一直Initializing:0%的问题，and修改了几处可能的逻辑问题和c11用法问题。

[xx8086]

您好，我昨天拉去的最新代码。ip6s(ios11) + mac10.12.6(xode9.0) 能画出红、蓝点，但是一直Initializing:0%，无法画出网格和cube。

我这边getMeasurements函数一直wait for imu,或者throw img返回size ==0，导致process之后的代码不能执行。

不好意思不太懂oc简单看了下。 我改了些运行报错和代码逻辑可能有问题的地方： 1，

• (void)imuStartUpdate{ CMMotionManager* motionManager = [[CMMotionManager alloc] init]; 改为
• (void)imuStartUpdate{ //CMMotionManager* motionManager = [[CMMotionManager alloc] init];

and [self imuStartUpdate]; isCapturing = YES; motionManager = [[CMMotionManager alloc] init]; [mainLoop start]; 改为 motionManager = [[CMMotionManager alloc] init]; [self imuStartUpdate]; isCapturing = YES; [mainLoop start];

2， FeatureTracker::FeatureTracker() :mask{ROW, COL, CV_8UC1}, 改为 FeatureTracker::FeatureTracker() :mask(ROW, COL, CV_8UC1)/mask{ROW, COL, CV_8UC1}/,

[xx8086]

img_msg_buf.push(img_msg);

[PeiliangLi]

The reason might be you didn't use the provided opencv framework.

在 2018年11月30日，下午1:57，liuhan notifications@github.com<mailto:notifications@github.com> 写道：

[a78c453a29e01b0d535dcdf6f2e4d56e]https://user-images.githubusercontent.com/3690609/49271212-a46b2080-f4a7-11e8-8cbb-134303e8072d.png img_msg_buf.push(img_msg); [6f781220430350ca3d4a896c4b60cf71]https://user-images.githubusercontent.com/3690609/49271220-a8973e00-f4a7-11e8-9e4b-42474982d9f0.png

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHubhttps://github.com/HKUST-Aerial-Robotics/VINS-Mobile/issues/124#issuecomment-443099977, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AMZag6wDNhLdi2qtxO7fOuPKUpvHPwaDks5u0MingaJpZM4Y3Bw4.

[xx8086]

hi, im use the provided opencv framework. but init75%, jacobian_pose_i.maxCoeff() < 1e8

[xx8086]

The reason might be you didn't use the provided opencv framework. 在 2018年11月30日，下午1:57，liuhan notifications@github.com<mailto:notifications@github.com> 写道： [a78c453a29e01b0d535dcdf6f2e4d56e]https://user-images.githubusercontent.com/3690609/49271212-a46b2080-f4a7-11e8-8cbb-134303e8072d.png img_msg_buf.push(img_msg); [6f781220430350ca3d4a896c4b60cf71]https://user-images.githubusercontent.com/3690609/49271220-a8973e00-f4a7-11e8-9e4b-42474982d9f0.png — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<#124 (comment)>, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AMZag6wDNhLdi2qtxO7fOuPKUpvHPwaDks5u0MingaJpZM4Y3Bw4.

3q!!! I succeeded after doing these operations ： cd /usr/local/include rm -rf opencv rm -rf opencv2 cd /usr/local/lib rm -f libopencv*