cv::namedWindow()崩溃，分段错误

Question

这是一个随机问题。当我重新制作我的项目时，这个问题更有可能发生。我用gdb核心转储分析，发现可能是cv::namedWindow函数的原因？

这是main.cpp

Simple_ORB_SLAM::Map map;
Simple_ORB_SLAM::LocalMapping localMapper(&map);
Simple_ORB_SLAM::VisualOdometry vo(&localMapper, &euroc, &map);
Simple_ORB_SLAM::Viewer viewer(&euroc, &map, &vo);

std::thread* tViewer = new std::thread(&Simple_ORB_SLAM::Viewer::Run, &viewer);
std::thread* tMapper = new std::thread(&Simple_ORB_SLAM::LocalMapping::Run, &localMapper);  

这是Viwer::Run()函数。

glEnable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

//set menu
pangolin::CreatePanel("menu").SetBounds(0.0,1.0,0.0,pangolin::Attach::Pix(175));
pangolin::Var<bool> menuFollowCamera("menu.Follow Camera",true,true);
pangolin::Var<bool> menuShowPoints("menu.Show Points",true,true);
pangolin::Var<bool> menuShowKeyFrames("menu.Show KeyFrames",true,true);

//set camera
pangolin::OpenGlRenderState s_cam(pangolin::ProjectionMatrix(1024,768, mpCamera->mViewpointF,mpCamera->mViewpointF,512,389,0.1,1000),pangolin::ModelViewLookAt(mpCamera->mViewpointX,mpCamera->mViewpointY,mpCamera->mViewpointZ, 0,0,0,0.0,-1.0, 0.0) );

//set view
pangolin::View& d_cam = pangolin::CreateDisplay()
        .SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f/768.0f)
        .SetHandler(new pangolin::Handler3D(s_cam));

//set transform mat
pangolin::OpenGlMatrix Twc;
Twc.SetIdentity();

//set opencv window
cv::namedWindow("Simple_ORB_SLAM: Current Frame");




while(!pangolin::ShouldQuit())
{
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    d_cam.Activate(s_cam);

    //set background
    glClearColor(1.0f, 1.0f, 1.0f, 1.0f);

    DrawCurrCamera();

    if(menuShowPoints)
        DrawMapPoints();

    if(menuShowKeyFrames)
        DrawKeyFrames();

    pangolin::FinishFrame();    
}

并在类框架的构造函数中展示了图像

...

//show orb feature map
cv::imshow("Simple_ORB_SLAM: Current Frame",imgLeft);
cv::waitKey(250/mpCamera->fps);

screenshot这是gdb回溯

这是我第一次使用gdb和stackoverflow，很抱歉对我的问题的模糊描述。我希望你能帮助我。

Answer 1

您不应该从非主线程的线程中打开cv::namedWindow。这可能行得通，但我不建议你这么做。