Segmentation Fault Examples

[233Xiaowu]

ubuntu:20.04
python:3.8

Mine is currently running
super().optimize(max_iterations)

The error is as follows
139 (interrupted by signal 11:SIGSEGV)

I would like to be able to implement global optimization under image stitching with g2o code
My related code is as follows

class BundleAdjustment(g2o.SparseOptimizer):
def init(self, ):
super().init()
solver = g2o.BlockSolverSE2(g2o.LinearSolverCholmodSE2())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
super().set_algorithm(solver)
super().set_verbose(True) # 打印信息

def optimize(self, max_iterations=10):

    super().initialize_optimization()
    super().optimize(max_iterations)

def add_pose(self, pose_id, pose,fixed=False):

    translation = pose[:2, 2]
    rotation_matrix = pose[:2, :2]
    theta = np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0])

    # 转化为SE2
    se2_pose = g2o.SE2(translation[0], translation[1], theta)

    v_se2 = g2o.VertexSE2()
    v_se2.set_id(pose_id)   # internal id
    v_se2.set_estimate(se2_pose)
    if pose_id == 0:
        v_se2.set_fixed(True)
        # print(f"Keyframe {vertex_id} set as fixed.")
    else:
        v_se2.set_fixed(False)
    super().add_vertex(v_se2)

def add_point(self, point_id, point, fixed=False, marginalized=True):

    keypoint = point
    x, y = keypoint.pt
    vertex_p = g2o.VertexPointXY()
    vertex_p.set_id(point_id)
    Point_estimate = np.array([x, y])
    vertex_p.set_estimate(Point_estimate)
    vertex_p.set_marginalized(True)
    vertex_p.set_fixed(False)
    super().add_vertex(vertex_p)

def add_edge(self, point_id, pose_id,measurement,information=np.identity(2),
        robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991))):   # 95% CI

    edge = g2o.EdgePointXY()
    edge.set_vertex(0, self.vertex(int(point_id)))
    edge.set_vertex(1, self.vertex(pose_id))

    measurement_edge=measurement.pt
    edge.set_measurement(measurement_edge)   # projection
    edge.set_information(information)

    if robust_kernel is not None:
        edge.set_robust_kernel(robust_kernel)
    # edge.set_parameter_id(0, 0)
    super().add_edge(edge)

def get_pose(self, pose_id):
    return self.vertex(pose_id).estimate()

def get_point(self, point_id):
    return self.vertex(point_id).estimate()

class MapMerge():
def init(self):
self.ba = BundleAdjustment()

I reinstalled g2opy with reference 1 and , but it still reports the same error
Any suggestions?

[233Xiaowu]

if pose_id == 0:
v_se2.set_fixed(True)
# print(f"Keyframe {vertex_id} set as fixed.")
else:
v_se2.set_fixed(False)

I changed the above code to

v_se2.set_fixed(False)

I'm not sure why the program doesn't report errors this way, I haven't started looking at the results yet, but shouldn't the first few keyframes be fixed?