编译正确，运行ORB_SLAM3报错Segmentation fault

绝地灬酷狼 2023-10-01 10:32 5阅读 0赞

环境编译什么的都没问题，但一运行ORB\_SLAM3(基于ROS)的时候就报Segmentation fault  
  无论是单目还是RGBD，详细的报错信息如下：

max@max-virtual-machine:~/ORB_slam3_test/src/ORB_SLAM3$ rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM3/Asus.yaml 
    
    ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
    ORB-SLAM2 Copyright (C) 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
    段错误 (核心已转储)

其实这个问题没有100%解决，但网络上对此的资料很少，这里提供一种尝试的方法：  
  段错误原因：g2o出现内存溢出，g2o和ORB\_SLAM3有一个编译选项(-march=native)不一致(CmakeList.txt中)

详细操作步骤见参考：  
[https://blog.csdn.net/DargonWain/article/details/109289833][https_blog.csdn.net_DargonWain_article_details_109289833]  
[https://github.com/raulmur/ORB\_SLAM2/pull/844][https_blog.csdn.net_DargonWain_article_details_109289833]

但我去观察的时候，我发现ORB\_SLAM3的CmakeList.txt和g2o的CMakeList.txt确实没有一致，但是当我尝试同增或者同减时运行仍然报错。我和朋友交流，朋友过程没有遇到这个问题。于是我更换了ORB\_SLAM3的源代码，重新编译，最后成功。

问题没有完全解决，但换了一种方式跳过了这个问题，投机取巧吧~

[https_blog.csdn.net_DargonWain_article_details_109289833]: https://blog.csdn.net/DargonWain/article/details/109289833