https://github.com/urbste/MultiCol-SLAM/issues/15
I have had crashes as well. I have fixed it by removing.
#pragma omp parallel for num_threads(nrCams)
In cMultiFrame.cpp line 128 as a workaround.
The crash comes from resize calls on mvScaleFactors, mvLevelSigma2, and mvInvLevelSigma2 member variables that are used and written to in all threads.
It seems like mvScaleFactors, mvLevelSigma2, and mvInvLevelSigma2 variables should be per camera instead of being shared, or maybe they should always be the same for all cameras. I don’t know the code well enough to make a proper fix.
I had the same. My workaround was mutex locks for the resize lines. This causes a huge latency impact though, so I am looking for a better way!