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OPEN-VINS compile error

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  • S Offline
    S Offline
    shlee853
    Regular
    wrote on last edited by
    #1

    Hi,

    I'm compiling voxl-open-vins-server.

    I got a clone form git and just noted need to install extra library for libeigen3 and libboost.

    I got library libeigen3 from apt-get install but, I compiled source code and build x64 for libboost.

    when I build code, I found an error as bellow

    /usr/local/lib/libboost_system.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status

    I think this error message relatives with compiler(not x64 , but aarch64) for libboost.

    am I right? If I'm right, could you please let me know how to compile libboost for aarch64 architecture.

    (I already got installed voxl-dependences)

    voxl-cross:~$ ls
3rd_party       boost_1_77_0         build64       config.json            ipk                run.sh
CMakeLists.txt  boost_1_77_0.tar.gz  build_x86.sh  install_build_deps.sh  make_package.sh    server
README.md       build.sh             clean.sh      install_on_voxl.sh     push_to_voxl.bash  service
voxl-cross:~$ ./clean.sh 
voxl-cross:~$ ./build.sh
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Boost version: 1.77.0
-- Setting up BOOST
--  Includes - /usr/local/include
--  Library  - /usr/local/lib
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Boost version: 1.77.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:20 (message):
  OPENCV VERSION: 4.5.2


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:21 (message):
  BOOST VERSION: 107700


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:27 (message):
  DISABLING ARUCOTAG TRACKING!


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:43 (message):
  BUILDING WITHOUT ROS!


-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


-- Boost version: 1.77.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:23 (message):
  OPENCV VERSION: 4.5.2


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:24 (message):
  BOOST VERSION: 107700


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:30 (message):
  DISABLING ARUCOTAG TRACKING!


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:46 (message):
  BUILDING WITHOUT ROS!


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:87 (message):
  MANUALLY LINKING TO OV_CORE LIBRARY....


-- Boost version: 1.77.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build64
Scanning dependencies of target ov_core_lib
[  2%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/dummy.cpp.o
[  8%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/sim/BsplineSE3.cpp.o
[  8%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/init/InertialInitializer.cpp.o
[ 11%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackBase.cpp.o
[ 14%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackAruco.cpp.o
[ 17%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackDescriptor.cpp.o
[ 20%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackKLT.cpp.o
[ 23%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackSIM.cpp.o
[ 26%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/types/Landmark.cpp.o
[ 29%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/feat/Feature.cpp.o
[ 32%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/feat/FeatureInitializer.cpp.o
[ 35%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/utils/print.cpp.o
[ 38%] Linking CXX shared library libov_core_lib.so
/usr/local/lib/libboost_system.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/build.make:434: recipe for target '3rd_party/open_vins/ov_core/libov_core_lib.so' failed
make[2]: *** [3rd_party/open_vins/ov_core/libov_core_lib.so] Error 1
CMakeFiles/Makefile2:163: recipe for target '3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/all' failed
make[1]: *** [3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
voxl-cross:~$
    1 Reply Last reply
    0
    • Chad SweetC Offline
      Chad SweetC Offline
      Chad Sweet
      ModalAI Team
      wrote on last edited by
      #2

      Sorry, that should not have been public. It is a work in progress. I just set it back to private.

      1 Reply Last reply
      0
      • R Offline
        R Offline
        rapit
        Contributor
        wrote on last edited by
        #3

        Hi @Chad-Sweet,
        even though this is not public (yet?), I setup a docker running open-vins. It runs without problems but I keep getting fast divergent behavior. Do you happen to have a launch file / parameter settings for open-vins with good parameter estimates for the flight-deck platform? I am not sure if my I set the extrinsics correct. I thought it must be simply the inverse of the output of voxl-inspect-extrinsics as open-vins expect a T_C0toI matrix:

                <rosparam param="cam0_wh">[640, 480]</rosparam>
        <param name="cam0_is_fisheye" type="bool" value="true" />
        <rosparam param="cam0_k">[277.207560, 277.285144, 335.460288, 218.329580]</rosparam>
        <rosparam param="cam0_d">[-0.002486, 0.006832, -0.006556, 0.001300]</rosparam>
        <rosparam param="T_C0toI">
            [
                0.0, 1.0,  0.0, -0.015,
                -0.70711,  0.0, 0.70711, 0.00283,
                0.70711,  0.0,  0.70711, -0.0212,
                0.0, 0.0, 0.0, 1.0
            ]
        </rosparam>

        Another possible reason would be badly calibrated imu noise values. A reference file would be really helpful.
        Thanks!

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        0

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