Open stephanietsuei opened 2 years ago
Item 2 appears on both Ubuntu 20.04/gcc-9 and Arch Linux/gcc-12 when we set the following lines in src/CMakeLists.txt
:
add_definitions(-DEKF_MAX_FEATURES=100)
add_definitions(-DEKF_MAX_GROUPS=50)
However, it doesn't happen on either machine when we set
add_definitions(-DEKF_MAX_FEATURES=45)
add_definitions(-DEKF_MAX_GROUPS=30)
When the number of features and groups is dropped further (to our default value), then item 1 disappears too.
add_definitions(-DEKF_MAX_FEATURES=30)
add_definitions(-DEKF_MAX_GROUPS=15)
The compilation warning mentioned in the first post disappears when we comment out this line in CMakeLists.txt
.
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native")
Investigate and fix the following two broken Python interfaces.
Estimator::MeasurementUpdateInitialized_
should befalse
at first, but then switch totrue
after the first measurement update is performed (see manager.cpp, line 210), and remain true after that. However, no matter what, the getterEstimator::MeasurementUpdateInitialized()
always returnsfalse
.Estimator::vision_initialized_
should befalse
at first, but then switch totrue
after an estimate of gravity is initialized. For some reason, the getterEstimator::VisionInitialized()
always returnsfalse
unless XIVO is compiled in debug mode.Estimator::P_
appears to work, its size gets messed up when callingEstimator::Pstate()
through the Python interface and the whole program segfaults.The third error may be related to this warning that is seen during compilation (with g++-12, eigen-3.3.9).