1. Put your ThirdParty lib to /app/src/main/jniLibs/arch/
2. copy euroc_config.yaml brief_k10L6.bin breif_pattern.yml and data set to Android platform memory
3. modify the config file and dataset path to yours'(native-lib.cpp, euroc_config.yaml, parameter.cpp)
我添加了所有缺失的静态库以后，编译报错。
Build command failed.
Error while executing process D:\Users\pc\AppData\Local\android-sdk\cmake\3.6.4111459\bin\cmake.exe with arguments {--build E:\Projects\GitHub\Android-VINS-master\app\.externalNativeBuild\cmake\debug\armeabi-v7a --target native-lib}
[1/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/utility/visualization.cpp.o
[2/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/feature_manager.cpp.o
[3/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/factor/projection_factor.cpp.o
[4/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/factor/pose_local_parameterization.cpp.o
[5/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/utility/utility.cpp.o
[6/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/keyframe.cpp.o
[7/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/factor/marginalization_factor.cpp.o
[8/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/initial/solve_5pts.cpp.o
[9/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/initial/initial_aligment.cpp.o
[10/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/CataCamera.cc.o
[11/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DBoW/FBrief.cpp.o
[12/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/initial/initial_ex_rotation.cpp.o
[13/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DUtils/Timestamp.cpp.o
[14/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DBoW/QueryResults.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[15/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DBoW/ScoringObject.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[16/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DVision/BRIEF.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[17/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DUtils/Random.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[18/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DBoW/FeatureVector.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[19/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/VocabularyBinary.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[20/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/loop_closure.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[21/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/ThirdParty/DBoW/BowVector.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[22/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/native-lib.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[23/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/parameters.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[24/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/estimator.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[25/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/estimator_node.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[26/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/initial/initial_sfm.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[27/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/Camera.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[28/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/loop-closure/keyframe_database.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[29/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/chessboard/Chessboard.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[30/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/CameraFactory.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[31/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/calib/CameraCalibration.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[32/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/CostFunctionFactory.cc.o
clang++.exe: warning: -lz: 'linker' input unused
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure\keyframe.cpp:1:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/keyframe.h:17:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/loop_closure.h:9:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/ThirdParty/DBoW/DBoW2.h:63:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/ThirdParty/DBoW/TemplatedVocabulary.h:30:
In file included from ../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset.hpp:15:
../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset/dynamic_bitset.hpp:24:9: warning: 'LOG_TAG' macro redefined [-Wmacro-redefined]
#define LOG_TAG "dynamic bitset"
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/../initial/initial_sfm.h:15:9: note: previous definition is here
#define LOG_TAG "initial_sfm"
^
1 warning generated.
[33/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/feature_tracker/feature_tracker.cpp.o
clang++.exe: warning: -lz: 'linker' input unused
[34/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/PinholeCamera.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[35/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/EquidistantCamera.cc.o
clang++.exe: warning: -lz: 'linker' input unused
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\native-lib.cpp:48:92: warning: if statement has empty body [-Wempty-body]
if (!boost::filesystem::exists(inputDir) && !boost::filesystem::is_directory(inputDir));
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\native-lib.cpp:48:92: note: put the semicolon on a separate line to silence this warning
1 warning generated.
[36/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/gpl/EigenQuaternionParameterization.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[37/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/ScaramuzzaCamera.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[38/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/sparse_graph/Transform.cc.o
clang++.exe: warning: -lz: 'linker' input unused
[39/40] Building CXX object CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/gpl/gpl.cc.o
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1701:23: warning: absolute value function 'fabsf' given an argument of type 'double' but has parameter of type 'float' which may cause truncation of value [-Wabsolute-value]
if (fminf(fabsf(splineXY(p_j.x) - p_j.y), fabsf(splineYX(p_j.y) - p_j.x)) > thresh)
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1701:23: note: use function 'std::abs' instead
if (fminf(fabsf(splineXY(p_j.x) - p_j.y), fabsf(splineYX(p_j.y) - p_j.x)) > thresh)
^~~~~
std::abs
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1701:55: warning: absolute value function 'fabsf' given an argument of type 'double' but has parameter of type 'float' which may cause truncation of value [-Wabsolute-value]
if (fminf(fabsf(splineXY(p_j.x) - p_j.y), fabsf(splineYX(p_j.y) - p_j.x)) > thresh)
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1701:55: note: use function 'std::abs' instead
if (fminf(fabsf(splineXY(p_j.x) - p_j.y), fabsf(splineYX(p_j.y) - p_j.x)) > thresh)
^~~~~
std::abs
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1756:23: warning: absolute value function 'fabsf' given an argument of type 'double' but has parameter of type 'float' which may cause truncation of value [-Wabsolute-value]
if (fminf(fabsf(splineXY(p_i.x) - p_i.y), fabsf(splineYX(p_i.y) - p_i.x)) > thresh)
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1756:23: note: use function 'std::abs' instead
if (fminf(fabsf(splineXY(p_i.x) - p_i.y), fabsf(splineYX(p_i.y) - p_i.x)) > thresh)
^~~~~
std::abs
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1756:55: warning: absolute value function 'fabsf' given an argument of type 'double' but has parameter of type 'float' which may cause truncation of value [-Wabsolute-value]
if (fminf(fabsf(splineXY(p_i.x) - p_i.y), fabsf(splineYX(p_i.y) - p_i.x)) > thresh)
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\camera_model\src\chessboard\Chessboard.cc:1756:55: note: use function 'std::abs' instead
if (fminf(fabsf(splineXY(p_i.x) - p_i.y), fabsf(splineYX(p_i.y) - p_i.x)) > thresh)
^~~~~
std::abs
4 warnings generated.
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\estimator_node.cpp:14:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src/loop-closure/loop_closure.h:9:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src/loop-closure/ThirdParty/DBoW/DBoW2.h:63:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src/loop-closure/ThirdParty/DBoW/TemplatedVocabulary.h:30:
In file included from ../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset.hpp:15:
../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset/dynamic_bitset.hpp:24:9: warning: 'LOG_TAG' macro redefined [-Wmacro-redefined]
#define LOG_TAG "dynamic bitset"
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src/initial/initial_sfm.h:15:9: note: previous definition is here
#define LOG_TAG "initial_sfm"
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\estimator_node.cpp:22:9: warning: 'LOG_TAG' macro redefined [-Wmacro-redefined]
#define LOG_TAG "vins_estimator"
^
../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset/dynamic_bitset.hpp:24:9: note: previous definition is here
#define LOG_TAG "dynamic bitset"
^
2 warnings generated.
clang++.exe: warning: -lz: 'linker' input unused
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure\keyframe_database.cpp:1:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/keyframe_database.h:5:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/keyframe.h:17:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/loop_closure.h:9:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/ThirdParty/DBoW/DBoW2.h:63:
In file included from E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/ThirdParty/DBoW/TemplatedVocabulary.h:30:
In file included from ../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset.hpp:15:
../../../../src/main/cpp/include/boost-1.49\boost/dynamic_bitset/dynamic_bitset.hpp:24:9: warning: 'LOG_TAG' macro redefined [-Wmacro-redefined]
#define LOG_TAG "dynamic bitset"
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\loop-closure/../initial/initial_sfm.h:15:9: note: previous definition is here
#define LOG_TAG "initial_sfm"
^
1 warning generated.
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
clang++.exe: warning: -lz: 'linker' input unused
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src\estimator.cpp:4:9: warning: 'LOG_TAG' macro redefined [-Wmacro-redefined]
#define LOG_TAG "estimator"
^
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src/initial/initial_sfm.h:15:9: note: previous definition is here
#define LOG_TAG "initial_sfm"
^
1 warning generated.
clang++.exe: warning: -lz: 'linker' input unused
[40/40] Linking CXX shared library ..\..\..\..\build\intermediates\cmake\debug\obj\armeabi-v7a\libnative-lib.so
FAILED: cmd.exe /C "cd . && E:\DevTools\android-ndk-r13b\toolchains\llvm\prebuilt\windows-x86_64\bin\clang++.exe -target armv7-none-linux-androideabi -gcc-toolchain E:/DevTools/android-ndk-r13b/toolchains/arm-linux-androideabi-4.9/prebuilt/windows-x86_64 --sysroot=E:/DevTools/android-ndk-r13b/platforms/android-21/arch-arm -fPIC -g -DANDROID -ffunction-sections -funwind-tables -fstack-protector-strong -no-canonical-prefixes -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv3-d16 -fno-integrated-as -mthumb -Wa,--noexecstack -Wformat -Werror=format-security -fno-exceptions -fno-rtti -g -DANDROID -ffunction-sections -funwind-tables -fstack-protector-strong -no-canonical-prefixes -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv3-d16 -fno-integrated-as -mthumb -Wa,--noexecstack -Wformat -Werror=format-security -fno-exceptions -fno-rtti -std=c++11 -frtti -fexceptions -std=gnu++11 -lz -O0 -fno-limit-debug-info -O0 -fno-limit-debug-info -Wl,--build-id -Wl,--warn-shared-textrel -Wl,--fatal-warnings 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CMakeFiles/native-lib.dir/src/main/cpp/src/vins_estimator/src/feature_tracker/feature_tracker.cpp.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/chessboard/Chessboard.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/calib/CameraCalibration.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/Camera.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/CameraFactory.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/CostFunctionFactory.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/PinholeCamera.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/CataCamera.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/EquidistantCamera.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/camera_models/ScaramuzzaCamera.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/sparse_graph/Transform.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/gpl/gpl.cc.o CMakeFiles/native-lib.dir/src/main/cpp/src/camera_model/src/gpl/EigenQuaternionParameterization.cc.o ../../../../src/main/jniLibs/armeabi-v7a/libopencv_java3.so -llog ../../../../src/main/jniLibs/armeabi-v7a/libopencv_calib3d.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_core.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_features2d.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_flann.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_highgui.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_imgcodecs.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_imgproc.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_ml.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_objdetect.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_photo.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_shape.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_stitching.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_superres.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_ts.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_video.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_videoio.a ../../../../src/main/jniLibs/armeabi-v7a/libopencv_videostab.a ../../../../src/main/jniLibs/armeabi-v7a/libceres.a ../../../../src/main/jniLibs/armeabi-v7a/libboost_filesystem-gcc-mt-1_49.a ../../../../src/main/jniLibs/armeabi-v7a/libboost_program_options-gcc-mt-1_49.a ../../../../src/main/jniLibs/armeabi-v7a/libboost_system-gcc-mt-1_49.a -lm "E:/DevTools/android-ndk-r13b/sources/cxx-stl/gnu-libstdc++/4.9/libs/armeabi-v7a/libgnustl_static.a" && cd ."
E:\Projects\GitHub\Android-VINS-master\app\src\main\cpp\src\vins_estimator\src/estimator.cpp:694: error: undefined reference to 'ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, std::vector<double*, std::allocator<double*> > const&)'
E:/Projects/GitHub/eigen-git-mirror\Eigen/src/Core/util/Memory.h:70: error: undefined reference to 'std::bad_alloc::bad_alloc()'
E:/Projects/GitHub/eigen-git-mirror\Eigen/src/Core/util/Memory.h:70: error: undefined reference to 'std::bad_alloc::bad_alloc()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:461: error: undefined reference to 'std::__ndk1::ios_base::getloc() const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__locale:212: error: undefined reference to 'std::__ndk1::locale::use_facet(std::__ndk1::locale::id&) const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:461: error: undefined reference to 'std::__ndk1::locale::~locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:756: error: undefined reference to 'std::__ndk1::ios_base::getloc() const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__locale:212: error: undefined reference to 'std::__ndk1::locale::use_facet(std::__ndk1::locale::id&) const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:756: error: undefined reference to 'std::__ndk1::locale::~locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:529: error: undefined reference to 'std::__ndk1::ios_base::clear(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::locale::~locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:472: error: undefined reference to 'std::__ndk1::ios_base::__set_badbit_and_consider_rethrow()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::num_put<char, std::__ndk1::ostreambuf_iterator<char, std::__ndk1::char_traits<char> > >::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::ctype<char>::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/streambuf:302: error: undefined reference to 'std::__ndk1::locale::~locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/iosfwd:126: error: undefined reference to 'std::__ndk1::ios_base::~ios_base()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/stdexcept:136: error: undefined reference to 'std::logic_error::logic_error(char const*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/istream:358: error: undefined reference to 'std::__ndk1::ios_base::~ios_base()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/istream:358: error: undefined reference to 'std::__ndk1::ios_base::~ios_base()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/istream:358: error: undefined reference to 'std::__ndk1::ios_base::~ios_base()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/stdexcept:146: error: undefined reference to 'std::logic_error::logic_error(char const*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:756: error: undefined reference to 'std::__ndk1::ios_base::getloc() const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__locale:212: error: undefined reference to 'std::__ndk1::locale::use_facet(std::__ndk1::locale::id&) const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:529: error: undefined reference to 'std::__ndk1::ios_base::clear(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:739: error: undefined reference to 'std::__ndk1::ios_base::__set_badbit_and_consider_rethrow()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::ctype<char>::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:529: error: undefined reference to 'std::__ndk1::ios_base::clear(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:529: error: undefined reference to 'std::__ndk1::ios_base::clear(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:955: error: undefined reference to 'std::__ndk1::ios_base::__set_badbit_and_consider_rethrow()'
E:/Projects/GitHub/eigen-git-mirror\Eigen/src/Core/util/Memory.h:70: error: undefined reference to 'std::bad_alloc::bad_alloc()'
E:/Projects/GitHub/eigen-git-mirror\Eigen/src/Core/util/Memory.h:70: error: undefined reference to 'std::bad_alloc::bad_alloc()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/stdexcept:136: error: undefined reference to 'std::logic_error::logic_error(char const*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/stdexcept:136: error: undefined reference to 'std::logic_error::logic_error(char const*)'
../../../../src/main/jniLibs/armeabi-v7a/libceres.a(local_parameterization.o):local_parameterization.cc:typeinfo for std::__ndk1::basic_ios<char, std::__ndk1::char_traits<char> >: error: undefined reference to 'typeinfo for std::__ndk1::ios_base'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:698: error: undefined reference to 'std::__ndk1::ios_base::getloc() const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__locale:212: error: undefined reference to 'std::__ndk1::locale::use_facet(std::__ndk1::locale::id&) const'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:706: error: undefined reference to 'std::__ndk1::ios_base::__set_badbit_and_consider_rethrow()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::num_put<char, std::__ndk1::ostreambuf_iterator<char, std::__ndk1::char_traits<char> > >::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::ctype<char>::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:690: error: undefined reference to 'std::__ndk1::ios_base::init(void*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/streambuf:230: error: undefined reference to 'std::__ndk1::locale::locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:785: error: undefined reference to 'std::__ndk1::ios_base::__call_callbacks(std::__ndk1::ios_base::event)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:786: error: undefined reference to 'std::__ndk1::ios_base::copyfmt(std::__ndk1::ios_base const&)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:789: error: undefined reference to 'std::__ndk1::ios_base::__call_callbacks(std::__ndk1::ios_base::event)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::num_put<char, std::__ndk1::ostreambuf_iterator<char, std::__ndk1::char_traits<char> > >::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::ctype<char>::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:690: error: undefined reference to 'std::__ndk1::ios_base::init(void*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/streambuf:230: error: undefined reference to 'std::__ndk1::locale::locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__hash_table:2142: error: undefined reference to 'std::__ndk1::__next_prime(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__hash_table:2152: error: undefined reference to 'std::__ndk1::__next_prime(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:690: error: undefined reference to 'std::__ndk1::ios_base::init(void*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/streambuf:230: error: undefined reference to 'std::__ndk1::locale::locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ios:690: error: undefined reference to 'std::__ndk1::ios_base::init(void*)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/streambuf:230: error: undefined reference to 'std::__ndk1::locale::locale()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3481: error: undefined reference to 'std::__ndk1::__shared_weak_count::__release_weak()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3481: error: undefined reference to 'std::__ndk1::__shared_weak_count::__release_weak()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3481: error: undefined reference to 'std::__ndk1::__shared_weak_count::__release_weak()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3481: error: undefined reference to 'std::__ndk1::__shared_weak_count::__release_weak()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/ostream:0: error: undefined reference to 'std::__ndk1::num_put<char, std::__ndk1::ostreambuf_iterator<char, std::__ndk1::char_traits<char> > >::id'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__hash_table:2142: error: undefined reference to 'std::__ndk1::__next_prime(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/__hash_table:2152: error: undefined reference to 'std::__ndk1::__next_prime(unsigned int)'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3501: error: undefined reference to 'std::__ndk1::__shared_weak_count::~__shared_weak_count()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3501: error: undefined reference to 'std::__ndk1::__shared_weak_count::~__shared_weak_count()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3501: error: undefined reference to 'std::__ndk1::__shared_weak_count::~__shared_weak_count()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/memory:3501: error: undefined reference to 'std::__ndk1::__shared_weak_count::~__shared_weak_count()'
../../../../src/main/jniLibs/armeabi-v7a/libceres.a(trust_region_preprocessor.o):trust_region_preprocessor.cc:typeinfo for std::__ndk1::__shared_ptr_pointer<ceres::OrderedGroups<double*>*, std::__ndk1::default_delete<ceres::OrderedGroups<double*> >, std::__ndk1::allocator<ceres::OrderedGroups<double*> > >: error: undefined reference to 'typeinfo for std::__ndk1::__shared_weak_count'
../../../../src/main/jniLibs/armeabi-v7a/libceres.a(trust_region_preprocessor.o):trust_region_preprocessor.cc:typeinfo for std::__ndk1::__shared_ptr_pointer<ceres::internal::Evaluator*, std::__ndk1::default_delete<ceres::internal::Evaluator>, std::__ndk1::allocator<ceres::internal::Evaluator> >: error: undefined reference to 'typeinfo for std::__ndk1::__shared_weak_count'
../../../../src/main/jniLibs/armeabi-v7a/libceres.a(trust_region_preprocessor.o):trust_region_preprocessor.cc:typeinfo for std::__ndk1::__shared_ptr_pointer<ceres::internal::CoordinateDescentMinimizer*, std::__ndk1::default_delete<ceres::internal::CoordinateDescentMinimizer>, std::__ndk1::allocator<ceres::internal::CoordinateDescentMinimizer> >: error: undefined reference to 'typeinfo for std::__ndk1::__shared_weak_count'
../../../../src/main/jniLibs/armeabi-v7a/libceres.a(trust_region_preprocessor.o):trust_region_preprocessor.cc:typeinfo for std::__ndk1::__shared_ptr_pointer<ceres::internal::SparseMatrix*, std::__ndk1::default_delete<ceres::internal::SparseMatrix>, std::__ndk1::allocator<ceres::internal::SparseMatrix> >: error: undefined reference to 'typeinfo for std::__ndk1::__shared_weak_count'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/new:0: error: undefined reference to 'std::__ndk1::cout'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3176: error: undefined reference to 'std::__ndk1::__rs_get()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3183: error: undefined reference to 'std::__ndk1::__rs_default::~__rs_default()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3183: error: undefined reference to 'std::__ndk1::__rs_default::~__rs_default()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3009: error: undefined reference to 'std::__ndk1::__rs_default::operator()()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3009: error: undefined reference to 'std::__ndk1::__rs_default::operator()()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3176: error: undefined reference to 'std::__ndk1::__rs_get()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3183: error: undefined reference to 'std::__ndk1::__rs_default::~__rs_default()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3183: error: undefined reference to 'std::__ndk1::__rs_default::~__rs_default()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3176: error: undefined reference to 'std::__ndk1::__rs_get()'
E:/DevTools/android-ndk-r17b/build//../sources/cxx-stl/llvm-libc++/include/algorithm:3176: error: undefined reference to 'std::__ndk1::__rs_get()'
libs/filesystem/v3/src/path.cpp:841: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t> const& std::use_facet<std::codecvt<wchar_t, char, __mbstate_t> >(std::locale const&)'
/Users/vertexclique/android-ndk-r7-crystax-5.beta3/sources/cxx-stl/gnu-libstdc++/include/4.6.3/bits/locale_classes.tcc:51: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t>::id'
./boost/detail/utf8_codecvt_facet.hpp:111: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t>::codecvt(unsigned int)'
libs/filesystem/v3/src/path.cpp:795: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t> const& std::use_facet<std::codecvt<wchar_t, char, __mbstate_t> >(std::locale const&)'
./boost/detail/utf8_codecvt_facet.hpp:106: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t>::~codecvt()'
./boost/detail/utf8_codecvt_facet.hpp:106: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t>::~codecvt()'
../../../../src/main/jniLibs/armeabi-v7a/libboost_filesystem-gcc-mt-1_49.a(utf8_codecvt_facet.o):utf8_codecvt_facet.cpp:typeinfo for boost::filesystem::detail::utf8_codecvt_facet: error: undefined reference to 'typeinfo for std::codecvt<wchar_t, char, __mbstate_t>'
../../../../src/main/jniLibs/armeabi-v7a/libboost_filesystem-gcc-mt-1_49.a(utf8_codecvt_facet.o):utf8_codecvt_facet.cpp:vtable for boost::filesystem::detail::utf8_codecvt_facet: error: undefined reference to 'std::codecvt<wchar_t, char, __mbstate_t>::do_length(__mbstate_t&, char const*, char const*, unsigned int) const'
clang++.exe: error: linker command failed with exit code 1 (use -v to see invocation)
ninja: build stopped: subcommand failed.
请问有什么解决办法？？
在手机上运行MH_01_easy数据集的时候出现fabs(jacobian_speedbias_i.maxCoeff())<1e8的问题，请问在您跑的时候有遇到麽？按理现在已经在正常跑算法了，还是说是手机性能的问题，我用的Google pixel
11-21 11:30:45.995 2126-8842/? I/MicroRecognitionRunner: Detection finished
11-21 11:30:46.247 8933-8933/? D/openclTest: OpenCL is not availble
11-21 11:30:46.247 8933-8933/? D/openclTest: don't use OpenCL
11-21 11:30:46.247 8933-8933/? D/openclTest: Failed creating the context...
11-21 11:30:46.247 8933-8933/? D/openclTest: Here is the matrix m: 3.000000, -1.000000, 2.500000, 1.500000
11-21 11:30:46.247 8933-8933/? D/openclTest: Here is the vector v: 4.000000, 3.000000
11-21 11:30:46.248 8933-8933/? V/native: wall_time.cc:74
DenseQRSolver::Solve
Delta Cumulative
Setup : 0.00002 0.00002
Solve : 0.00003 0.00005
TearDown : 0.00001 0.00005
Total : 0.00000 0.00006
11-21 11:30:46.248 8933-8933/? V/native: wall_time.cc:74
DenseQRSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Solve : 0.00001 0.00002
TearDown : 0.00001 0.00002
Total : 0.00000 0.00002
11-21 11:30:46.248 8933-8933/? V/native: wall_time.cc:74
DenseQRSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Solve : 0.00001 0.00001
TearDown : 0.00000 0.00002
Total : 0.00000 0.00002
11-21 11:30:46.248 8933-8933/? D/native: trust_region_minimizer.cc:683 Terminating: Parameter tolerance reached. Relative step_norm: 1.666426e-09 <= 1.000000e-08.
11-21 11:30:46.248 8933-8933/? D/openclTest: X: 5.000000 -> 10.000000
11-21 11:30:46.248 8933-8933/? D/openclTest: A: 123
11-21 11:30:46.248 8933-8933/? D/openclTest: B: 123.120000
11-21 11:30:46.248 8933-8933/? D/openclTest: filesystem test pass
11-21 11:30:46.248 8933-8933/? D/openclTest: TEST LOG
11-21 11:30:46.252 8933-8933/? D/vins_parameter: ACC_N:0.200000 , ACC_W:0.000200 ,GYR_N:0.020000 , GYR_W:0.000020 , G.z():9.810070
11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R :
11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 0.000000 -1.000000 0.000000
11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 1.000000 0.000000 0.000000
11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 0.000000 0.000000 1.000000
11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_T : -0.020000 -0.060000 0.010000
11-21 11:30:46.252 8933-8933/? D/vins_parameter: VOC_FILE: /support_files/brief_k10L6.bin
11-21 11:30:46.253 8933-8933/? D/vins_parameter: PATTERN_FILE: /support_files/brief_pattern.yml
11-21 11:30:46.431 8933-8951/? D/estimator: this frame is--------------------accept
11-21 11:30:46.431 8933-8951/? D/estimator: number of feature: 0
11-21 11:30:46.432 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:46.566 8933-8951/? D/estimator: this frame is--------------------accept
11-21 11:30:46.566 8933-8951/? D/estimator: number of feature: 128
11-21 11:30:46.567 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:46.657 1583-1583/? I/WallpaperService: engine paused
11-21 11:30:46.675 8933-8951/? D/estimator: this frame is--------------------accept
11-21 11:30:46.675 8933-8951/? D/estimator: number of feature: 135
11-21 11:30:46.675 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:46.773 8933-8951/? D/estimator: this frame is--------------------accept
11-21 11:30:46.773 8933-8951/? D/estimator: number of feature: 154
11-21 11:30:46.774 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:46.883 8933-8951/? D/estimator: this frame is--------------------accept
11-21 11:30:46.883 8933-8951/? D/estimator: number of feature: 174
11-21 11:30:46.883 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:46.987 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept
11-21 11:30:46.987 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 179
11-21 11:30:46.988 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:47.098 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept
11-21 11:30:47.098 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 195
11-21 11:30:47.099 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:47.209 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept
11-21 11:30:47.210 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 238
11-21 11:30:47.210 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:47.316 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept
11-21 11:30:47.316 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 246
11-21 11:30:47.317 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:47.412 1094-1376/? I/InputDispatcher: Dropping event because there is no touchable window at (334, 2008).
11-21 11:30:47.425 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept
11-21 11:30:47.426 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 246
11-21 11:30:47.426 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000
11-21 11:30:47.536 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept
11-21 11:30:47.536 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 246
11-21 11:30:47.536 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: ===========before result = initialStructure===============
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: average_parallax 91.502605 choose l 0 and newest frame to triangulate the whole structure.corres.size:37
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R :
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : 0.999698 0.017493 0.017259
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : -0.018803 0.996706 0.078888
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : -0.015822 -0.079189 0.996734
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_T : -0.114554 0.972684 0.201898
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: L: 0
11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/initial_sfm: init q_l : 1.000000, q[0].vec().transpose(): 0.000000, 0.000000, 0.000000
11-21 11:30:47.651 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
ComputeStableSchurOrdering
Delta Cumulative
CreateHessianGraph : 0.00296 0.00296
Preordering : 0.00007 0.00303
StableIndependentSet : 0.00070 0.00373
ConstantParameterBlocks : 0.00001 0.00374
Total : 0.00071 0.00445
11-21 11:30:47.652 8933-8951/com.hezhaoxin.solomon.vins_android V/native: block_sparse_matrix.cc:80 Allocating values array with 173712 bytes.
11-21 11:30:48.095 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.220022e-02 0.00e+00 1.63e-01 0.00e+00 0.00e+00 1.00e+04 0 4.42e-01 4.48e-01
11-21 11:30:48.095 8933-8951/com.hezhaoxin.solomon.vins_android D/native: detect_structure.cc:113 Schur complement static structure <2,3,3>.
11-21 11:30:48.102 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00065 0.00065
Eliminate : 0.00229 0.00294
ReducedSolve : 0.00430 0.00724
BackSubstitute : 0.00015 0.00739
Total : 0.00001 0.00740
11-21 11:30:48.103 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 1 1.120671e-01 -9.99e-02 0.00e+00 5.44e+01 -9.50e+00 5.00e+03 1 8.12e-03 4.57e-01
11-21 11:30:48.110 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Eliminate : 0.00233 0.00234
ReducedSolve : 0.00434 0.00669
BackSubstitute : 0.00015 0.00683
Total : 0.00000 0.00684
11-21 11:30:48.549 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 2 9.936141e-03 2.26e-03 2.28e-01 4.17e+01 2.20e-01 4.25e+03 1 4.46e-01 9.03e-01
11-21 11:30:48.556 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Eliminate : 0.00234 0.00234
ReducedSolve : 0.00415 0.00649
BackSubstitute : 0.00020 0.00670
Total : 0.00001 0.00670
11-21 11:30:48.678 1094-1411/? D/ConnectivityService: NetworkAgentInfo [WIFI () - 101] validation failed
11-21 11:30:48.678 1094-1407/? D/WifiStateMachine: NETWORK_STATUS_UNWANTED_VALIDATION_FAILED
11-21 11:30:48.680 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-2.4G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:null link:0 status:0 nid:4 hasEverConnected: true
11-21 11:30:48.680 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-2.4G"WPA_PSK
11-21 11:30:48.680 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-5G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:"4DAGE-2.4G"WPA_PSK link:0 status:1 nid:1 hasEverConnected: false
11-21 11:30:48.680 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-5G"WPA_PSK
11-21 11:30:48.680 1094-8959/? D/WifiNetworkHistory: saving network history: "THETAXS01100692.OSC"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:null link:0 status:1 nid:0 hasEverConnected: true
11-21 11:30:48.680 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "THETAXS01100692.OSC"WPA_PSK
11-21 11:30:48.681 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-W1-5G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:"4DAGE-2.4G"WPA_PSK link:0 status:1 nid:3 hasEverConnected: false
11-21 11:30:48.681 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-W1-5G"WPA_PSK
11-21 11:30:48.683 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-W2-5G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:"4DAGE-W1-5G"WPA_PSK link:0 status:1 nid:2 hasEverConnected: false
11-21 11:30:48.683 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-W2-5G"WPA_PSK
11-21 11:30:48.996 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 3 2.003501e-03 7.93e-03 4.22e-02 5.89e+00 9.42e-01 1.28e+04 1 4.46e-01 1.35e+00
11-21 11:30:49.003 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00002 0.00002
Eliminate : 0.00238 0.00239
ReducedSolve : 0.00423 0.00662
BackSubstitute : 0.00024 0.00686
Total : 0.00001 0.00687
11-21 11:30:49.442 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 4 1.508340e-03 4.95e-04 5.78e-03 4.76e+00 9.85e-01 3.83e+04 1 4.47e-01 1.80e+00
11-21 11:30:49.449 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Eliminate : 0.00233 0.00233
ReducedSolve : 0.00417 0.00650
BackSubstitute : 0.00015 0.00665
Total : 0.00000 0.00665
11-21 11:30:49.889 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 5 1.496080e-03 1.23e-05 1.71e-03 8.05e+00 9.93e-01 1.15e+05 1 4.47e-01 2.24e+00
11-21 11:30:49.890 8933-8951/com.hezhaoxin.solomon.vins_android D/native: trust_region_minimizer.cc:609 Terminating: Maximum solver time reached. Total solver time: 2.243225e+00 >= 2.000000e+00.
11-21 11:30:49.890 8933-8951/com.hezhaoxin.solomon.vins_android D/initial_sfm: summary.BriefReport() : Ceres Solver Report: Iterations: 6, Initial cost: 1.220022e-02, Final cost: 1.496080e-03, Termination: NO_CONVERGENCE
11-21 11:30:49.895 8933-8951/com.hezhaoxin.solomon.vins_android D/initial_alignment: --------------gyroscope bias initial calibration------------------: nan, nan, 0.000000
11-21 11:30:50.358 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: ================= after result = initialStructure==============
11-21 11:30:50.685 8933-8951/com.hezhaoxin.solomon.vins_android A/libc: /home/dorothy/Android-VINS-master/Android-VINS-master/app/src/main/cpp/src/vins_estimator/src/initial/../factor/imu_factor.h:142: virtual bool IMUFactor::Evaluate(const double *const *, double *, double **) const: assertion "fabs(jacobian_speedbias_i.maxCoeff()) < 1e8" failed
11-21 11:30:50.685 8933-8951/com.hezhaoxin.solomon.vins_android A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 8951 (on.vins_android)
[ 11-21 11:30:50.686 535: 535 W/ ]
debuggerd: handling request: pid=8933 uid=10158 gid=10158 tid=8951
11-21 11:30:50.753 8960-8960/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
11-21 11:30:50.753 8960-8960/? A/DEBUG: Build fingerprint: 'google/marlin/marlin:7.1.1/NOF26V/3636322:user/release-keys'
11-21 11:30:50.753 8960-8960/? A/DEBUG: Revision: '0'
11-21 11:30:50.753 8960-8960/? A/DEBUG: ABI: 'arm'
11-21 11:30:50.753 8960-8960/? A/DEBUG: pid: 8933, tid: 8951, name: on.vins_android >>> com.hezhaoxin.solomon.vins_android <<<
11-21 11:30:50.753 8960-8960/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
11-21 11:30:50.754 8960-8960/? A/DEBUG: Abort message: '/home/dorothy/Android-VINS-master/Android-VINS-master/app/src/main/cpp/src/vins_estimator/src/initial/../factor/imu_factor.h:142: virtual bool IMUFactor::Evaluate(const double *const *, double *, double **) const: assertion "fabs(jacobian_speedbias_i.maxCoeff()) < 1e8" failed'
11-21 11:30:50.754 8960-8960/? A/DEBUG: r0 00000000 r1 000022f7 r2 00000006 r3 00000008
11-21 11:30:50.754 8960-8960/? A/DEBUG: r4 ce328978 r5 00000006 r6 ce328920 r7 0000010c
11-21 11:30:50.754 8960-8960/? A/DEBUG: r8 ce3271f0 r9 ce327208 sl ce327240 fp 00000000
11-21 11:30:50.754 8960-8960/? A/DEBUG: ip 00000000 sp ce324ed8 lr e8b2e5c7 pc e8b30e30 cpsr 600f0010
11-21 11:30:50.763 8960-8960/? A/DEBUG: backtrace:
11-21 11:30:50.763 8960-8960/? A/DEBUG: #00 pc 00049e30 /system/lib/libc.so (tgkill+12)
11-21 11:30:50.763 8960-8960/? A/DEBUG: #1 pc 000475c3 /system/lib/libc.so (pthread_kill+34)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #2 pc 0001d635 /system/lib/libc.so (raise+10)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #3 pc 00019181 /system/lib/libc.so (__libc_android_abort+34)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #4 pc 00017048 /system/lib/libc.so (abort+4)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #5 pc 0001b633 /system/lib/libc.so (__libc_fatal+22)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #6 pc 0001937b /system/lib/libc.so (__assert2+18)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #7 pc 00e79e4f /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (ZNK9IMUFactor8EvaluateEPKPKdPdPS4+2510)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #08 pc 00f3ddab /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN17ResidualBlockInfo8EvaluateEv+326)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #09 pc 00f3e709 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN19MarginalizationInfo14preMarginalizeEv+76)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #10 pc 00e4d687 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN9Estimator12optimizationEv+4518)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #11 pc 00e48f67 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN9Estimator13solveOdometryEv+82)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #12 pc 00e478af /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN9Estimator12processImageERKSt3mapIiSt6vectorISt4pairIiN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEESaIS6_EESt4lessIiESaIS2_IKiS8_EEERKN8std_msgs7Header_ISaIvEEE+894)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #13 pc 00e176b7 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_Z7processv+722)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #14 pc 00e41bbb /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZNSt12_Bind_simpleIFPFvvEvEE9_M_invokeIJEEEvSt12_Index_tupleIJXspT_EEE+24)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #15 pc 00e41b9b /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZNSt12_Bind_simpleIFPFvvEvEEclEv+14)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #16 pc 00e41a37 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZNSt6thread5_ImplISt12_Bind_simpleIFPFvvEvEEE6_M_runEv+16)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #17 pc 012ed553 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so
11-21 11:30:50.764 8960-8960/? A/DEBUG: #18 pc 00047093 /system/lib/libc.so (_ZL15__pthread_startPv+22)
11-21 11:30:50.764 8960-8960/? A/DEBUG: #19 pc 00019bdd /system/lib/libc.so (__start_thread+6)
11-21 11:30:51.043 1094-1129/? I/BootReceiver: Copying /data/tombstones/tombstone_01 to DropBox (SYSTEM_TOMBSTONE)
11-21 11:30:51.043 1094-8961/? W/ActivityManager: Force finishing activity com.hezhaoxin.solomon.vins_android/.MainActivity
Cause: java.net.URISyntaxException: Illegal character in opaque part at index 2: D:\workspace\code\slam\VINS-Android\app\src\main\jniLibs Illegal character in opaque part at index 2: D:\workspace\code\slam\VINS-Android\app\src\main\jniLibs
Hi, the work you did is great! But I got stuck when I build the whole project by gradle. It seems missing some lib files, and I built boost and Ceres from source by ndk, but not works.
Would you please kindly commit the missing libs to the project? Or, sent me the files by email: [email protected], Thanks a lot!
hi,
按照你提供的代码库，编译的时候，老是出现7个类似于title 描述的error，请问一下，你有没有遇到类似的问题，谢谢。
I try to build the project. But, encounter a problem of "undefined reference" on boost. Can you share your third party libraries under jniLibs. Thanks.
Error:A problem occurred configuring project ':app'.
executing external native build for cmake E:\yuguitao\CameraAR\Source\Android-VINS-master\Android-VINS-master\app\CMakeLists.txt
Seems no related code in below directory:
https://github.com/heguixiang/Android-VINS/tree/master/app/src/main/cpp/src
Miss to checkin?
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