I can't debug your lib under Ubuntu. about opengv HOT 1 OPEN

vex amd64->IR: unhandled instruction bytes: 0x62 0xF1 0xFD 0x48 0x10 0x8A 0x20 0x0 0x0 0x
0
vex amd64->IR:   REX=0 REX.W=0 REX.R=0 REX.X=0 REX.B=0
vex amd64->IR:   VEX=0 VEX.L=0 VEX.nVVVV=0x0 ESC=NONE
vex amd64->IR:   PFX.66=0 PFX.F2=0 PFX.F3=0
==3219== valgrind: Unrecognised instruction at address 0x4e0a19b.
==3219==    at 0x4E0A19B: opengv::sac_problems::relative_pose::TranslationOnlySacProblem::computeModelCoefficients(std::vector<int, std::allocator<int> > const&, Eigen::Matrix<double, 3, 4, 0, 3, 4>&) const (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4D09D51: opengv::sac::Ransac<opengv::sac_problems::relative_pose::TranslationOnlySacProblem>::computeModel(int) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4D05617: VIO::Tracker::geometricOutlierRejectionMonoGivenRotation(VIO::Frame*, VIO::Frame*, gtsam::Rot3 const&) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4CF5F06: VIO::StereoVisionFrontEnd::processStereoFrame(VIO::StereoFrame, boost::optional<gtsam::Rot3>) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4CF66D8: VIO::StereoVisionFrontEnd::spinOnce(std::shared_ptr<VIO::StereoFrontEndInputPayload> const&) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4CF7601: VIO::StereoVisionFrontEnd::spin(ThreadsafeQueue<VIO::StereoFrontEndInputPayload>&, ThreadsafeQueue<VIO::StereoFrontEndOutputPayload>&) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x71BB57E: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25)
==3219==    by 0x7A976DA: start_thread (pthread_create.c:463)
==3219==    by 0x77C088E: clone (clone.S:95)
==3219== Your program just tried to execute an instruction that Valgrind
==3219== did not recognise.  There are two possible reasons for this.
==3219== 1. Your program has a bug and erroneously jumped to a non-code
==3219==    location.  If you are running Memcheck and you just saw a
==3219==    warning about a bad jump, it's probably your program's fault.
==3219== 2. The instruction is legitimate but Valgrind doesn't handle it,
==3219==    i.e. it's Valgrind's fault.  If you think this is the case or
==3219==    you are not sure, please let us know and we'll try to fix it.
==3219== Either way, Valgrind will now raise a SIGILL signal which will
==3219== probably kill your program.
==3219== 
==3219== Process terminating with default action of signal 4 (SIGILL)
==3219==  Illegal opcode at address 0x4E0A19B
==3219==    at 0x4E0A19B: opengv::sac_problems::relative_pose::TranslationOnlySacProblem::computeModelCoefficients(std::vector<int, std::allocator<int> > const&, Eigen::Matrix<double, 3, 4, 0, 3, 4>&) const (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4D09D51: opengv::sac::Ransac<opengv::sac_problems::relative_pose::TranslationOnlySacProblem>::computeModel(int) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4D05617: VIO::Tracker::geometricOutlierRejectionMonoGivenRotation(VIO::Frame*, VIO::Frame*, gtsam::Rot3 const&) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4CF5F06: VIO::StereoVisionFrontEnd::processStereoFrame(VIO::StereoFrame, boost::optional<gtsam::Rot3>) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4CF66D8: VIO::StereoVisionFrontEnd::spinOnce(std::shared_ptr<VIO::StereoFrontEndInputPayload> const&) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x4CF7601: VIO::StereoVisionFrontEnd::spin(ThreadsafeQueue<VIO::StereoFrontEndInputPayload>&, ThreadsafeQueue<VIO::StereoFrontEndOutputPayload>&) (in /home/tonirv/Code/spark_vio/build/libsparkvio.so)
==3219==    by 0x71BB57E: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25)
==3219==    by 0x7A976DA: start_thread (pthread_create.c:463)
==3219==    by 0x77C088E: clone (clone.S:95)