hperik1

@ToniRV , I am experiencing the same problem. Hopefully the following will help ... Here is my setup: **SparkVio** branch, tag or commit used: (19 march) commit: 5f4bc95fb00728aa41f051ac7bd4d2e4708d0154 **GTSAM** version...

@ToniRV @Kecheng-Chen In addition to the previous comment, I ran the backtrace in gdb: #0 0x00007ffff4857428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54 #1 0x00007ffff485902a in __GI_abort () at abort.c:89 #2 0x00007ffff48997ea...

@ToniRV @Kecheng-Chen one more update ... I have rebuild _gtsam_ using the following _cmake_ arguments: ` cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=OFF -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_WITH_TBB=ON **-DGTSAM_BUILD_WITH_MARCH_NATIVE=ON** ..` Specially the _march_native_ was set...

@ToniRV, in addition it throws a reproducable OpenCV errors pretty much to the end of the EuRoc V1_01_easy dataset: `OpenCV Error: One of arguments' values is out of range ()...

I am experiencing that Light tracking is not working on fr3_w_xyz. Even with the update from 1000 to 1500. Any further experiences?