnId;
mBackupObservationsId1.clear();
mBackupObservationsId2.clear();// Save the id and position in each KF who view it
std::map<KeyFrame*,std::tuple<int,int>> tmp_mObservations;
tmp_mObservations.insert(mObservations.begin(), mObservations.end());for(std::map<KeyFrame*,std::tuple<int,int>>::const_iterator it = tmp_mObservations.begin(), end = tmp_mObservations.end(); it != end;++it){
KeyFrame* pKFi = it->first;if(spKF.find(pKFi)!= spKF.end()){
mBackupObservationsId1[it->first->mnId]=get<0>(it->second);
mBackupObservationsId2[it->first->mnId]=get<1>(it->second);}else{EraseObservation(pKFi);}}// Save the id of the reference KFif(spKF.find(mpRefKF)!= spKF.end()){
mBackupRefKFId = mpRefKF->mnId;}}