Error: double free or corruption (out)

[rahul-gs-16]

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.

[rahul-gs-16]

gdb message

Thread 1 "DefSLAM" hit Breakpoint 1, main (argc=, argv=) at /home/hticgsr/codes/defSlam/DefSLAM-master/Apps/simple_camera.cc:66
66 SLAM.TrackMonocular(imLeft, i);
(gdb) s
[New Thread 0x7fff95d07000 (LWP 34642)]
[New Thread 0x7fff95106000 (LWP 34661)]
[Thread 0x7fff95d07000 (LWP 34642) exited]
defSLAM::System::TrackMonocular (this=0x7fffffffd940, im=..., timestamp=@0x7fffffffd7a8: 12, mask=...) at /home/hticgsr/codes/defSlam/DefSLAM-master/Modules/Common/System.cc:188
188 {
(gdb)
[Thread 0x7fff95106000 (LWP 34661) exited]
[New Thread 0x7fff95106000 (LWP 34681)]
[New Thread 0x7fff95d07000 (LWP 34682)]
[Thread 0x7fff95106000 (LWP 34681) exited]
[Thread 0x7fff95d07000 (LWP 34682) exited]
189 cv::Mat Mask;
(gdb) s
190 if (mask.empty())
(gdb) s
192 Mask = cv::Mat(im.rows, im.cols, CV_8UC1, cv::Scalar(255));
(gdb) s
cv::Scalar::Scalar (v0=255, this=0x7fffffffd640) at /usr/local/include/opencv4/opencv2/core/matx.hpp:978
978 Vec<_Tp, cn>::Vec() {}
(gdb) s
double free or corruption (out)

Thread 2 "DefSLAM" received signal SIGABRT, Aborted.
[Switching to Thread 0x7fffd2d63000 (LWP 34568)]
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.

[18614053166]

This problem can be solved by delete "-march=native" in CMakeLists.txt, then compile again.