vins_estimator fail to run

[mlyarthur]

Hello!when i run the vins_estimator node for the first time ,there is an error of Eigen ,and i think i solve it following the instruction of http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html. However it still failed with another error like this .

and the second picture is information with GDB debugger

the error seems to happen when delete ![Uploading snapshot1.png…]() the pointer,but i dont modify any code . ![Uploading gdb.jpeg…]()

[mlyarthur]

i am sorry it failed to upload the picture .so i try again to show them.

the second picture is information with GDB debugger

[qintonguav]

Sorry, I haven't met your problem. Maybe the compatibility problem of Eigen or Ceres. Try to use the same version of what I use. If the problem still exists, tell me later.

[mlyarthur]

... but I check the version of Eigen or Ceres on my computer,which are 3.2.0 and 1.12.0 respectively.And i followed the ceres solver installation instruction strictly . i solve the previous eigen problem by adding this macro in IntegrationBase class . but i dont know if there is a connection between the new problem and this old one i use gdb to find the location where it crash delete it_0->second.pre_integration;

[qintonguav]

Actually, you can delete this sentence, "delete it_0->second.pre_integration". It doesn't matter except very little memory.

Try again.

[mlyarthur]

sorry ,i want to ask a easy question about the version of Eigen. i just use apt-get libeigen3-dev
which indicate the version of 3.2.0

but when i cmake ,it says that the version is 3.3.3 in following picture

[qintonguav]

In fact, there are two Eigen in your system, which causes the problem. One is in /usr/include/eigen3/ ... another one is in /usr/local/include/eigen3/ The cmake file will help you to find one Eigen https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/support_files/cmake/FindEigen.cmake However, Eigen 3.3.3 is its finding result, which is not compatible with my code.

You can remove Eigen 3.3.3 or hard code the path of Eigen in CMakeLists.

set(EIGEN_INCLUDE_DIR "/usr/include/eigen3") include_directories(${EIGEN_INCLUDE_DIRS})

Make sure Ceres and VINS find the same Eigen 3.2...

[mlyarthur]

I change the version of eigen to 3.2.0 but the previous problem happens again so i think the version doesnt matter it is the location of the problem i meet ,it says eigen have some allign error.i am still confused.

[qintonguav]

can you use cat /usr/local/include/eigen3/Eigen/src/Core/util/Macros.h | grep VERSION to check your Eigen version.

I doubt two versions of Eigen is mixed on your computer.

[mlyarthur]

this command give me the result like this it means two versions are both 3.2.0.so....

[qintonguav]

rebuild Ceres.

The Ceres which you build previously may depend on 3.3... Now you need to rebuild it, to make sure Ceres and VINS depend on the same Eigen 3.2

[mlyarthur]

In fact i rebuild Ceres an VINS when i remove the version 3.3.3 of eigen ,and i now make sure both of them have the same Eigen depencies bacause only one version exsits now .the eigen is located in /usr/include.And there is still error with eigen which keep the same with previous one.

[qintonguav]

Try remove devel and build folder in catkin_ws, catkin_make again.

I have tried Eigen 3.3.3. VINS_mono runs successfully under Eigen 3.3.3.

[mlyarthur]

Do you mean VINS-MONO uses /home/exbot/catkin_ws/src/VINS-Mono/support_files/cmake/FindEigen.cmake to find the location of Eigen?

[qintonguav]

I am afraid some people can't find the same Eigen with Ceres in their computer, so I additionally put a FindEigen.cmake file in support files to help them.

[mlyarthur]

I want to know the system version of Ubuntu,and i work on Ubuntu 14.04 32Bit

[mlyarthur]

I doubt if there is problem with system version,do you work on 32bit system?

[qintonguav]

I haven't tested it on the 32bit system. What I use is 14.04 and 16.04 with 64 bit. Maybe is the 32-bit issue. Thanks.

[mlyarthur]

I test it on the ubuntu 14.04 64bit successfully...thanks for your kind instruction.