Fixed monocular-only, stereo-olny and RGB-D segment fault on KITTI and TUM RGBD

[DreamWaterFound]

Excellent work! Thank you very much for your contribution to the open source community. 😘 The work of ORB-SLAM series has helped and inspired many researchers and engineers.

I've noticed that segment fault occurred when testing ORB_SLAM3 in monocular-only, or stereo-olny, or RGB-D on KITTI and TUM RGB-D datasets, as issue #3 , #8 , #16 , #18 , #21 mentioned. So I modified .yaml files and codes to fix it.

In addition, I encountered a small error after I compiled the source code of ORB-SLAM3:

In file included from /usr/include/c++/10/map:61,
                 from <ORB_SLAM3_ROOT>/Thirdparty/DBoW2/DBoW2/BowVector.h:14,
                 from <ORB_SLAM3_ROOT>/include/KeyFrame.h:24,
                 from <ORB_SLAM3_ROOT>/include/MapPoint.h:23,
                 from <ORB_SLAM3_ROOT>/include/Map.h:23,
                 from <ORB_SLAM3_ROOT>/include/Optimizer.h:23,
                 from <ORB_SLAM3_ROOT>/src/Optimizer.cc:20:
/usr/include/c++/10/bits/stl_map.h: In instantiation of ‘class std::map<ORB_SLAM3::KeyFrame*, g2o::Sim3, std::less<ORB_SLAM3::KeyFrame*>, Eigen::aligned_allocator<std::pair<const ORB_SLAM3::KeyFrame*, g2o::Sim3> > >’:
<ORB_SLAM3_ROOT>/src/Optimizer.cc:2388:37:   required from here
/usr/include/c++/10/bits/stl_map.h:123:71: error: static assertion failed: std::map must have the same value_type as its allocator
   123 |       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
       |                                                                       ^~~~~

After testing, this error only appeared with higher version of GCC/G++ compiler such as G++9, G++10. I replaced

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;

with

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;

in the head of file LoopClosing.h and this error was fixed. It works well with G++ 10.0.1, 9.3.0, 8.4.0, 7.5.0, 6.4.0 and 5.5.0.

---

My environmental information:

OS: Ubuntu 20.04 LTS
GNU GCC/G++: 10.0.1
cmake: 3.16.3
GNU make: 4.2.1

Pangolin: commit 86eb497
OpenCV: 3.2.0
Eigen: 3.2.10

---

Known problems:

It seems something wrong during Local BA. I can get following warnings if I build ORB_SLAM3 system in DEBUG mode:

...
void g2o::SparseOptimizer::update(const double*): Update contains a nan for vertex xxxx
void g2o::SparseOptimizer::update(const double*): Update contains a nan for vertex xxxx
void g2o::SparseOptimizer::update(const double*): Update contains a nan for vertex xxxx
....
computeActiveErrors(): found NaN in error for edge xxxx
computeActiveErrors(): found NaN in error for edge xxxx
computeActiveErrors(): found NaN in error for edge xxxx
computeActiveErrors(): found NaN in error for edge xxxx
...

More details : issue #24