OpenCV Error:

[longzhenren]

OpenCV Error: Assertion failed (type == _src2.type()) in scaleAdd, file /build/opencv-XDqSFW/opencv-3.2.0+dfsg/modules/core/src/matmul.cpp, line 2466 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-XDqSFW/opencv-3.2.0+dfsg/modules/core/src/matmul.cpp:2466: error: (-215) type == _src2.type() in function scaleAdd

Aborted (core dumped)

I ran it on NVIDIA Jetson TX2(ARM-based), The version of opencv is 3.2.0 installed through ROS-melodic. ORB_SLAM3 crashed when I was moving my camera and sensor. Just before the crash , everything seemed to work well. How to solve that? Should I re-install my OPENCV or change it to another version? Which version will work on TX2?

[ange63]

Same problem here. It seems to randomly happens even if using the same dataset. On my side it crashes inside bool Tracking::PredictStateIMU() some seconds after start. The first time the code has to choose between case 1 if(mbMapUpdated && mpLastKeyFrame) and case 2 else if(!mbMapUpdated), case 1 always works, and case 2 always crashes because mLastFrame.mVw is empty (type == 0), which triggers the assertion inside operator+(.) that uses scaleAdd. Logs:

...
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:0; Map init KF:0
New Map created with 248 points
build optimization graph
start optimization
end optimization
update Keyframes velocities and biases
IMU in Map 0 is initialized
start VIBA 1
build optimization graph
start optimization
end optimization
update Keyframes velocities and biases
end VIBA 1
RESETING FRAME!!!
crash

[malleshamdasari]

Same here.

[whuer-mspace]

hi, i also the meet the same problem as you when I run ORB_SALM3 on the jetson xavier NX , are you solved this problem now? Looking forward to your reply, thank you!

[longzhenren]

To be honest, I do not know which of the followings works finally. humm……The problem seems to be solved after changing the version of Eigen to 3.2.10 and use g2o from their official github repo : https://github.com/RainerKuemmerle/g2o ,then change the directories of the header files in some source files. OpenCV is still 3.2.0 from ROS-melodic. Change the version of Eigen3, then build and install this full version of g2o. After that maybe you should modify the MakeFile(Same with that in the /Examples/ROS/ORB_SLAM3 dir) to manually relocate the location of that. Pay attention to the differences between /usr/local/include and /usr/include . That is annoying.

[crashooo]

Same problem......

[macTracyHuang]

same here...