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62.0 1.0 6.0 84.81 MB

A CUDA reimplementation of Bundle Adjustment for VINS-Fusion

License: GNU General Public License v3.0

CMake 1.72% C++ 64.05% Dockerfile 0.08% Makefile 0.02% Shell 0.31% Cuda 33.67% C 0.15%
bundle-adjustment cuda gpu levenberg-marquardt non-linear-optimization slam visual-inertial-odometry visual-slam state-estimation vins vio vins-fusion

vins-fusion-gpu-ba's Issues

cuda optimization problem

Hello, thank you for your excellent work. I get stuck here when I run it. It seems that the cuda optimization cannot work.
image

Run Environmental

Thank you for your excellent work. I would like to ask if your operating environment is ubuntu20.04 or 18.04?

camodocal::Camera Assertion `px != 0' failed.

The following issues occurred when running：
vins_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = camodocal::Camera; typename boost::detail::sp_member_access::type = camodocal::Camera*]: Assertion `px != 0' failed.

Is there a solution？

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