ch7 pose_estimation_3d2d

subshine commented 5 years ago

calling bundle adjustment by g2o pose_estimation_3d2d: /usr/include/eigen3/Eigen/src/Core/MapBase.h:195: void Eigen::MapBase<Derived, 0>::checkSanity(typename Eigen::internal::enable_if<(Eigen::internal::traits::Alignment > 0), void>::type) const [with T = Eigen::Map<Eigen::Matrix<double, 2, 6>, 32, Eigen::Stride<0, 0> >; Derived = Eigen::Map<Eigen::Matrix<double, 2, 6>, 32, Eigen::Stride<0, 0> >; typename Eigen::internal::enable_if<(Eigen::internal::traits::Alignment > 0), void>::type = void]: Assertion `( ((internal::UIntPtr(m_data) % internal::traits::Alignment) == 0) || (cols() rows() minInnerStride sizeof(Scalar)) < internal::traits::Alignment ) && "data is not aligned"' failed. Signal: SIGABRT (Aborted)

bundleAdjustmentG2O(pts_3d_eigen, pts_2d_eigen, K, pose_g2o);运行这句话老是触发eigen的警告 eigen_assert(( ((internal::UIntPtr(m_data) % internal::traits::Alignment) == 0) || (cols() rows() minInnerStride * sizeof(Scalar)) < internal::traits::Alignment ) && "data is not aligned");

一会能运行一会不能运行，这是什么错误，高博？

gaoxiang12 commented 5 years ago

请确认你机器上是否有其他版本的g2o，包括：

是否有ROS自带的g2o
是否有三方库安装的g2o，例如ORB-SLAM2带有g2o
是否有自己安装的g2o 请确保使用的g2o来自本工程3rdparty下。

subshine commented 5 years ago

都有，那是不只有在cmakeLists 连接到本工程3rdparty下的g2o就可以了？

gaoxiang12 commented 5 years ago

是的，需要链接本代码库的g2o，确保版本一致。

Rajat-Arora commented 2 years ago

@gaoxiang12 if there is a g2o that comes with ros how to make sure that the g2o used is from the 3rdparty of this project.

gaoxiang12 commented 2 years ago

@Rajat-Arora You can specify the g2o headers and libraries in CMakeLists.txt using the directories like /usr/local/lib/libg2oxxx.so instead of using the default find_package command.

gaoxiang12 / slambook2

ch7 pose_estimation_3d2d #8