请问博主这个程序如何运行呢，我已经编译通过了，但是运行的过程中命令不对，输入报错

[Flee-postgra]

rosrun ORB_SLAM2 Stereo path_to_vocabulary path_to_settings do_rectify is_gui

$ rosrun ORB_SLAM2_relocation Stereo_mapping Vocabulary/ORBvoc.txt Examples/Stereo/D435I.yaml 1 1

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

• fx: 608.036
• fy: 608.15
• cx: 315.035
• cy: 249.999
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1500
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 1.99999
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(3.4.5) /home/wxh/software/opencv-3.4.5/modules/core/src/persistence_c.cpp:727: error: (-5:Bad argument) Invalid pointer to file storage in function 'cvGetFileNodeByName'

已放弃 (核心已转储)