Comments (7)
goldbattle
commented on June 9, 2024
1
Hi, to build on embedded devices you should add some swap memory, or you can sometimes build with -j1 (single thread) to try to reduce the memory use while building. I you figured out that Killed signal terminated program cc1plus means the device ran out of memory.
I am not sure of any big differences on why there would be significant trajectory drift. Disabling the aruco should be no problem.
Set -DENABLE_ARUCO_TAGS=OFF to disable the aruco compile. You can also see the cmake flags you can set (not sure how you can pass them in ROS2).: https://docs.openvins.com/gs-installing-free.html
from open_vins.
Genozen
commented on June 9, 2024
Bypassed the #include <opencv2/aruco.hpp> by commenting it out and built successfully.
Onto the ov_msckf
[Processing: ov_msckf]
--- output: ov_msckf
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenCV: /usr (found suitable version "4.8.0", minimum required is "4")
-- Found Boost: /usr/lib/aarch64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found version "1.74.0") found components: system filesystem thread date_time
-- Found Threads: TRUE
-- Found required Ceres dependency: Eigen version 3.4.0 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- OPENCV: 4.8.0 | BOOST: 1.74.0 | CERES: 2.0.0
-- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter
-- ROS *2* version found, building ROS2.cmake
-- Found rclcpp: 16.0.8 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.6 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "3.0.2")
-- Found FastRTPS: /opt/ros/humble/include
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found tf2_ros: 0.25.5 (/opt/ros/humble/share/tf2_ros/cmake)
-- Found tf2_geometry_msgs: 0.25.5 (/opt/ros/humble/share/tf2_geometry_msgs/cmake)
-- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
-- Found Eigen3: TRUE (found version "3.4.0")
-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
-- Found sensor_msgs: 4.2.3 (/opt/ros/humble/share/sensor_msgs/cmake)
-- Found nav_msgs: 4.2.3 (/opt/ros/humble/share/nav_msgs/cmake)
-- Found cv_bridge: 3.2.1 (/opt/ros/humble/share/cv_bridge/cmake)
-- Found image_transport: 3.1.8 (/opt/ros/humble/share/image_transport/cmake)
-- Found ov_core: 2.7.0 (/home/genozen/Documents/ros2_openvins/catkin_ws_ov/install/ov_core/share/ov_core/cmake)
-- Found ov_init: 2.7.0 (/home/genozen/Documents/ros2_openvins/catkin_ws_ov/install/ov_init/share/ov_init/cmake)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/genozen/Documents/ros2_openvins/catkin_ws_ov/build/ov_msckf
[ 13%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/dummy.cpp.o
[ 13%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/state/StateHelper.cpp.o
[ 13%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/sim/Simulator.cpp.o
[ 18%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/state/Propagator.cpp.o
[ 22%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/state/State.cpp.o
[ 27%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/core/VioManager.cpp.o
[ 31%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/core/VioManagerHelper.cpp.o
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
from open_vins.
Genozen
commented on June 9, 2024
Full message:
colcon build --event-handlers console_cohesion+ --packages-select ov_msckf # ROS2 with verbose output
Starting >>> ov_msckf
[Processing: ov_msckf]
[Processing: ov_msckf]
[Processing: ov_msckf]
[Processing: ov_msckf]
[Processing: ov_msckf]lete] [ov_msckf:build 27% - 2min 30.9s]
[Processing: ov_msckf]
--- output: ov_msckf
Consolidate compiler generated dependencies of target ov_msckf_lib
[ 4%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/sim/Simulator.cpp.o
[ 13%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterSLAM.cpp.o
[ 13%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterHelper.cpp.o
[ 18%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterZeroVelocity.cpp.o
[ 27%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterMSCKF.cpp.o
[ 27%] Building CXX object CMakeFiles/ov_msckf_lib.dir/src/core/VioManagerHelper.cpp.o
In file included from /usr/include/boost/math/distributions/chi_squared.hpp:13,
from /home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterMSCKF.cpp:36:
/usr/include/boost/math/special_functions/gamma.hpp: In instantiation of ‘boost::math::detail::upper_incomplete_gamma_fract<T>::result_type boost::math::detail::upper_incomplete_gamma_fract<T>::operator()() [with T = long double; boost::math::detail::upper_incomplete_gamma_fract<T>::result_type = std::pair<long double, long double>]’:
/usr/include/boost/math/tools/fraction.hpp:216:20: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&, uintmax_t&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/fraction.hpp:251:31: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:317:68: required from ‘T boost::math::detail::upper_gamma_fraction(T, T, T) [with T = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:1157:44: required from ‘T boost::math::detail::gamma_incomplete_imp(T, T, bool, bool, const Policy&, T*) [with T = long double; Policy = boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:356:67: required from ‘std::tuple<T, T, T> boost::math::detail::gamma_p_inverse_func<T, Policy>::operator()(const T&) const [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/tools/roots.hpp:560:32: required from ‘T boost::math::tools::detail::second_order_root_finder(F, T, T, T, int, uintmax_t&) [with Stepper = boost::math::tools::detail::halley_step; F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/roots.hpp:710:64: required from ‘T boost::math::tools::halley_iterate(F, T, T, T, int, uintmax_t&) [with F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:437:33: required from ‘T boost::math::detail::gamma_p_inv_imp(T, T, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:516:34: required from ‘typename boost::math::tools::promote_args<RT1, RT2>::type boost::math::gamma_p_inv(T1, T2, const Policy&) [with T1 = double; T2 = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args<RT1, RT2>::type = double]’
/usr/include/boost/math/distributions/chi_squared.hpp:164:39: required from ‘RealType boost::math::quantile(const boost::math::chi_squared_distribution<RealType, Policy>&, const RealType&) [with RealType = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterMSCKF.cpp:54:49: required from here
/usr/include/boost/math/special_functions/gamma.hpp:302:16: note: parameter passing for argument of type ‘std::pair<long double, long double>’ when C++17 is enabled changed to match C++14 in GCC 10.1
302 | result_type operator()()
| ^~~~~~~~
In file included from /usr/include/boost/math/distributions/chi_squared.hpp:13,
from /home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterZeroVelocity.cpp:36:
/usr/include/boost/math/special_functions/gamma.hpp: In instantiation of ‘boost::math::detail::upper_incomplete_gamma_fract<T>::result_type boost::math::detail::upper_incomplete_gamma_fract<T>::operator()() [with T = long double; boost::math::detail::upper_incomplete_gamma_fract<T>::result_type = std::pair<long double, long double>]’:
/usr/include/boost/math/tools/fraction.hpp:216:20: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&, uintmax_t&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/fraction.hpp:251:31: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:317:68: required from ‘T boost::math::detail::upper_gamma_fraction(T, T, T) [with T = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:1157:44: required from ‘T boost::math::detail::gamma_incomplete_imp(T, T, bool, bool, const Policy&, T*) [with T = long double; Policy = boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:356:67: required from ‘std::tuple<T, T, T> boost::math::detail::gamma_p_inverse_func<T, Policy>::operator()(const T&) const [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/tools/roots.hpp:560:32: required from ‘T boost::math::tools::detail::second_order_root_finder(F, T, T, T, int, uintmax_t&) [with Stepper = boost::math::tools::detail::halley_step; F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/roots.hpp:710:64: required from ‘T boost::math::tools::halley_iterate(F, T, T, T, int, uintmax_t&) [with F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:437:33: required from ‘T boost::math::detail::gamma_p_inv_imp(T, T, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:516:34: required from ‘typename boost::math::tools::promote_args<RT1, RT2>::type boost::math::gamma_p_inv(T1, T2, const Policy&) [with T1 = double; T2 = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args<RT1, RT2>::type = double]’
/usr/include/boost/math/distributions/chi_squared.hpp:164:39: required from ‘RealType boost::math::quantile(const boost::math::chi_squared_distribution<RealType, Policy>&, const RealType&) [with RealType = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterZeroVelocity.cpp:61:49: required from here
/usr/include/boost/math/special_functions/gamma.hpp:302:16: note: parameter passing for argument of type ‘std::pair<long double, long double>’ when C++17 is enabled changed to match C++14 in GCC 10.1
302 | result_type operator()()
| ^~~~~~~~
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
gmake[2]: *** [CMakeFiles/ov_msckf_lib.dir/build.make:188: CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterMSCKF.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
In file included from /usr/include/boost/math/distributions/chi_squared.hpp:13,
from /home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterSLAM.cpp:37:
/usr/include/boost/math/special_functions/gamma.hpp: In instantiation of ‘boost::math::detail::upper_incomplete_gamma_fract<T>::result_type boost::math::detail::upper_incomplete_gamma_fract<T>::operator()() [with T = long double; boost::math::detail::upper_incomplete_gamma_fract<T>::result_type = std::pair<long double, long double>]’:
/usr/include/boost/math/tools/fraction.hpp:216:20: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&, uintmax_t&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/fraction.hpp:251:31: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:317:68: required from ‘T boost::math::detail::upper_gamma_fraction(T, T, T) [with T = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:1157:44: required from ‘T boost::math::detail::gamma_incomplete_imp(T, T, bool, bool, const Policy&, T*) [with T = long double; Policy = boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:356:67: required from ‘std::tuple<T, T, T> boost::math::detail::gamma_p_inverse_func<T, Policy>::operator()(const T&) const [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/tools/roots.hpp:560:32: required from ‘T boost::math::tools::detail::second_order_root_finder(F, T, T, T, int, uintmax_t&) [with Stepper = boost::math::tools::detail::halley_step; F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/roots.hpp:710:64: required from ‘T boost::math::tools::halley_iterate(F, T, T, T, int, uintmax_t&) [with F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:437:33: required from ‘T boost::math::detail::gamma_p_inv_imp(T, T, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:516:34: required from ‘typename boost::math::tools::promote_args<RT1, RT2>::type boost::math::gamma_p_inv(T1, T2, const Policy&) [with T1 = double; T2 = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args<RT1, RT2>::type = double]’
/usr/include/boost/math/distributions/chi_squared.hpp:164:39: required from ‘RealType boost::math::quantile(const boost::math::chi_squared_distribution<RealType, Policy>&, const RealType&) [with RealType = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterSLAM.cpp:57:49: required from here
/usr/include/boost/math/special_functions/gamma.hpp:302:16: note: parameter passing for argument of type ‘std::pair<long double, long double>’ when C++17 is enabled changed to match C++14 in GCC 10.1
302 | result_type operator()()
| ^~~~~~~~
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
gmake[2]: *** [CMakeFiles/ov_msckf_lib.dir/build.make:216: CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterZeroVelocity.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:145: CMakeFiles/ov_msckf_lib.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
--- stderr: ov_msckf
In file included from /usr/include/boost/math/distributions/chi_squared.hpp:13,
from /home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterMSCKF.cpp:36:
/usr/include/boost/math/special_functions/gamma.hpp: In instantiation of ‘boost::math::detail::upper_incomplete_gamma_fract<T>::result_type boost::math::detail::upper_incomplete_gamma_fract<T>::operator()() [with T = long double; boost::math::detail::upper_incomplete_gamma_fract<T>::result_type = std::pair<long double, long double>]’:
/usr/include/boost/math/tools/fraction.hpp:216:20: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&, uintmax_t&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/fraction.hpp:251:31: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:317:68: required from ‘T boost::math::detail::upper_gamma_fraction(T, T, T) [with T = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:1157:44: required from ‘T boost::math::detail::gamma_incomplete_imp(T, T, bool, bool, const Policy&, T*) [with T = long double; Policy = boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:356:67: required from ‘std::tuple<T, T, T> boost::math::detail::gamma_p_inverse_func<T, Policy>::operator()(const T&) const [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/tools/roots.hpp:560:32: required from ‘T boost::math::tools::detail::second_order_root_finder(F, T, T, T, int, uintmax_t&) [with Stepper = boost::math::tools::detail::halley_step; F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/roots.hpp:710:64: required from ‘T boost::math::tools::halley_iterate(F, T, T, T, int, uintmax_t&) [with F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:437:33: required from ‘T boost::math::detail::gamma_p_inv_imp(T, T, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:516:34: required from ‘typename boost::math::tools::promote_args<RT1, RT2>::type boost::math::gamma_p_inv(T1, T2, const Policy&) [with T1 = double; T2 = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args<RT1, RT2>::type = double]’
/usr/include/boost/math/distributions/chi_squared.hpp:164:39: required from ‘RealType boost::math::quantile(const boost::math::chi_squared_distribution<RealType, Policy>&, const RealType&) [with RealType = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterMSCKF.cpp:54:49: required from here
/usr/include/boost/math/special_functions/gamma.hpp:302:16: note: parameter passing for argument of type ‘std::pair<long double, long double>’ when C++17 is enabled changed to match C++14 in GCC 10.1
302 | result_type operator()()
| ^~~~~~~~
In file included from /usr/include/boost/math/distributions/chi_squared.hpp:13,
from /home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterZeroVelocity.cpp:36:
/usr/include/boost/math/special_functions/gamma.hpp: In instantiation of ‘boost::math::detail::upper_incomplete_gamma_fract<T>::result_type boost::math::detail::upper_incomplete_gamma_fract<T>::operator()() [with T = long double; boost::math::detail::upper_incomplete_gamma_fract<T>::result_type = std::pair<long double, long double>]’:
/usr/include/boost/math/tools/fraction.hpp:216:20: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&, uintmax_t&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/fraction.hpp:251:31: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:317:68: required from ‘T boost::math::detail::upper_gamma_fraction(T, T, T) [with T = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:1157:44: required from ‘T boost::math::detail::gamma_incomplete_imp(T, T, bool, bool, const Policy&, T*) [with T = long double; Policy = boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:356:67: required from ‘std::tuple<T, T, T> boost::math::detail::gamma_p_inverse_func<T, Policy>::operator()(const T&) const [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/tools/roots.hpp:560:32: required from ‘T boost::math::tools::detail::second_order_root_finder(F, T, T, T, int, uintmax_t&) [with Stepper = boost::math::tools::detail::halley_step; F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/roots.hpp:710:64: required from ‘T boost::math::tools::halley_iterate(F, T, T, T, int, uintmax_t&) [with F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:437:33: required from ‘T boost::math::detail::gamma_p_inv_imp(T, T, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:516:34: required from ‘typename boost::math::tools::promote_args<RT1, RT2>::type boost::math::gamma_p_inv(T1, T2, const Policy&) [with T1 = double; T2 = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args<RT1, RT2>::type = double]’
/usr/include/boost/math/distributions/chi_squared.hpp:164:39: required from ‘RealType boost::math::quantile(const boost::math::chi_squared_distribution<RealType, Policy>&, const RealType&) [with RealType = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterZeroVelocity.cpp:61:49: required from here
/usr/include/boost/math/special_functions/gamma.hpp:302:16: note: parameter passing for argument of type ‘std::pair<long double, long double>’ when C++17 is enabled changed to match C++14 in GCC 10.1
302 | result_type operator()()
| ^~~~~~~~
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
gmake[2]: *** [CMakeFiles/ov_msckf_lib.dir/build.make:188: CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterMSCKF.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
In file included from /usr/include/boost/math/distributions/chi_squared.hpp:13,
from /home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterSLAM.cpp:37:
/usr/include/boost/math/special_functions/gamma.hpp: In instantiation of ‘boost::math::detail::upper_incomplete_gamma_fract<T>::result_type boost::math::detail::upper_incomplete_gamma_fract<T>::operator()() [with T = long double; boost::math::detail::upper_incomplete_gamma_fract<T>::result_type = std::pair<long double, long double>]’:
/usr/include/boost/math/tools/fraction.hpp:216:20: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&, uintmax_t&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/fraction.hpp:251:31: required from ‘typename boost::math::tools::detail::fraction_traits<Gen>::result_type boost::math::tools::continued_fraction_a(Gen&, const U&) [with Gen = boost::math::detail::upper_incomplete_gamma_fract<long double>; U = long double; typename boost::math::tools::detail::fraction_traits<Gen>::result_type = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:317:68: required from ‘T boost::math::detail::upper_gamma_fraction(T, T, T) [with T = long double]’
/usr/include/boost/math/special_functions/gamma.hpp:1157:44: required from ‘T boost::math::detail::gamma_incomplete_imp(T, T, bool, bool, const Policy&, T*) [with T = long double; Policy = boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:356:67: required from ‘std::tuple<T, T, T> boost::math::detail::gamma_p_inverse_func<T, Policy>::operator()(const T&) const [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/tools/roots.hpp:560:32: required from ‘T boost::math::tools::detail::second_order_root_finder(F, T, T, T, int, uintmax_t&) [with Stepper = boost::math::tools::detail::halley_step; F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/tools/roots.hpp:710:64: required from ‘T boost::math::tools::halley_iterate(F, T, T, T, int, uintmax_t&) [with F = boost::math::detail::gamma_p_inverse_func<double, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >; T = double; uintmax_t = long unsigned int]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:437:33: required from ‘T boost::math::detail::gamma_p_inv_imp(T, T, const Policy&) [with T = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/usr/include/boost/math/special_functions/detail/igamma_inverse.hpp:516:34: required from ‘typename boost::math::tools::promote_args<RT1, RT2>::type boost::math::gamma_p_inv(T1, T2, const Policy&) [with T1 = double; T2 = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>; typename boost::math::tools::promote_args<RT1, RT2>::type = double]’
/usr/include/boost/math/distributions/chi_squared.hpp:164:39: required from ‘RealType boost::math::quantile(const boost::math::chi_squared_distribution<RealType, Policy>&, const RealType&) [with RealType = double; Policy = boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy>]’
/home/genozen/Documents/ros2_openvins/catkin_ws_ov/src/open_vins/ov_msckf/src/update/UpdaterSLAM.cpp:57:49: required from here
/usr/include/boost/math/special_functions/gamma.hpp:302:16: note: parameter passing for argument of type ‘std::pair<long double, long double>’ when C++17 is enabled changed to match C++14 in GCC 10.1
302 | result_type operator()()
| ^~~~~~~~
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
gmake[2]: *** [CMakeFiles/ov_msckf_lib.dir/build.make:216: CMakeFiles/ov_msckf_lib.dir/src/update/UpdaterZeroVelocity.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:145: CMakeFiles/ov_msckf_lib.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< ov_msckf [3min 12s, exited with code 2]
Summary: 0 packages finished [3min 14s]
1 package failed: ov_msckf
1 package had stderr output: ov_msckf
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Genozen
commented on June 9, 2024
Problem resolved with using less RAM to build
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Genozen
commented on June 9, 2024
@goldbattle , hello I have a quick question regarding OpenVins on Jetson Orin (8 gb ram).
I observed some noticeable drift occurred when running the standard Euroc_mav config with the tutorial ROS 2 bag (V1_Easy.bag). The output rate looks normal, but compared to my setup with a laptop, the pose estimation significantly drifts easily...
Any idea as to why this might be? Did skipping the Aruco.hpp build make any difference?
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Genozen
commented on June 9, 2024
If anyone wants to build the Aruco:
I've added:
#include "opencv2/objdetect/aruco_detector.hpp"
#include "opencv2/aruco/aruco_calib.hpp"
instead of just
#include <opencv2/aruco.hpp> in the ov_core
This then builds correctly without disabling the aruco tag.
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fuwafuwaboom
commented on June 9, 2024
If anyone wants to build the Aruco:
I've added:
#include "opencv2/objdetect/aruco_detector.hpp" #include "opencv2/aruco/aruco_calib.hpp"instead of just
#include <opencv2/aruco.hpp>in theov_coreThis then builds correctly without disabling the aruco tag.
Hi Genozen, Same problem when building it on Jetson. So grateful for your method, it can solve the bug of " opencv2/aruco.hpp: No such file or directory" but there are still other bugs of aruco like: "opencv2/objdetect/aruco_detector.hpp: No such file or directory"
I wondering if there is a method like installing some packages instead of modifying the .h file one by one if we have to use the auroc.
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Related Issues (20)
- Issues related to running the neighborhood_01 dataset HOT 1
- Drfit mitigation strategy for low feature environment HOT 4
- OpenVINS Diverging to infinity on custom dataset HOT 3
- Using Line Features HOT 1
- Why abandon the state and features estimated during initialization? HOT 2
- Implementation using a monocular camera HOT 3
- ROS2 and OpenVINS datasets HOT 2
- Drift groundtruth on Rover HOT 1
- Why clean all the features after initialization? HOT 2
- ROS Free Compile and Run using WebCam HOT 5
- Drift w/ D435i & Kakute H7 v2 (BMI270) HOT 1
- Find a mistake about FEJ in the home page HOT 3
- can't run the code HOT 2
- Feature descriptor that is used in OpenVINS HOT 2
- Cannot build the content HOT 3
- Cannot build openvins aruco HOT 1
- Why dont inflate the covariance of position when recovering the initialization covariance? HOT 3
- docker build issue HOT 1
- Pose diverging on Raspberry Pi 4 using EUROC dataset HOT 4
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