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precyon avatar precyon commented on August 22, 2024

It will be useful to get more details of why it dies. Some options:

  1. Look at the log and see if it has any info. It says the log is at /home/nvidia ... ov_msckf-2.log. It may (may not) have some hints.
  2. Launch the ov_msckf with gdb. Take a look here. Basically you add launch-prefix="gdb -ex run --args" in your launch file where you launch the ov_msckf node. You can then easily inspect the back trace to understand what is going on better.

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KyroNa avatar KyroNa commented on August 22, 2024

I did that and got the following

subscribing to IMU: /imu0
subscribing to cam (stereo): /cam0/image_raw
subscribing to cam (stereo): /cam1/image_raw
[New Thread 0xffffed0b9700 (LWP 4148)]
[New Thread 0xffffec8b8700 (LWP 4149)]
[New Thread 0xffffd7ff4700 (LWP 4150)]
[New Thread 0xffffcf7f3700 (LWP 4151)]
[New Thread 0xffffd77f3700 (LWP 4176)]
[Thread 0xffffd77f3700 (LWP 4176) exited]
[New Thread 0xffffd77f3700 (LWP 4177)]
[Thread 0xffffd77f3700 (LWP 4177) exited]
[New Thread 0xffffd77f3700 (LWP 4178)]
[Thread 0xffffd77f3700 (LWP 4178) exited]
[New Thread 0xffffd77f3700 (LWP 4179)]
[Thread 0xffffd77f3700 (LWP 4179) exited]
[New Thread 0xffffd6ff2700 (LWP 4180)]
[Thread 0xffffd6ff2700 (LWP 4180) exited]
[New Thread 0xffffd6ff2700 (LWP 4181)]
[Thread 0xffffd6ff2700 (LWP 4181) exited]
[New Thread 0xffffd6ff2700 (LWP 4182)]
[Thread 0xffffd6ff2700 (LWP 4182) exited]
[New Thread 0xffffd6ff2700 (LWP 4183)]
[New Thread 0xffffd77f3700 (LWP 4184)]
[New Thread 0xffffd67f1700 (LWP 4185)]
[New Thread 0xffffd5ff0700 (LWP 4186)]
--Type <RET> for more, q to quit, c to continue without paging--c

Thread 18 "run_subscribe_m" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xffffd6ff2700 (LWP 4183)]
0x0000fffff5e60fec in cv::buildOpticalFlowPyramid(cv::_InputArray const&, cv::_OutputArray const&, cv::Size_<int>, int, bool, int, int, bool) () from /usr/local/lib/libopencv_video.so.4.2

I have opencv version 4.10 and I was facing problems in building the Aruco_tag that is why I turned it off

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goldbattle avatar goldbattle commented on August 22, 2024

Yes looks like some OpenCV issue or link to it issue here.
Is 4.10 what is on your system by default?
Are you building and installing this OpenCV from source?

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